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CN-116086488-B - Polar region moving base alignment method, equipment and medium based on unified modeling principle

CN116086488BCN 116086488 BCN116086488 BCN 116086488BCN-116086488-B

Abstract

The invention discloses a polar region moving base alignment method, equipment and medium of a unified modeling principle, wherein the method comprises the steps of obtaining sensor data and satellite receiver data; the method comprises the steps of constructing a vector observer model by adopting a unified modeling method, discretizing the vector observer model, optimizing the discretized vector observer model by adopting a vector difference method, optimizing the speed error at the initial moment, estimating the posture by an OBA algorithm based on the optimized vector observer model, calibrating based on the estimated posture value, and repeating the steps until the set calibration time length or iteration times are reached. The invention can eliminate the influence of the singular points of the polar region on the initial alignment by adopting the unified modeling method to construct the vector observer model, and solves the problem that the azimuth is influenced by the convergence of the longitude in the polar region alignment process.

Inventors

  • XU XIANG
  • CHENG YU
  • CHEN SHUAI

Assignees

  • 南京理工大学

Dates

Publication Date
20260505
Application Date
20221115

Claims (5)

  1. 1. The polar region moving base alignment method based on the unified modeling principle is characterized by comprising the following steps: Acquiring sensor data and satellite receiver data; Constructing a vector observer model by adopting a unified modeling method, wherein the constructed vector observer model is as follows: In the formula, Representing the output acceleration of the accelerometer at any latitude; a direction cosine matrix of the carrier system relative to the initial carrier system at the moment t is represented; Representing a reference vector; representing a mapping of the velocity output by the satellite navigation receiver in the earth coordinate system; A directional cosine matrix of the earth system relative to the initial earth system at the time t; Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; A map indicating the rotational angular velocity of the earth on the earth system; Representing a mapping of gravity vectors on the earth system; Discretizing a vector observer model, designing a vector difference value method to optimize the discretized vector observer model, and carrying out initial moment speed error; based on the optimized vector observer model, carrying out attitude estimation through an OBA algorithm; Calibrating based on the attitude estimation value, and repeating the steps until the set iteration times are reached; the discretized vector observer model is as follows: In the formula, A reference vector representing the time k; a reference vector representing time k-1; A direction cosine matrix of the k-moment carrier system relative to the initial carrier system is represented; representing the carrier train velocity increment, calculated using the following formula: In the formula, Representing the carrier train speed increment; Representing a carrier velocity subsamples for the first half cycle; representing a carrier velocity subsamples in the second half period; representing a first half period angular increment subsamples; representing a second half period angular increment subsamples; In the formula, Representing an observation vector at the time k; A directional cosine matrix representing the earth system at time k relative to the initial earth system; representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; representing the intermediate vector at time k, calculated using the following equation: In the formula, Representing a k moment intermediate vector; Representing a k-1 moment intermediate vector; A directional cosine matrix of the earth system relative to the initial earth system at the moment k-1; representing a satellite navigation system data sampling period; A map indicating the rotational angular velocity of the earth on the earth system; representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; representing the mapping of the output speed of the satellite navigation receiver at the moment k-1 on the earth coordinate system; representing the mapping of the gravity vector at the moment k on the earth system; The optimized vector observer model is as follows: In the formula, An optimized reference vector representing the time k; an optimized observation vector at time k is represented; a reference vector representing the time k; Representing an observation vector at the time k; a reference vector representing the instant i; the observation vector at the moment i is represented; the attitude estimation by the OBA algorithm specifically includes: Constructing a pose K matrix based on the optimized vector observer model: In the formula, Representing a K matrix at time K; Representing a K-1 moment K matrix; an optimized reference vector representing the time k; The optimized observation vector of the k moment is represented, wherein the operation process is as follows: In the formula, An optimized reference vector representing the time k; the optimized observation vector at time k is shown.
  2. 2. The polar region moving mount alignment method of unified modeling principle of claim 1, wherein said acquiring sensor data comprises: Acquiring acceleration and angular velocity values from an inertial sensor measurement model: In the formula, Representing accelerometer output acceleration in any dimension; Representing real acceleration in any dimension; Indicating acceleration zero offset; representing accelerometer measurement noise; representing the output angular velocity of any latitude gyroscope; representing the real angular velocity of any latitude; indicating zero offset of the gyroscope; representing gyroscope measurement noise; calculating an angular velocity increment and an acceleration increment by using an inertial sensor: In the formula, Representing the output acceleration of the accelerometer at any latitude; representing the output angular velocity of any latitude gyroscope; Representing a carrier velocity subsamples for the first half cycle; representing a carrier velocity subsamples in the second half period; representing a first half period angular increment subsamples; representing a second half period angular increment subsamples; representing the satellite navigation system data sampling period.
  3. 3. The polar region moving base alignment method according to the unified modeling principle of claim 1, wherein the satellite receiver sampling period is 1s and the set number of iterations is 600.
  4. 4. The polar region moving base alignment device based on the unified modeling principle is characterized by comprising a memory, a processor and a computer program stored on the memory, wherein the processor realizes the polar region moving base alignment method based on the unified modeling principle according to any one of claims 1-3 when executing the computer program.
  5. 5. A computer storage medium storing an executable program that is executed by a processor to perform the steps of the polar motion base alignment method implementing the unified modeling principle of any one of claims 1 to 3.

Description

Polar region moving base alignment method, equipment and medium based on unified modeling principle Technical Field The invention relates to the field of inertial navigation systems, in particular to a polar moving base alignment method, equipment and medium based on a unified modeling principle. Background Current navigational positioning systems typically employ navigational aids for navigational positioning of gestures, speeds, and positions. The method is widely applied to middle and low latitude. However, as the latitude increases, the longitude lines converge rapidly, which leads to ambiguities in errors, especially azimuth angles, with undefined singularities in the polar region, which makes navigation positioning difficult. In the initial alignment field, the azimuth angle cannot be determined, so that the alignment process cannot be completed. The Chinese patent with the publication number of CN114910097A and the name of initial velocity disturbance elimination polar region moving base alignment method adopts a grid coordinate system to carry out error modeling, and the constructed model is based on converted high-latitude data, and can be suitable for polar region navigation, but has the problem of calculating singularity at middle and low latitudes. Disclosure of Invention The invention aims to provide a polar region moving base alignment method, equipment and medium based on a unified modeling principle, which not only can be applied to polar regions, but also can be applied to middle and low latitudes, and can eliminate the influence of polar region singular points on initial alignment. An alignment method of a polar moving base of a unified modeling principle is provided. The invention adopts a unified modeling principle to construct a vector observer, and weakens the influence of an initial speed error by using a vector difference value, thereby realizing the aim of aligning the polar region moving base. The technical solution for realizing the purpose of the invention is as follows: the polar region moving base alignment method based on the unified modeling principle comprises the following steps: Acquiring sensor data and satellite receiver data; Constructing a vector observer model by adopting a unified modeling method, wherein the constructed vector observer model is as follows: In the formula, Representing the output acceleration of the accelerometer at any latitude; a direction cosine matrix of the carrier system relative to the initial carrier system at the moment t is represented; Representing a reference vector; representing a mapping of the velocity output by the satellite navigation receiver in the earth coordinate system; A directional cosine matrix of the earth system relative to the initial earth system at the time t; Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; G e represents the mapping of the gravity vector in the earth system; Discretizing a vector observer model, designing a vector difference value method to optimize the discretized vector observer model, and carrying out initial moment speed error; based on the optimized vector observer model, carrying out attitude estimation through an OBA algorithm; and calibrating based on the attitude estimation value, and repeating the steps until the set iteration times are reached. The polar region moving base alignment device based on the unified modeling principle comprises a memory, a processor and a computer program stored on the memory, wherein the processor realizes the polar region moving base alignment method based on the unified modeling principle when executing the computer program. A computer storage medium storing an executable program that is executed by a processor to perform steps of a polar region moving base alignment method implementing the unified modeling principle. Compared with the prior art, the invention has the beneficial effects that: (1) The invention adopts a unified modeling theory to construct a vector observer, weakens the influence of initial speed errors by using a vector difference value, realizes the aim of aligning the polar region moving base, not only can be suitable for polar regions, but also can be used for middle and low latitudes, and avoids the problem of polar region singularity; (2) The invention adopts a vector difference method, and eliminates the influence of initial speed errors on a vector observer. Drawings Fig. 1 is a polar region motion base alignment block diagram of the unified modeling principle. Fig. 2 is a comparative schematic diagram of the pitch error angle alignment of the conventional method and the inventive method. Figure 3 is a comparison of roll error angle alignment for a conventional method and a method of the present invention. FIG. 4 is a graphical representation of alignment heading error angle comparisons for a conventional method and the method of the present invent