CN-121994254-A - Vehicle-mounted high-precision inertial navigation device, system and method

CN121994254ACN 121994254 ACN121994254 ACN 121994254ACN-121994254-A

Abstract

The invention discloses a vehicle-mounted high-precision inertial navigation device, an inertial navigation system and a method, wherein the vehicle-mounted high-precision inertial navigation device comprises a shell, an inertial measurement assembly, a single-shaft indexing mechanism and a control analysis module, the inertial measurement assembly comprises a body seat with a plurality of cavities inside and three inertial measurement units with mutually perpendicular measurement axes, each inertial measurement unit respectively comprises a group of laser gyroscopes and accelerometers with the same measurement axes, the laser gyroscopes and the accelerometers are respectively embedded into different cavities of the body seat, the single-shaft indexing mechanism is respectively and rigidly connected with the bottom of the body seat and the bottom of the shell, the control analysis module controls the single-shaft indexing mechanism to drive the body seat to periodically rotate while controlling the inertial measurement assembly to measure a carrier to be measured, measurement errors of the inertial measurement assembly are eliminated, and measurement results are calculated to obtain inertial measurement information of the carrier to be measured. The invention can improve the integration, precision and reliability of the vehicle-mounted positioning device.

Inventors

WANG YANFENG
WANG SHIBO
WU BIN
XU WENJIE
LIU JUYANG

Assignees

华中光电技术研究所(中国船舶集团有限公司第七一七研究所)

Dates

Publication Date: 20260508
Application Date: 20260129

Claims (10)

1. The vehicle-mounted high-precision inertial navigation device is characterized by comprising a closed electromagnetic shielding shell, an inertial measurement assembly, a single-shaft indexing mechanism and a control analysis module, wherein the inertial measurement assembly, the single-shaft indexing mechanism and the control analysis module are arranged in the shell; The inertial measurement assembly comprises a body seat with a plurality of cavities inside and three inertial measurement units with mutually perpendicular measuring axes, wherein each inertial measurement unit respectively comprises a group of laser gyroscopes and accelerometers with the same measuring axes, and each laser gyroscope and accelerometer are respectively embedded into different cavities of the body seat; the single-shaft indexing mechanism is respectively and rigidly connected with the bottom of the body seat and the bottom of the shell; The control analysis module is respectively and electrically connected with the inertia measurement assembly and the single-axis indexing mechanism, controls the single-axis indexing mechanism to drive the body seat to periodically rotate while controlling the inertia measurement assembly to measure the carrier to be measured, eliminates the measurement error of the inertia measurement assembly, and calculates the measurement result to obtain the inertia measurement information of the carrier to be measured.
2. The vehicle-mounted high-precision inertial navigation device according to claim 1, wherein the control analysis module comprises a laser gyro control circuit unit, an IF conversion unit and a navigation resolving unit; The laser gyro control circuit unit is electrically connected with each laser gyro and used for controlling the laser gyro to generate pulse signals, and comprises a detector, a steady flow control circuit, a cavity length control circuit, a front amplifying circuit, a microcontroller and an interface circuit, wherein the detector is used for detecting light intensity signals output by a laser resonant cavity of the laser gyro, the steady flow control circuit is used for switching working modes of the laser resonant cavity of the laser gyro, adjusting and monitoring working currents of the laser resonant cavity in real time, the microcontroller and the interface circuit are used for making decisions and cooperatively managing and outputting debugging information, the cavity length control circuit is used for controlling the mode voltage of the micro-displacement regulator according to the light intensity signals obtained by the detector so as to enable the cavity length of the laser resonant cavity to be stable in a single longitudinal mode state, and the front amplifying circuit is used for amplifying and shaping the signal currents converted by the light intensity signals detected by the detector so as to obtain standardized pulse signals; the IF conversion unit is electrically connected with each accelerometer and is used for converting a current signal output by the accelerometer into a pulse signal; The navigation resolving unit is used for receiving pulse signals output by the laser gyro control circuit unit and the IF conversion unit and resolving inertial measurement information of the carrier to be detected.
3. The vehicle-mounted high-precision inertial navigation device according to claim 2, wherein the inertial measurement assembly further comprises a box structure, the body seat is connected with the inner wall of the box structure through a plurality of vibration reduction elements arranged on the surface of the body seat, the box structure is synchronously driven to rotate along with the body seat by a single-shaft indexing mechanism, and the laser gyro control circuit unit and the IF conversion unit are fixed on the inner wall of the box structure.
4. The vehicle-mounted high-precision inertial navigation device according to claim 1, wherein the single-axis indexing mechanism comprises a rotating shaft system, a conductive slip ring, a torque motor and a time grating angle measurement sensor; The rotary shaft system comprises a fixed end part and a rotary end part, wherein the fixed end part comprises an azimuth base, and the rotary end part comprises an azimuth shaft, an azimuth flange and an angular contact ball bearing; The fixed end of the conductive slip ring is connected with the azimuth base, and the rotating end synchronously rotates with the azimuth shaft and is used for power supply and signal switching of the rotating shaft fixing end part and the rotating end part; the moment motor and the time grating angle measurement sensor are arranged between the azimuth shaft and the azimuth base, a stator of the moment motor is fixed with the azimuth base, a rotor of the moment motor is connected with the azimuth shaft and used for providing rotation power of the single-shaft indexing mechanism, a fixed part of the time grating angle measurement sensor is connected with the azimuth base, and a detection part of the time grating angle measurement sensor is connected with the azimuth shaft and used for measuring the angle increment of rotation of a rotating end part of the rotating shaft system in real time.
5. The vehicle-mounted high-precision inertial navigation device according to claim 2, wherein the process of calculating inertial measurement information of the carrier to be measured by the navigation calculation unit comprises: Obtaining angle increment information of a carrier to be tested at the current moment according to pulse signals output by the three laser gyroscopes; Calculating the attitude information of the carrier at the current moment by adopting a reverse navigation algorithm according to the angle increment information of the carrier to be detected at the current moment and the attitude information of the carrier to be detected at the previous moment; According to the pulse signals output by the three accelerometers, finishing speed and position information calculation of the carrier to be detected, and outputting complete navigation parameters by combining the speed and position information with the attitude information of the carrier at the current moment; The reverse navigation algorithm comprises: Wherein, the The gesture transfer matrix is the gesture transfer matrix of the carrier to be tested at the previous moment; the method comprises the steps of determining a posture transfer matrix of a carrier to be detected at the current moment, wherein I is a unit matrix; a preset sampling time interval; The angular increment information of the carrier to be measured at the current moment is obtained; and the angle increment information of the carrier to be measured at the last moment.
6. The vehicle-mounted high-precision inertial navigation device of claim 1, further comprising a mounting base; The shell is assembled on the mounting base and comprises an upper cover, a shell and a bottom cover which are sequentially and tightly connected, a stabilized voltage power supply module, an angle measurement control driving module and a fan are further arranged in the shell, wherein the stabilized voltage power supply module is used for supplying power to the single-shaft indexing mechanism, the angle measurement control driving module is used for reading the angle increment of the single-shaft indexing mechanism rotating relative to the shell, and the fan is used for radiating heat.
7. A vehicle-mounted high-precision inertial navigation system, which is characterized by comprising the vehicle-mounted high-precision inertial navigation device according to any one of claims 1-6 and further comprising an altimeter; The inertial navigation system is connected with an external sensor and comprises a plurality of working modes, wherein the external sensor comprises an odometer and a satellite navigation system; After the working mode is selected, the inertial navigation system calculates and outputs navigation parameters of the carrier to be detected by utilizing the vehicle-mounted high-precision inertial navigation device, combining an altimeter, or combining one or more of a plurality of external sensors, or combining the altimeter and one or more of the plurality of external sensors according to the calculation information required by the working mode.
8. The vehicle-mounted high-precision inertial navigation system of claim 7, wherein the operating modes include a pure inertial operating mode, an inertial/beidou operating mode, and an inertial/mileage/elevation operating mode; the vehicle-mounted high-precision inertial navigation device takes the measured information of the satellite navigation system as an observed quantity in the process of resolving the inertial measurement information of the carrier to be detected, suppresses errors of the inertial measurement information and obtains navigation parameters for the carrier to be detected; If the measurement information of the satellite navigation system is invalid information and the measurement information of the odometer and the altimeter are both valid information, adopting an inertia/mileage/altitude working mode, and combining the inertia measurement information with the mileage information provided by the odometer while suppressing the divergence of the inertia measurement information on the altitude channel by utilizing the altitude information of the altimeter, and correcting the inertia measurement information according to the combination result to obtain navigation parameters for a carrier to be detected; and if the measurement information of the satellite navigation system is invalid information and the measurement information of the odometer and the altimeter is not valid information, adopting a pure inertial working mode, and taking the inertial measurement information as a navigation parameter for the carrier to be detected.
9. A vehicle-mounted high-precision inertial navigation method based on the vehicle-mounted high-precision inertial navigation system as claimed in claim 7, comprising: The vehicle-mounted high-precision inertial navigation system is calibrated and self-checked, and initial position information of a carrier to be detected is received to perform alignment and north seeking after the calibration is completed, wherein the alignment comprises rough alignment and fine alignment, the rough alignment adopts a loop feedback method, and the fine alignment adopts a Kalman filtering technology; Collecting measurement information of an altimeter and an external sensor in real time, judging the effectiveness, and selecting a working mode of the vehicle-mounted high-precision inertial navigation system according to the effectiveness of various measurement information; And in the selected working mode, carrying out navigation calculation of the carrier to be detected by using the vehicle-mounted high-precision inertial navigation system.
10. The vehicle-mounted high-precision inertial navigation method of claim 9, wherein the process of calibrating and self-checking the vehicle-mounted high-precision inertial navigation system comprises the following steps: The vehicle-mounted high-precision inertial navigation system receives mileage information of the odometer in real time and judges validity, and if the mileage information is valid, integrated navigation is carried out; Estimating an installation error angle of the vehicle-mounted high-precision inertial navigation system and an odometer and a scale factor error of the odometer; After the carrier to be tested is subjected to fixed-speed directional navigation for a preset time, judging the convergence condition of the installation error angle and the scale factor error in the navigation travel, if the preset requirement is met, judging that the calibration is successful, and automatically storing the calibration parameters, otherwise, judging that the calibration is failed, and repeatedly executing the process after the carrier to be tested is subjected to fixed-speed directional navigation for the preset time, judging the convergence condition of the installation error angle and the scale factor error in the navigation travel until the preset requirement is met.

Description

Vehicle-mounted high-precision inertial navigation device, system and method Technical Field The present invention relates to the field of land-based inertial navigation systems, in particular to a vehicle-mounted high-precision inertial navigation device, a system and a method. Background Modern ground combat modes require that troops can maneuver rapidly and accurately in a wide combat area and can rapidly throw in combat, and higher requirements are put on rapid maneuvering capability, rapid response capability and accurate remote striking capability of ground combat weapon equipment. The laser gyro has the advantages of solid state, high reliability, small volume, low power consumption and the like, and is widely applied to the technical field of land inertial positioning and orientation. The existing land-based warfare vehicle positioning and orientation technology still takes an optical fiber gyro inertia/sanitation guide combination mode as a main mode, and a scheme of partially adopting a laser gyro also has a remarkable technical shortboard that an inertial device is low in integration degree, three independent gyroscopes are adopted for separation type installation, integrated design of the gyroscopes and an installation support is not realized, the equipment is large in size and heavy in weight and poor in adaptability, vibration coupling interference is obvious, measurement accuracy is affected, quick alignment and alignment capacity between traveling are lacked, long-time static alignment of a carrier vehicle is relied, no effective reverse navigation recurrence algorithm support cannot be achieved, the operational requirements of emergency starting and simultaneous combat are met, an error suppression mechanism is imperfect, a targeted transposition modulation structure is not designed, gyro drift and accelerometer zero error are difficult to offset, navigation accuracy in long voyage is fast to attenuate, a circuit design is not adopted, a multi-gyro integrated control circuit board is not adopted, system wiring is complex and high, vehicle-mounted adaptability is further limited, on-vehicle-mounted power consumption is insufficient, factory return is required to be dismounted for calibration, on-line self-calibration and calibration free functions are lacked, equipment duty rate is seriously affected, the working mode is single, and the satellite signal is highly dependent, and intelligent switching mechanism is free from being used for switching information or has large failure in a satellite scene. Disclosure of Invention The invention mainly aims to provide a vehicle-mounted high-precision inertial navigation device, a vehicle-mounted high-precision inertial navigation system and a vehicle-mounted high-precision inertial navigation method, and the integration, precision and reliability of a positioning and orientation system are improved. The technical scheme adopted by the invention is that the vehicle-mounted high-precision inertial navigation device comprises a closed electromagnetic shielding shell, an inertial measurement assembly, a single-shaft indexing mechanism and a control analysis module, wherein the inertial measurement assembly, the single-shaft indexing mechanism and the control analysis module are arranged in the shell; The inertial measurement assembly comprises a body seat with a plurality of cavities inside and three inertial measurement units with mutually perpendicular measurement axes, wherein each inertial measurement unit respectively comprises a group of laser gyroscopes and accelerometers with the same measurement axes, and each laser gyroscope and accelerometer are respectively embedded into different cavities of the body seat; the single-shaft indexing mechanism is respectively and rigidly connected with the bottom of the body seat and the bottom of the shell; The control analysis module is respectively and electrically connected with the inertia measurement assembly and the single-axis indexing mechanism, controls the single-axis indexing mechanism to drive the body seat to periodically rotate while controlling the inertia measurement assembly to measure the carrier to be measured, eliminates the measurement error of the inertia measurement assembly, and calculates the measurement result to obtain the inertia measurement information of the carrier to be measured. According to the technical scheme, the control analysis module comprises a laser gyro control circuit unit, an IF conversion unit and a navigation resolving unit; The laser gyro control circuit unit is electrically connected with each laser gyro and used for controlling the laser gyro to generate pulse signals, and comprises a detector, a steady flow control circuit, a cavity length control circuit, a front amplifying circuit, a microcontroller and an interface circuit, wherein the detector is used for detecting light intensity signals output by a laser resonant cavity of the laser gyro, the steady fl