CN-122015826-A - State switching method and system of optical fiber inertial navigation system, electronic equipment and product

CN122015826ACN 122015826 ACN122015826 ACN 122015826ACN-122015826-A

Abstract

The invention belongs to the technical field of inertial navigation, and aims to provide a state switching method, a state switching system, electronic equipment and a state switching product of an optical fiber inertial navigation system. The method comprises the steps of obtaining real-time detection data and historical detection data of an inertial sensor in an optical fiber inertial navigation system, obtaining a final switching control signal according to the real-time detection data and the historical detection data of the inertial sensor, obtaining system historical state data of the optical fiber inertial navigation system at historical time, carrying out state prediction on the optical fiber inertial navigation system by adopting a Kalman filter according to the system historical state data and the real-time detection data to obtain a system state estimated value of the optical fiber inertial navigation system, and carrying out state switching control on the optical fiber inertial navigation system according to the final switching control signal and the system state estimated value. The invention can improve the precision and stability of the optical fiber inertial navigation system in a complex environment, and can rapidly and accurately switch the working state of the optical fiber inertial navigation system when facing the dynamic environment change.

Inventors

ZHANG SHUAI
ZHANG QIANG
RONG CHENG

Assignees

河北中军智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. The state switching method of the optical fiber inertial navigation system is characterized by comprising the following steps of: acquiring real-time detection data and historical detection data of an inertial sensor in an optical fiber inertial navigation system, and performing fuzzy reasoning according to the real-time detection data and the historical detection data of the inertial sensor to obtain an initial switching control signal set; performing defuzzification processing on the initial switching control signal set to obtain a final switching control signal; Acquiring system historical state data of the optical fiber inertial navigation system at historical moment, and carrying out state prediction on the optical fiber inertial navigation system by adopting a Kalman filter according to the system historical state data and the real-time detection data to obtain a system state estimation value of the optical fiber inertial navigation system; and performing state switching control on the optical fiber inertial navigation system according to the final switching control signal and the system state estimation value.
2. The method of claim 1, wherein the inertial sensor comprises a gyroscope and an accelerometer, and the real-time detection data comprises a real-time angular velocity and a real-time acceleration, and the historical detection data comprises a historical angular velocity and a historical acceleration, respectively.
3. The method for switching states of an optical fiber inertial navigation system according to claim 1, wherein the inertial sensors are provided with a plurality of types, and correspondingly, the method for performing fuzzy reasoning according to real-time detection data and historical detection data of the inertial sensors to obtain an initial switching control signal set comprises the following steps: Obtaining detection errors and sensor noise levels of various inertial sensors according to the real-time detection data and the historical detection data of the various inertial sensors; Blurring processing is carried out on detection errors of various inertial sensors and sensor noise levels to obtain a blurring set; and carrying out reasoning processing on the fuzzy set based on a preset fuzzy rule base to obtain an initial switching control signal set.
4. A method for switching a state of an optical fiber inertial navigation system according to claim 3, wherein the final switching control signal is: ; Wherein S l (t) represents the first initial switching control signal in the initial switching control signal set, m l is a preset weight of the first initial switching control signal in the initial switching control signal set, and l is a natural number greater than 1.
5. The method for switching the state of the optical fiber inertial navigation system according to claim 1, wherein the system state estimation value is: x k =x k-1 +K k (y k -H k x k-1 ); Wherein x k-1 is the historical state data of the system, K k is Kalman gain ,K k =P k-1 H k T (H k P k-1 H k T +R k ) -1 ,P k-1 is an error covariance matrix of the historical moment, H k is a preset observation matrix, R k is a preset measurement noise covariance matrix of the inertial sensor, T is a transpose symbol, and y k is the real-time detection data.
6. The method for switching the state of the optical fiber inertial navigation system according to claim 1, wherein the method further comprises: and judging whether the inertial sensor is in an abnormal state according to the real-time detection data, and if so, switching the inertial sensor to a backup sensor.
7. A state switching system of an optical fiber inertial navigation system, comprising: the control signal computing module is used for acquiring real-time detection data and historical detection data of an inertial sensor in the optical fiber inertial navigation system, carrying out fuzzy reasoning according to the real-time detection data and the historical detection data of the inertial sensor to obtain an initial switching control signal set, and carrying out defuzzification processing on the initial switching control signal set to obtain a final switching control signal; The system state estimation module is in communication connection with the control signal calculation module and is used for acquiring system history state data of the optical fiber inertial navigation system at a history moment, and carrying out state prediction on the optical fiber inertial navigation system by adopting a Kalman filter according to the system history state data and the real-time detection data to obtain a system state estimation value of the optical fiber inertial navigation system; and the state switching control module is in communication connection with the system state estimation module and is used for carrying out state switching control on the optical fiber inertial navigation system according to the final switching control signal and the system state estimation value.
8. An electronic device, comprising: A memory for storing computer program instructions, and A processor for executing the computer program instructions to perform the operations of a method for switching the state of a fiber inertial navigation system according to any one of claims 1 to 6.
9. A computer program product comprising a computer program or instructions which, when executed by a computer, implement a method of switching the state of a fibre optic inertial navigation system as claimed in any one of claims 1 to 6.
10. A computer readable storage product having instructions stored thereon which, when executed on a computer, perform a method of switching the state of an inertial navigation system according to any one of claims 1 to 6.

Description

State switching method and system of optical fiber inertial navigation system, electronic equipment and product Technical Field The invention belongs to the technical field of inertial navigation, and particularly relates to a state switching method, a state switching system, electronic equipment and a state switching product of an optical fiber inertial navigation system. Background An optical fiber inertial navigation system (hereinafter referred to as an "optical fiber inertial navigation system") is widely used as an inertial measurement device with high precision and high reliability in various fields such as aviation, aerospace, ocean navigation, geological exploration and the like, and is mainly used for measuring angular velocity and linear acceleration through an optical fiber interference effect so as to provide navigation information such as heading, position, speed and the like. With the progress of technology, the optical fiber inertial navigation system has gradually developed towards miniaturization, low power consumption, low cost and the like, and the precision requirement under the high dynamic environment is also continuously improved. Therefore, how to maintain high accuracy and high stability of the fiber inertial navigation system in complex and dynamic environments becomes a challenge in the prior art. In the existing optical fiber inertial navigation system, the state switching technology is one of the cores for ensuring the high-efficiency operation and accurate navigation of the system, and can adapt to different task demands or improve the performance of the system by switching between different working modes or states. In the conventional state switching method, for example, a method for performing state switching by using a long-endurance inertial navigation system disclosed in chinese patent publication No. CN105424038a, when performing state switching, a hard preset threshold value or a decision rule based on a sensor signal is mainly relied on, specifically, the system sets a certain threshold value according to an output value of a sensor, such as an angular velocity and an acceleration, and when the output of the sensor exceeds the threshold values, the system performs a state switching action. However, in using the prior art, the inventors found that there are at least the following problems in the prior art: First, the conventional state switching method has a problem of inaccurate switching timing. Specifically, due to environmental changes and characteristics of the sensor, dynamic environmental interference or errors may occur in actual operation of the optical fiber inertial navigation system, and the interference may cause larger errors of sensor output, and cause error or hysteresis of threshold judgment, thereby affecting the accuracy of the system. Second, state-of-the-art switching methods mostly rely on fixed threshold settings, which cannot be adapted to complex and diverse environments. Specifically, when external conditions change, the fixed threshold cannot respond quickly, thereby causing insensitivity of system state switching and even misjudgment of the existing state, and thus causing fluctuation of navigation accuracy. Disclosure of Invention The invention aims to solve the technical problems at least to a certain extent, and provides a state switching method, a system, electronic equipment and a product of an optical fiber inertial navigation system. In order to achieve the above purpose, the present invention adopts the following technical scheme: in a first aspect, the present invention provides a method for switching states of an optical fiber inertial navigation system, including: acquiring real-time detection data and historical detection data of an inertial sensor in an optical fiber inertial navigation system, and performing fuzzy reasoning according to the real-time detection data and the historical detection data of the inertial sensor to obtain an initial switching control signal set; performing defuzzification processing on the initial switching control signal set to obtain a final switching control signal; Acquiring system historical state data of the optical fiber inertial navigation system at historical moment, and carrying out state prediction on the optical fiber inertial navigation system by adopting a Kalman filter according to the system historical state data and the real-time detection data to obtain a system state estimation value of the optical fiber inertial navigation system; and performing state switching control on the optical fiber inertial navigation system according to the final switching control signal and the system state estimation value. In one possible design, the inertial sensor includes a gyroscope and an accelerometer, and the real-time detection data includes a real-time angular velocity and a real-time acceleration, respectively, and the historical detection data includes a historical angular velocity and a histor