The method for determining navigational parameters managed mobile objects and device for its implementation

 

The invention relates to the field of instrumentation and can be used to create inertial control systems to determine the navigation parameters controlled moving objects. The sensing element (SE) strapdown management system installed at the site in gimbals, rotate the platform relative to the object at a speed close to the speed of the object, but opposite in sign, measure the parameters of the translational and rotational motion of the platform to measure the angular position of the object relative to the platform, processes the received measurements and calculate the navigation object motion parameters in inertial space. In the device of the inertial system implementing this method, in gimbals establish the site, which include three accelerometers and three angular velocity sensor, and on the axis Kardanov suspension attach the angle sensor and the engine forcibly rotate the platform engine with a speed close to the speed of rotation of the control object, but in the opposite direction of its rotation, process the signals SE and define the computing device, the motion parameters obyazatelno base coordinate system and signal coming from the angle sensor mounted on the axis of the suspension pad. The technical result is to increase the detection accuracy. 2 S. and 3 C.p. f-crystals, 2 Il.

The invention relates to the field of instrumentation and can be used to create inertial control systems to determine the navigation parameters controlled moving objects.

Under navigation settings will be understood hereinafter, the components of the linear accelerations, velocities and coordinates, and the angular velocities and coordinates managed movable object in the base coordinate system.

Currently known methods of constructing inertial systems management platform (PINS) and strapdown (beans) types. In systems platform type sensors (accelerometers and gyro units) are mounted on a gyrostabilized platform (GSP), located in the gimbals. The angular position of the SHG is stabilized relative to the base frame, thereby creating favorable conditions for the operation of sensitive elements (SE). The parameters of motion of the center of mass is determined by solving the navigation setting angles, installed on the axes Kardanov suspension of SHGs.

In strapdown systems SE (accelerometers and angular velocity sensors) mounted on the housing of the control object.

In [1, pages 30-32] (see S. S. Rivkin, H. M. Berman, I. M. Windows. Determination of the orientation parameters of the object strapdown inertial system. - SPb: SSC RF - CSRI “Elektropribor”, 1996. - 226 S. ISBN 5-900780-10-4) indicates that, depending on measured values and used the SE can distinguish three possible variants of strapdown systems, which are measured: linear acceleration and the orientation angles of the object; linear acceleration and angular velocity of the object; linear acceleration of the object. Practically implemented strapdown navigation and orientation of moving objects built according to the second variant, in which there are rigidly fixed on the object three angular velocity sensor (DOS) and three accelerometers (A). With the help of Dosov and accelerometers to determine the absolute angular velocity and the apparent acceleration of the object in the associated coordinate system. The testimony of Dosov used to determine the angular position of the object relative to the base reference system, and to convert the apparent acceleration of the related the systems have several advantages compared to the platform, namely, the absence of complex Electromechanical systems SHGs, reduce size, weight, power consumption and others.

However, strapdown systems have several disadvantages, which include:

1) the complexity of the requirements to sensitive items in terms of ensuring accuracy characteristics in a large range of changes of the measured parameters;

2) with direct mounting SE onboard the object they are more strong perturbing effect than when set to SHGs;

3) is much more computationally expensive due to the need for analytical modeling of the reference coordinate system and converting signals of the accelerometers and Usov;

4) the need to develop special methods for initial orientation and calibration SE;

5) the complexity of generating output signals.

To improve the accuracy of the beans leading firms in the U.S., in particular, Sperry, together with the firm Honeywell, when creating ANT "MARLIN", use the method of reversal and stabilization unit laser Usov (LH) along two axes, the use of the Kalman filter 14-th order and other

The present invention is to increase the Oia.

In the present invention this is achieved:

- creating more comfortable conditions for SE Binns;

- the ability to calibrate the SE during preflight preparation.

Creating a more comfortable work environment SE is achieved by reducing the operating angular velocity unit SE by SE installation at the site in gimbals, allowing it to rotate relative to the body of the object with angular velocity value is close to the absolute angular velocity of the object, but in the opposite direction.

This is done by forced rotation of the platform engine (sensors) are installed on the axles of the suspension pad. Signals to the motors rotation of the pad is formed at the computing device according to the signals from the speed sensors installed on the housing of the control object.

The gimbal can be uniaxial, biaxial or triaxial depending on the requirements of the control object, determine the nature of the motion of an object around its center of mass. The angular position of the object determined by summing the angles of rotation of the platform defined by the computing device, information from sensors of angular velocity, is from the angle sensors, installed on the axles of the suspension platform.

The decrease in the angular speed of rotation of the platform with SE beans to a small angular velocity allows to reduce the requirements for accuracy characteristics SE in individual parameters by almost two orders of magnitude.

In this case, the main requirement Dusam Binns is to provide high accuracy when working in a small range of angular velocities. This creates favorable conditions for the operation of the accelerometers. Significantly reduced methodological and computational errors when determining the current value of the matrix (quaternion), characterizing the position associated with SE Binns coordinate system relative to the base coordinate system. Reduced error conversion current apparent object motion parameters of the coupled system in the underlying inertial coordinate system. Significantly reduces the errors that accumulate during the integration of the angular velocities of the site on which there are SE beans.

It also improves the accuracy of the definitions of the angular position of the object, since it is determined by the summation of small angles of rotation of the platform with the rotation angle of the object relative to the platform, which are determined by the positional sensors is potentially integrate the full speed of the object is not required. It should be emphasized that the stringent requirements for precision angular rate of turn of the platform relative to the body of the object is not presented. Note also that the freedom of angular movement of the platform relative to the object even in a limited range along two orthogonal axes allows Autonomous align SE Binns and their initial exhibition relative to the base coordinate system by the method of vector approval immediately prior to movement of the object and thereby to improve the accuracy of beans.

In recent time bins have found an extensive use laser sensors of angular velocity, is called laser gyroscopes.

In real conditions the output characteristic of the laser gyro is non-linear and in General has hysteresis properties. This circumstance limits the ability to measure small angular velocities, which is explained by the phenomenon of “capture frequencies”. This phenomenon lies in the fact that at a certain speed of rotation LH, when the frequencies of the counterpropagating beams differ little from each other, violates the linearity of its output characteristic, and when the rotation speed is less than a certain criticalp, slightly higher than the angular velocity of the “dead zone”. This method allows not only to eliminate the “dead zone”, but also to make the device sensitive to the sign of the angular velocity. The main disadvantage of this method is the high requirements to the stability of the speed of the forced rotation.

In proposed method of the invention exclusion zone of capture frequencies” is achieved by introducing stand in the angular velocity of rotation of the platform. This is achieved by rotation of the platform relative to the object with angular velocity equal in magnitude and opposite in sign to the angular velocity of rotation of the object relative to inertial space taking into account the angular velocity of the standp. In this case, the angular velocityrotation of the platform, and, consequently, LH, relative to inertial space will be approximately equal to the angular velocity of coastersp.

The difference signal is, the signals proportional to the angular velocity of the standp can be used as feedback for generating signals for the motors rotation sites, with the aim of reducing this difference to zero. It should be emphasized again that there are no high requirements on the stability characteristics of the system elements of the rotation of the pad in the present invention is not imposed. It is important to know the exact value of the angular velocity of rotation of the platform, which is used in the computing device to determine the matrix (quaternion), characterizing the position associated with SE Binns coordinate system relative to the base coordinate system.

Unlike PINS and beans offers a new way of building management systems, where instead of stabilized with high accuracy platform with the attached gyro units and accelerometers, on the Playground is set to block sensitive elements of the beans.

The proposed method of determining the navigation parameters of a rapidly rotating around the longitudinal axis of the projectile illustrated device, in which a block of SE Binns installed at the site in uniaxial gimbals (Fig.1).

On the site (2), rotating the accelerometer Ax, Ay, Az (3) and three sensors absolute angular velocity DOSX, DOSY, DOSZ(10), power supply (4).

Measuring axis accelerometers and Dosov oriented along the axes of the instrument coordinate basis OXYZ, rigidly connected to the platform.

Accelerometers provide information about projections of the apparent accelerationon the axis X, Y, Z.

Dusy measured projectionX,Y,Zthe absolute angular velocitysites on the axis of the trihedron XYZ.

ProjectedX,Y,Zthe computing device (9) determine the transformation matrix by using matrix differential equation Poisson:

where C is the orthogonal matrix of the guides of the cosines of the rectangular coordinate system YZ associated with the platform (2) with respect to rectangular axes of the base coordinate systemis determined by the formula:

On Board compute the navigation parameters of the projectile using the basic equation of inertial navigation:

where- the apparent acceleration in the projections on the axes of the inertial coordinate system;

is the vector position of the object in the inertial coordinate system;

- acceleration of the Earth's gravitational field.

Turn the pad relative to the body of the projectile using the motor (6) with gear (8), which provides on the output shaft to the desired relative rate of turn.

To provide a control signal to the motor rotation sites on the body of the projectile is hardwired additional DOSX1(7), which measures absolute angular velocity of rotation of the projectileX1around the axis of X1. The signal from DOSX1proportional toX1taking into account signal coastersp via the amplifier (5) is �p://img.russianpatents.com/chr/969.gif" border="0">X1+p and return them to sign. In this case, DOSX(10) mounted on the platform, must show the magnitude of the angular velocity of rotation of the platform equal to -p. as a result, all items installed on the platform (2) will rotate relative to inertial space with relatively low angular velocity.

The angular position of the projectile relative to the inertial coordinate system is determined by the formula:

where C is the matrix computed by the dependence (1);

A - orthogonal matrix guides of the cosines associated with the projectile rectangular coordinate system X1Y1Z1with respect to the axes of the coordinate system XYZ related site, i.e.,

where- the angle measured by the angle sensor (11).

A device for determining navigation parameters controlled moving objects (Fig.2) contains a computing device (9) installed on the housing of the control object (1), dash pad (2) installed on the body of the object (1) using cardan axles the numeral device (9), the angle sensor (11) mounted on the axis Kardanov suspension, the output of which is connected to the input computing device (9), accelerometers (3) and the angular velocity sensors (10), mounted on the instrument platform (2), the outputs of which are connected to the input computing device (9), motor (6) mounted on the axis Kardanov suspension, the inlet of which is connected through an amplifier (5) with the output of the computing device (9), the output of the computing device (9) is connected to the input of consumer navigation parameters (13) controlled rolling object.

Computing device (9), processing the signals from the angular rate sensor (7), angle sensor (9), accelerometers (3), angular velocity sensors (10), produce signals to control the instrument platform (2) with a motor (6), and also produce signals proportional navigation parameters managed movable object, for onboard consumers (13).

When driven movable object rotates with a high speed simultaneously around two or three axes, the number of axles Kardanov suspension and the number of additional speed sensors installed on the housing of the control object, compliance) ground beans.

X1, Y1, Z1- the coordinate system associated with the housing shell.

X1,X,Y,Z- angular velocity, measured Dasami.

projection of the apparent acceleration measured by the accelerometers.

1. Case managed movable object (building shell).

2. Instrument ground beans.

3. Accelerometers beans: Ax, Ay, Azmounted on the instrument platform.

4. The secondary power source beans.

5. The amplifier system of rotation of the instrument platform.

6. The engine system of rotation of the instrument platform.

7. The sensor of angular velocity DOSXImounted on the body of the projectile.

8. Gear motor system of rotation of the instrument platform.

9. Computing device (on-Board digital computer - computer).

10. The sensors of angular velocity bins: DOSX, DOSY, DOSZmounted on the instrument platform.

11. The angle sensor housing managed movable object (projectile)

In Fig.2 mark:

1. Case managed movable object (building shell).

2. Instrument ground beans.

3. Accelerometers beans: Ax, Ay, Azmounted on the instrument platform.

5. The amplifier system of rotation of the instrument platform.

6. The engine system of rotation of the instrument platform.

7. The sensor of angular velocity DOSXImounted on the body of the projectile.

9. Computing device (on-Board digital computer - computer).

10. The sensors of angular velocity bins: DOSX, DOSY, DOSZmounted on the instrument platform.

11. The angle sensor housing managed movable object (projectile) on the instrument platform.

13. On-Board user navigation parameters.

Claims

1. The method for determining navigational parameters controlled moving objects, consisting in processing, using the computing device signals generated by the accelerometers and angular velocity sensors installed in the building managed movable object, wherein the forcibly rotate the instrument platform, which is equipped with accelerometers and angular sensors is oresti rotation controlled movable object, but in the opposite direction, measure the apparent acceleration of the instrument platform using signals generated by the accelerometers measure the absolute angular velocity of the instrument platform using signals generated by the angular velocity sensors mounted on the instrument platform, measure the angular position of the body controlled movable object relative to the dashboard site by using a signal generated by the angle sensor mounted on the suspension axis of the instrument platforms, processes the received signals in the computing device, and calculates the navigation settings for a managed movable object in the base coordinate system.

2. The method according to p. 1, namely, that summarize the signals proportional to the rotation angle of the instrument platform relative to the base coordinate system, with the signals generated by the angle sensors, for detection of signals proportional to the orientation parameters of the control object.

3. The method according to p. 1, namely, that summarize the signals generated by additional sensors of angular velocity, is mounted on the chassis object management signals “stand”, stored in the memory of the computing device, determining siesto, exceeding the threshold of dead zone sensors of angular velocity.

4. A device for determining navigation parameters controlled moving objects, containing accelerometers, speed sensors and a computing device in a housing managed movable object, characterized in that on the dash pad has three accelerometers and three angular rate sensor, the outputs of the accelerometers and angular velocity sensors are connected to the input computing device, instrument Playground installed in housing managed movable object in the suspension, providing rotation of the instrument platform on the hull managed movable object, on the suspension axis of the instrument platform is installed angle sensor for measuring the angular position of the body controlled rolling of the object relative to the instrument platform and engine for forced rotation of the instrument platform on the hull managed movable object, the output of the angle sensor is connected to the input computing device, the input of the engine is connected through an amplifier with the output of the computing device, the outputs of the computing device is connected to the input side of POTREBITEL on the case managed a mobile object installed additional angular rate sensor, the output of which is connected to the input computing device to calculate the magnitude and direction of the rotation speed of the instrument platform.



 

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