CN-122015814-A - High-fidelity inertial navigation digital prototype construction method under temperature environment condition

CN122015814ACN 122015814 ACN122015814 ACN 122015814ACN-122015814-A

Abstract

The invention relates to a high-fidelity inertial navigation digital prototype construction method under a temperature environment condition, which is mainly used for solving the technical problems that the environment model is insufficiently built in the traditional inertial navigation system simulation, the environment characterization model is deficient, the subsequent inertial navigation system environment influence model construction cannot be accurately implemented, the simulation analysis evaluation result of the inertial navigation system has deviation from the actual application performance, and the application precision of the inertial navigation system is influenced. The method comprises the steps of acquiring the relation between the output data of the inertial navigation system entity and the ambient temperature, reversely deducing a temperature error, injecting the temperature error into the initial gyroscope and the initial accelerometer to obtain the gyroscope and the accelerometer with temperature drift characteristics, so that the constructed digital prototype can simulate the output characteristics of the inertial navigation system entity with high precision under the temperature ambient condition, and the precision performance of the inertial navigation system application process is improved.

Inventors

Liang Aiqi
TAO TAO
WANG JIANQING
ZHANG BO
WANG TINGJUN
MENG WENHUI
NING HONGBO
ZHAO FENGYU
WANG LEI
ZHANG WEN

Assignees

西安航天精密机电研究所

Dates

Publication Date: 20260512
Application Date: 20251211

Claims (6)

1. The method for constructing the high-fidelity inertial navigation digital prototype under the temperature environment condition is characterized by comprising the following steps of: s1, performing full-temperature compensation test on an inertial navigation system entity, and constructing a temperature error compensation model of the inertial navigation system entity based on test data; s2, based on the temperature error compensation model, reversely calculating the relation between the output error of the inertial navigation system entity and the temperature, and reversely calculating the temperature error according to the relation between the output error and the temperature; S3, constructing a subsystem module, a structural model and a data simulation unit of the digital prototype according to the inertial navigation system entity; the subsystem module comprises an initial gyroscope, an initial accelerometer, an analog-to-digital conversion circuit, an information processing circuit, an inertial control circuit, a data processing unit and a functional algorithm unit; The structure unit comprises a platform model and a frame model, wherein the platform model is used for simulating the installation error of an inertial navigation system entity; the data simulation unit receives external parameter configuration and frame angles and simulates input values of the subsystem modules; S4, injecting the temperature error into the initial gyroscope and the initial accelerometer to obtain a gyroscope and an accelerometer with temperature drift characteristics; S5, carrying out integrated scheduling on the subsystem module, configuring a software interface in the simulation platform by referring to the interface relation of the inertial navigation system entity, and connecting the interior of the subsystem module; and S6, integrating and connecting the data simulation unit, the subsystem model and the structural model to complete the construction of the high-fidelity inertial navigation digital prototype under the temperature environment condition.
2. The method for constructing the high-fidelity inertial navigation digital prototype under the temperature environment condition, which is characterized by comprising the following steps of: In the step S2, calculating the error amount caused by temperature change or constructing a temperature error model of an inertial navigation system entity according to the relation between the output error and the temperature to serve as a temperature error; in step S4, the error amount caused by the temperature change is superimposed with the outputs of the gyroscope and the accelerometer, or the temperature error model is integrated into the initial gyroscope and the initial accelerometer to obtain a new gyroscope and an new accelerometer, and the temperature error is injected into the initial gyroscope and the initial accelerometer.
3. The method for constructing the high-fidelity inertial navigation digital prototype under the temperature environment condition according to claim 2, wherein in the step S4, the connection between the subsystem models is specifically: According to the information transfer relation of the inertial navigation system entity, the output end of the gyroscope is connected with the input end of the information processing circuit, the output end of the accelerometer is connected with the input end of the analog-to-digital conversion circuit, the output end of the analog-to-digital conversion circuit is connected with the other input end of the information processing circuit, the output ends of the analog-to-digital conversion circuit and the information processing circuit are respectively connected with the input end of the inertial control circuit, the output end of the inertial control circuit is connected with the input end of the data processing unit, the output end of the data processing unit is connected with the input end of the functional algorithm unit, the input end of the functional algorithm unit is also used for receiving algorithm selection in an operating mode selected by an external command, and the functional algorithm unit outputs a simulation result of the digital prototype to complete internal connection of the subsystem module.
4. The method for constructing the high-fidelity inertial navigation digital prototype under the temperature environment condition, which is characterized by comprising the following steps of: In the step S1, a polynomial fitting modeling method or a neural network modeling method is adopted to construct a temperature error compensation model.
5. The method for constructing a high-fidelity inertial navigation digital prototype under the temperature environment condition according to claim 4, wherein the step S6 is specifically: the output end of the data simulation unit is connected with the input end of the platform model, and the output end of the platform model is respectively connected with the input ends of the gyroscope and the accelerometer; The input end of the frame model is used for receiving a frame rotation strategy in a working mode selected by an external command, outputting a frame angle according to the frame rotation strategy, and the output end of the frame model is connected with the input end of the data simulation unit and used for transmitting the frame angle to the data simulation unit.
6. The method for constructing the high-fidelity inertial navigation digital prototype under the temperature environment condition, which is disclosed in claim 5, is characterized in that: In step S4, the subsystem model is integrated and scheduled by adopting a Functional Mock-up Interface standard.

Description

High-fidelity inertial navigation digital prototype construction method under temperature environment condition Technical Field The invention relates to a construction method of an inertial navigation digital prototype, in particular to a construction method of a high-fidelity inertial navigation digital prototype under a temperature environment condition. Background The inertial navigation system is a system for navigation and positioning by utilizing the principle of inertia, and mainly determines the motion parameters such as the gesture, the speed, the position and the like of a carrier through the acceleration and the angular velocity information of a sensitive carrier. Compared with other navigation technologies, the inertial navigation system can provide all needed navigation information in real time, continuously and autonomously, has the characteristics of all weather, no interference, concealment, no time, region and environment limitation and the like, and is a core information source and a reference information source of carrier motion parameters. However, with the development of technology, the inertial navigation technology faces two major practical challenges, namely, firstly, the sample making machine has a long development period and high cost, and secondly, the environmental temperature change obviously affects the inertial navigation output characteristic. The traditional "design-manufacture-test" practicality iteration mode has difficulty in meeting the need for rapid upgrades. For this reason, digital prototype technology provides an ideal solution for inertial navigation systems. According to the definition of the national standard, the digital prototype is the digital description of the whole machine or the subsystem of the product, not only comprises structural geometric characteristics, but also can truly reflect the functions and performance of the product, and can be applied to the whole life cycle of the product. The digital prototype technology is introduced into the inertial navigation field, which is equivalent to the creation of a high-precision virtual twin for physical inertial navigation. In the prior art, the application of a digital twin technology in the field of inertial navigation is still in an initial stage, and Xu Jingshuo and the like of the naval aviation engineering college aim at the problem of difficult acquisition of real-time dynamic data of a strapdown inertial navigation system, and an onboard strapdown inertial navigation digital simulator is designed. And the output parameters of the flight control simulation system are used as true value data of the inertial measurement element to complete the calculation of the gesture, the speed and the position of the inertial navigation system, so as to realize the dynamic digital simulation of the strapdown inertial navigation system. The MAYITONG is applied to the whole life research and development production of the digital twin inertial system, and the modeling architecture, the design method, the implementation means and the like of the twin inertial system are designed based on the technical characteristics and the design key points of the inertial system. Most of the related studies are also in the application method or related digital simulation stage, and few in terms of specific applications are studied. In order to meet the application precision of the inertial navigation system in a complex environment, the conventional inertial navigation digital prototype generally performs modeling compensation on a temperature error effect. However, the coefficient of the existing temperature error compensation model is usually a set of fixed parameters, and in the full life cycle of the inertial navigation digital prototype, the coefficient cannot be well adapted to the characteristic of the parameter change of the inertial navigation system under the working condition of a long-time complex environment, so that the application precision of the inertial navigation system is affected. In addition, conventional inertial navigation digital prototypes lack simulation of other factors that cause degradation or failure of system performance. Disclosure of Invention The invention aims to solve the technical problems that the environment model is insufficiently built in the traditional inertial navigation system simulation, the environment characterization model is deficient, the subsequent inertial navigation system environment influence model construction cannot be accurately implemented, the inertial navigation system simulation analysis and evaluation result has deviation from the actual application performance, and the application precision of the inertial navigation system is influenced, and provides a high-fidelity inertial navigation digital prototype construction method under the temperature environment condition. In order to solve the technical problems, the technical solution provided by the invention is as follo