29 results about "Inertial systems" patented technology

The invention discloses a multi-source fusion continuous positioning method in combination with a prior feature map, and aims to solve the problem that an existing vision-inertial odometer easily generates accumulative errors in a GNSS denial environment, the method comprises the following steps: constructing a prior feature map comprising key frame poses, feature point descriptors and 3D coordinates based on an open source algorithm; a track displacement difference alignment strategy is adopted to complete visual-inertial system and GNSS joint initialization, and ESIKF is used to replace EKF to improve fusion precision; robust alignment of a local coordinate system and a map coordinate system is achieved through a single-frame geometric constraint accumulation-batch manifold alignment strategy; based on the reverse PnP, the current 3D point cloud and the historical 2D observation constraint are utilized to resolve the relative pose, the map matching result is used as observation to be fused with the GNSS or replace GNSS observation, the ESIKF loose coupling is utilized to eliminate accumulative errors, and continuous high-precision positioning in the GNSS failure scene is achieved.

The invention discloses an improved active-disturbance-rejection control method based on error and input delay compensation, relates to the technical field of industrial control, and aims to solve the problem of insufficient input delay and control precision of a high-order inertial system. The method comprises the following steps of: modeling a controlled object into a dynamic system with inertia characteristics, constructing an input delay compensation link and an error-based active-disturbance-rejection link, inputting a control error and a compensation value into an extended state observer (ESO), estimating an error related state quantity and a disturbance tracking value in real time, calculating a control quantity through a state error feedback control law, and compensating the control quantity; and closed-loop accurate adjustment is realized. The invention further comprises an improved second-order active-disturbance-rejection control scheme to adapt to higher precision requirements. The control structure is simplified, control signals and system output are synchronously controlled, the anti-interference capability and the tracking performance are considered, and the method can be widely applied to high-order inertial industrial system control in the fields of chemical engineering, thermal power generation and the like.

A kind of compound inertial system attitude simulation test method, compound inertial system obtains launch system initial attitude angle by initial alignment mode;In dynamic loading process, the inertial data of compound inertial system is collected, and the angle signal of attitude simulation platform excitation is synchronously acquired;The attitude of compound inertial system is converted from launch system to local horizontal coordinate system by navigation solution method, while the angle signal of attitude simulation test platform is converted to the attitude angle of local horizontal coordinate system, and relevant operation is carried out, to obtain the dynamic performance parameter of compound inertial system.

The application discloses a 3-parameter variable structure quaternion solution method for inertial navigation, which comprises the following steps: determining 3 parameters in a quaternion as real-time updated variables; adopting an integral formula to perform integral updating calculation on a 3-parameter differential equation to obtain values of the 3 parameters at t k ; calculating the remaining 1 parameter in the quaternion to finally obtain an updated value of the quaternion, and obtaining a coordinate transformation matrix to support velocity updating and position updating, so as to improve the precision of inertial navigation. The application takes angular rates output by gyroscopes orthogonally installed on a body of a strapdown inertial system as input information, realizes real-time updating of the coordinate transformation matrix for inertial navigation, and simplifies the calculation amount while ensuring the solution precision.

The application discloses a normalization-based inertial navigation 5-parameter coordinate transformation matrix solving method, which comprises the following steps: determining five parameters in two rows of a coordinate transformation matrix as real-time updated variables; adopting an integral formula to perform integral updating calculation on a 5-parameter differential equation to obtain values of the five parameters at t k time; calculating the remaining four parameters of the coordinate transformation matrix to finally obtain coordinate transformation matrix updating and support velocity updating and position updating, so as to improve the precision of inertial navigation. The application takes angular rates output by gyroscopes orthogonally installed on a body of a strapdown inertial system as input information, realizes real-time updating of the inertial navigation coordinate transformation matrix, and simplifies the calculation amount while ensuring the solving precision.

This invention discloses a multi-source assisted ADS-B traffic situation awareness processing method. It utilizes data from airborne inertial systems, airspace traffic data received via TCAS and ADS-B IN, and other data sources as auxiliary data sources for ADS-B situation awareness processing. The method acquires the aircraft's absolute position data for verification and filtering to determine the optimal data source for ADS-B situation calculation. This results in more stable and reliable ADS-B traffic situation information compared to existing equipment that uses only GNSS as the sole aircraft positioning data source. This improves the reliability of backend data applications and contributes to enhancing aircraft operational safety and efficiency.

This invention discloses a method for solving the 5-parameter coordinate transformation matrix of inertial navigation. The method includes: determining five parameters in two rows of the coordinate transformation matrix as variables for real-time updates; and using an integral formula to perform integral update calculations on the 5-parameter differential equation to obtain the five parameters at time t. k The time value is calculated; five parameters are orthogonalized and normalized; the remaining three parameters of the coordinate transformation matrix are calculated, and the updated coordinate transformation matrix is ​​obtained, supporting velocity and position updates to improve the accuracy of inertial navigation. This invention uses the angular rate output by the gyroscope orthogonally mounted on the strapdown inertial system as input information to achieve real-time updating of the inertial navigation coordinate transformation matrix, simplifying the computation while ensuring solution accuracy.

A method for solving the coordinate transformation matrix of inertial navigation with few parameters and a fixed structure includes: determining m parameters of the coordinate transformation matrix as variables updated in real time, wherein the remaining 9-m parameters can be directly calculated from these m parameters; and based on the m parameters at time t... k The angular velocity value at time t is obtained by integrating and updating the m parameters using trigonometric integral formulas. k+1 The value at time is used to calculate the remaining 9-m parameters of the coordinate transformation matrix, ultimately obtaining an updated coordinate transformation matrix that supports velocity and position updates, thereby improving the accuracy of inertial navigation. This invention uses the angular rate output from a gyroscope orthogonally mounted on the strapdown inertial system as input information, achieving real-time updates to the inertial navigation coordinate transformation matrix while ensuring solution accuracy and simplifying computation.

This invention relates to the field of navigation and positioning technology, and discloses an unmanned inspection autonomous navigation, positioning, and orientation calibration method, comprising: acquiring acceleration information and extracting gravity vectors from it to establish a horizontal reference plane; collecting three-dimensional point cloud data of the environment and dividing it into time-series data segments according to the sampling time; performing pose compensation on the ranging point based on angular rate data and mapping it to a time reference coordinate system; orthogonally projecting the compensated ranging point onto the horizontal reference plane to generate a two-dimensional projection distribution map; extracting the principal axis direction of the structure and performing geometric alignment with the orthogonal constraint rules of the building, and using angular deviation to correct heading drift. This invention uses gravity vectors to establish an absolute physical horizontal reference, transforming orientation measurement into orientation based on physical vectors. Combined with the orthogonal constraint mechanism inherent in industrial scenarios, it can effectively eliminate coupling errors introduced by attitude fluctuations and solve the problem of heading cumulative drift under long-period operation of inertial systems.

The application discloses a 4-parameter coordinate transformation matrix solution method of inertial navigation combining normalization and orthogonality, which comprises the following steps: determining 4 parameters in two columns of a coordinate transformation matrix as real-time updated variables; using an integral formula to perform integral updating calculation on 4-parameter differential equations to obtain values of the 4 parameters at t k time; calculating the remaining 5 parameters of the coordinate transformation matrix to finally obtain coordinate transformation matrix updating and support velocity updating and position updating, so as to improve the precision of inertial navigation. The application takes angular rates output by gyroscopes orthogonally installed on a body of a strapdown inertial system as input information, realizes real-time updating of the coordinate transformation matrix of inertial navigation, and simplifies the calculation amount while ensuring the solution precision.

The invention belongs to the technical field of inertial systems, and particularly relates to a double-sensor data cross-regional smooth transition processing method, which comprises the following steps of: measuring the acceleration in a centrifugal test process by using a wide-range acceleration sensor and a small-range acceleration sensor, setting a transition interval, and calculating the acceleration in the centrifugal test process; a small-range measured value is used as an output before the small-range sensor measured value is smaller than the minimum value of the transition interval, and a large-range measured value is used as an output after the small-range sensor measured value is larger than the maximum value of the transition interval. According to the invention, smooth transition synthesis output of cross-interval data is realized, the precision of output data in a small-range range is ensured, a data output function in a wide-range range is ensured, a design scheme depending on a high-precision wide-range device in a full-range range is avoided, and the hardware design cost of a product is effectively reduced.

This invention discloses an inertial navigation four-angle full attitude navigation solution method, including: calculating θ0, α0, β0, and γ0; determining t k The angular velocity of the strapdown inertial system relative to the navigation coordinate system at any given time is calculated using a differential equation, θ. k α k β k and γ k According to θ k α k β k γ k And perform an update calculation to obtain θ k+1 α k+1 β k+1 and γ k+1 According to θ k+1 α k+1 β k+1 and γ k+1 The method involves updating the coordinate transformation matrix to obtain the updated matrix, and then updating the velocity and position based on this updated matrix. The method described in this invention uses the output information from the accelerometer and gyroscope as input information for the four-angle kinematic equations. Through integral calculation, it achieves real-time updating of the coordinate transformation matrix of the carrier relative to the navigation coordinate system. No singular values ​​occur during the calculation process, and the solution result is unique, ensuring the requirements of full attitude and high precision of the carrier coordinate system relative to the navigation coordinate system.

A self-calibration method for frame non-orthogonality error and accelerometer error in a dual-axis frame inertial system is proposed. Under static base conditions, the platform is locked at 10 frame angular positions, accelerometer measurements are collected, and the specific force measurement of the inertial system in the platform coordinate system at each locked position is calculated. The attitude matrix of the inertial system from the platform coordinate system to the local horizontal coordinate system at each locked position is also calculated, yielding the acceleration of the inertial system in the local horizontal coordinate system at each locked position, which is used as the error observation. The residuals of the error coefficients are calculated using a total least squares algorithm, and the estimated values ​​of the measured parameters are corrected. Iterative calculations are performed until the iterative convergence criterion is met, obtaining the self-calibration results for each error coefficient. Through the self-calibration and compensation of the error coefficients, the accuracy of attitude measurement of the dual-axis frame inertial system carrier or base affected by the non-orthogonality error of the axis system can be improved.

The application discloses a kind of inertial navigation unit rotation axis and full attitude calculation method of rotation angle, comprising:θ x0 ,ξ y0 Andξ z0 Are solved;Determine the angular velocity of body relative navigation coordinate system of strapdown inertial system at t k Based on differential equation,θ k ,ξ xk ,ξ yk Andξ zk Are solved;According to θ k ,ξ xk ,ξ yk ,ξ zk Update calculation,θ k+1 ,ξ xk+1 ,ξ yk+1 Andξ zk+1 Are obtained;According to θ k+1 ,ξ xk+1 ,ξ yk+1 Andξ zk+1 , coordinate transformation matrix update is carried out, and velocity update and position update based on updated coordinate transformation matrix are carried out.The method disclosed in the application uses accelerometer and gyroscope output information as the input information of unit rotation axis and rotation angle kinematics equation, realizes the real-time update of coordinate transformation matrix of carrier relative navigation coordinate system by integral calculation, singular value does not appear in the solving process, solution is unique, ensure that the full attitude of body coordinate system relative navigation coordinate system, high-precision requirement.

A kind of fusion time-of-flight ranging monocular vision inertial system initialization method and system, comprising: synchronizing monocular camera, IMU and ToF sensor;Visual SfM preliminary reconstruction;Data collected by ToF sensor is converted to camera coordinate system by external parameter and projected to image plane, to each projection point as center establishes search domain, looks for the nearest neighbor visual feature point in search domain, and outputs feature point-depth pair set after verification;Dual-mode strategy is used to restore metric scale;In sliding window, construct target function, joint optimization, iterative solution, so that depth constraint and motion estimation form strong coupling;System determines initialization success, injects the optimized system state into VIO back-end process, sends low-power instruction to close ToF sensor to sleep mode, and switches to pure monocular-IMU mode operation.The present application guarantees the robustness and accuracy of the initialization stage of the monocular vision inertial system of unmanned aerial vehicle.

The application discloses a multi-source fusion continuous positioning method combined with prior feature maps, and aims at the problem that existing visual-inertial odometry is prone to cumulative error in GNSS denial environment. The application constructs a prior feature map containing key frame poses, feature point descriptors and 3D coordinates based on an open source algorithm. A trajectory displacement difference alignment strategy is adopted to complete the joint initialization of a visual-inertial system and GNSS, and ESIKF is used to replace EKF to improve fusion accuracy. A single-frame geometric constraint cumulative-batch manifold alignment strategy is adopted to realize robust alignment of a local coordinate system and a map coordinate system. Based on reverse PnP, relative poses are solved by using current 3D point clouds and historical 2D observation constraints, the map matching result is taken as observation and is fused with GNSS or replaces GNSS observation, and ESIKF is used for loose coupling to eliminate cumulative error, so that continuous high-precision positioning in a GNSS failure scene is realized.

The invention relates to a rapid high-precision transfer alignment method for a composite inertial system, and belongs to the technical field of initial attitude reference establishment of a movable base of a composite inertial navigation system with a rotating mechanism. According to the method, a high-order transfer alignment Kalman filtering model is constructed, high-precision estimation of a table body attitude misalignment angle of the composite inertial system is realized, meanwhile, an installation error and flexural deflection between a master inertial navigation and a slave inertial navigation are estimated and compensated, and the alignment performance is improved by fully utilizing a high-precision attitude reference; according to the invention, the problems of long alignment time and low precision of the existing composite inertial navigation in the aspect of transfer alignment of the movable base are solved; the method can be applied to the initial attitude reference establishment process of the moving base of a double-axis and three-axis composite inertial system, and has high rapidity and alignment precision.

The invention discloses a strapdown inertial navigation positioning method and device assisted by an additional state space model. In a pure inertial system, a state space model fusing a carrier kinematics model and an inertial navigation differential equation is established offline, and online Kalman filtering is performed to directly obtain optimal state estimation so as to update attitude, speed and position; and after each update, performing zero setting operation on corresponding elements in the state vector, transforming the covariance matrix, and then performing recursive iteration. In order to solve the problems of fast error accumulation, incapability of providing precision information and the like of a traditional pure inertial navigation calculation method, the invention realizes direct real-time estimation and updating of navigation parameters through state space modeling and Kalman filtering recursion processing of inertial sensor data without depending on any specific carrier. Compared with a traditional inertial navigation scheme based on the same sensor, the scheme can smooth random noise and inhibit rapid divergence of errors; and higher resolving precision and more stable output can be obtained.

The invention discloses a monocular vision inertial system initialization method and system fused with time-of-flight distance measurement. The method comprises the following steps: synchronizing a monocular camera, an IMU and a ToF sensor; performing vision SfM preliminary reconstruction; converting data acquired by the ToF sensor into a camera coordinate system through external parameters, projecting the data to an image plane, establishing a search domain by taking each projection point as a center, searching nearest neighbor visual feature points in the search domain, and outputting a feature point-depth pair set after verification; a dual-mode strategy is adopted to recover the rice scale; constructing an objective function in a sliding window, and performing joint optimization and iterative solution to enable depth constraint and motion estimation to form strong coupling; after the system judges that initialization succeeds, the optimized system state is injected into a VIO back-end process, a low-power-consumption instruction is sent to close the ToF sensor to be in a sleep mode, and the system is switched to be in a pure monocular-IMU mode for operation. According to the method, the robustness and the accuracy of the monocular vision inertial system initialization stage of the unmanned aerial vehicle are ensured.

This invention discloses a full attitude calculation method for inertial navigation systems with variable-length pivots and rotation angles, including: calculating θ0 and ρ x0 ρ y0 and ρ z0 Determine t k The angular velocity of the strapdown inertial system relative to the navigation coordinate system at any given time is calculated using a differential equation, θ. k ρ xk ρ yk and ρ zk According to θ k ρ xk ρ yk ρ zk And perform an update calculation to obtain θ k+1 ρ xk+1 ρ yk+1 and ρ zk+1 According to θ k+1 ρ xk+1 ρ yk+1 and ρ zk+1 The method involves updating the coordinate transformation matrix to obtain the updated velocity and position. The method described in this invention uses the output information from the accelerometer and gyroscope as input information for the kinematic equations of the variable-length axis of rotation and rotation angle. Through integral calculation, it achieves real-time updating of the coordinate transformation matrix of the carrier relative to the navigation coordinate system. No singular values ​​occur during the calculation process, and the solution result is unique, ensuring the requirements of full attitude and high precision of the body coordinate system relative to the navigation coordinate system.

The application relates to a method for setting a proportional-integral controller with a filter, wherein the method comprises: using a response curve method to identify parameters of a transfer function of a controlled object to obtain an identification result, and obtaining a transfer function of the controlled object and a proportional-integral controller with a first-order filter based on the identification result; using a delay time and an inertia time constant to calculate a type parameter, dividing the proportional-integral control system into multiple types of time delay systems based on the type parameter, matching a corresponding transfer function based on the type of the time delay system, and setting controller parameters of the transfer function. The embodiments of the application can be applied to a first-order inertia system with a lag link and a high-order system that can be simplified into the system, aiming to improve the control performance of the controller on the time delay system through accurate parameter setting, suppress high-frequency oscillation, reduce energy loss, and guarantee the stability and economy of the control system.

The application discloses a dynamic attitude navigation error evaluation method and system of a rotating inertia system, which comprises the following steps: synchronously acquiring a position turntable ring frame angle signal and an inertia output signal of the rotating inertia system; obtaining a shell attitude matrix of the rotating inertia system relative to a navigation system according to a frame angle signal and a gyroscope output signal of the rotating inertia system by using a navigation solution method; obtaining a reference attitude matrix of an inertia system mounting surface relative to the navigation system according to a mounting direction of the position turntable and the ring frame angle signal; performing a direction cosine method solution according to the reference attitude matrix signals of the inertia system shell and the mounting surface to obtain an attitude error matrix; and obtaining an inertia system attitude navigation error angle according to the relationship between the attitude error angle and the direction cosine matrix. The application can be applied to dynamic attitude navigation precision evaluation of the rotating inertia system and has high applicability and accuracy.

The application discloses an inertial navigation attitude angle calculation method based on extended Krylov angles, which comprises the following steps: determining the extended Krylov angles; calculating the values of the yaw angle, the pitch angle, the roll angle and the extended pitch angle at t k ; determining the angular velocity of the body coordinate system relative to the navigation coordinate system during rotation at t k ; performing soft variable structure angular velocity correction and integral updating calculation; updating the coordinate transformation matrix according to the integral updating calculation result, and supporting velocity updating and position updating, so as to improve the precision of the inertial navigation. The application takes the angular rate output by the gyroscope orthogonally installed on the body of the strapdown inertial system as input information, realizes the real-time updating of the inertial navigation attitude angle based on the soft continuous variable structure of the navigation calculation of the four extended Krylov angles, and makes the singular value not appear in the updating process of the attitude angle, so that the calculation precision is improved.

The application discloses a strapdown inertial navigation positioning method and device assisted by an additional state space model. In a pure inertial system, a state space model is established by offline fusion of a carrier kinematic model and an inertial navigation differential equation, and online Kalman filtering is performed to directly obtain optimal state estimation to update the attitude, velocity and position; after each update, zero operation is performed on the corresponding elements in the state vector, and the covariance matrix is transformed, and then recursive iteration is performed. The application solves the problems of fast error accumulation and incapability of providing precision information in the traditional pure inertial navigation solution method, realizes real-time estimation and update of navigation parameters by state space modeling and recursive processing of inertial sensor data through Kalman filtering without depending on any specific carrier. Compared with the traditional inertial navigation scheme based on the same sensor, the scheme can smooth random noise and inhibit rapid divergence of errors, and can obtain higher solution precision and more stable output.

The invention discloses a heterogeneous dual-redundancy strapdown inertial navigation reconstruction method and device, a program and a storage medium, and belongs to the technical field of inertial navigation. According to the method, two sets of inertial systems with different precisions are adopted to form a coaxial common-base redundant architecture, fault detection is carried out through a method based on combination of optimal odd-even vectors and t inspection, and meanwhile, a fault positioning algorithm based on least square is adopted to accurately identify a fault sensor and the specific axial direction of the fault sensor. And after detecting that a fault occurs in a certain axial direction of the high-precision inertial system, the system fuses the converted low-precision inertial data with the residual normal high-precision data, so that the reliability of the system is ensured, and the navigation precision is maintained to the greatest extent by using redundant data.

The present invention discloses a high-precision inertial navigation velocity solution method based on an earth-fixed coordinate system, comprising: determining a velocity solution equation based on an earth-fixed coordinate system; determining t k The attitude transformation matrix of the body coordinate system relative to the ground-fixed coordinate system at time t k The apparent acceleration of the body coordinate system relative to the ground-fixed coordinate system at the moment; according to the solution equation, the velocity is updated and the velocity is calculated at t k+1 The present invention uses the angular rates output by three gyroscopes orthogonally mounted on the inertial system body and the kinematic equations input from three accelerometers to achieve real-time updates of the inertial navigation attitude angle and acceleration. During the update process, a discretized velocity analytical solution with an explicit expression is used to improve the solution accuracy and ensure the stability of the body coordinate system relative to the Earth-fixed coordinate system. This present invention is the first to provide a method for calculating the discretized velocity analytical solution for an inertial system based on an Earth-fixed coordinate system, with the advantages of high accuracy and fast calculation speed.

The application discloses an inertial system performance evaluation method based on a data reliability confidence rule base, which decomposes the inertial system evaluation problem into BRB-CDR modeling and evaluation real-time according to the characteristics of the inertial system itself, for the BRB-CDR modeling, the application adopts a statistical interval-based observation data reliability calculation method, constructs a BRB model considering data reliability, and analyzes the sensitivity of the BRB-CDR model output to the data reliability. In view of the real-time evaluation requirement, a time window size adaptive change strategy is designed, which takes into account the model training accuracy and training real-time. The experimental results show that the BRB-CDR model evaluation utility RMSE is reduced by 47.40% compared with the standard BRB model, by 52.27% compared with the BP neural network, and by 60.03% compared with the fuzzy reasoning system. Thus, the high precision and feasibility of the BRB-CDR model in the inertial system performance evaluation are verified.

The invention relates to a proportional-integral controller setting method with a filter, and the method comprises the steps: carrying out the identification of parameters of a controlled object transfer function through a response curve method, obtaining an identification result, and obtaining the controlled object transfer function and a transfer function of a proportional-integral controller with a first-order filter based on the identification result; and calculating type parameters by using the delay time and the inertia time constant, dividing the proportional-integral control system into multiple types of time delay systems based on the type parameters, matching corresponding transfer functions based on the types of the time delay systems, and setting controller parameters of the transfer functions. The embodiment of the invention can aim at a lagged first-order inertial link, is suitable for a lagged first-order inertial system and a high-order system which can be simplified into the lagged first-order inertial system, and aims at improving the control performance of a controller on a time-delay system through accurate parameter setting, suppressing high-frequency oscillation, reducing energy loss, and improving the control efficiency of the time-delay system. And the stability and economy of the control system are ensured.

A rollover risk detection device (100) is provided with a first attitude angle information acquisition unit (101), a second attitude angle calculation unit (102), an attitude variation calculation unit (103), and a rollover risk detection unit (104). A first attitude angle information acquisition unit (101) acquires first attitude angle information relating to a first attitude angle, which is an attitude angle of a probe (1) based on an inertial system. A second attitude angle calculation unit (102) calculates a second attitude angle relating to the attitude angle of the probe (1) with respect to the gravitational acceleration direction on the basis of the attitude angle information, the gravitational acceleration direction of the celestial body with respect to the inertial system, and the shape information of the probe (1). A posture change calculation unit (103) calculates the posture change of the probe (1) on the basis of the second posture angle at the current time and the second posture angle at the starting point time before the current time. The rollover risk detection unit (104) detects the rollover risk when the probe (1) lands on the celestial body on the basis of the posture change and the positional relationship between the leg tip of the leg (20) that contacts the celestial body and the center of gravity of the probe (1).