Integrated satellite inertial-navigational system

FIELD: the invention refers to navigational technique and may be used at designing complex navigational systems.

SUBSTANCE: an integrated satellite inertial-navigational system has a radioset connected through an amplifier with an antenna whose outputs are connected to a computer of the position of navigational satellites and whose inputs are connected with the block of initial installation of the almanac of data about satellites' orbits. The outputs of this computer are connected with the inputs of the block of separation of radio transmitting satellites. The outputs of this block are connected with the first group of inputs of the block of separation of a working constellation of satellites whose outputs are connected with inputs of the block of computation of a user's position. The system has also a meter of projections of absolute angle speed and a meter of projections of the vector of seeming acceleration which are correspondingly connected through a corrector of an angle speed and a corrector of seeming acceleration with the first group of inputs of the computer of navigational parameters whose outputs are connected with the first group of the outputs of the system. The system also includes a computer of initial data which is connected with three groups of inputs correspondingly to the outputs of the meter of projections of absolute angle speed and the meter of projections of a vector of seeming acceleration and to the outputs of a block of integration of information and also to the outputs of the block of computation of a user's position. At that part of the outputs of the computer of initial data are connected to the inputs of the computer of navigational parameters and all outputs are connected to the first group of the inputs of the block of integration of information whose second group of inputs is connected with the outputs of the corrector of an angle speed and the corrector of seeming acceleration, and the third group of inputs is connected to the outputs of the block of computation of a user's position. One group of the outputs of the block of integration of information is connected to the second group of the inputs of the block of selection of a working constellation of satellites, the other group of the outputs are directly connected to the second group of the outputs of the system, the third group of the outputs are connected to the inputs of the corrector of seeming acceleration and the fourth group of the outputs are connected with the inputs of the corrector of an angle speed and the second group of the inputs of the computer of initial data.

EFFECT: increases autonomous of the system, expands composition of forming signals, increases accuracy.

4 dwg

 

The invention relates to a navigation technique and can be used for the design of integrated navigation systems for different vehicles.

One of the main requirements for navigation systems for various vehicles is their autonomy while providing sufficient accuracy to ensure the safety of vehicle control.

Known system [1], which contains the antenna is connected through an amplifier with a four-channel radio, the outputs of which are connected to the first group of inputs of the transmitter location navigation artificial Earth satellites (AES), the second group of inputs connected to the outputs of block initial installation of the almanac data of the satellite, and the third input of said transmitter is connected to the output of the timer associated with the respective output of the receiver. The outputs of the transmitter location of the satellite is connected to the first group of inputs of the block selection redividing satellites whose outputs are connected to inputs of block selection constellation of satellites. Outputs block selection constellation of satellites connected to the inputs of the unit for computing the location of the user whose outputs are connected to inputs of the display. In addition, the system contains the block input of initial data about their own position, is connected to the output of the and to the inputs of the block rough calculation of the location of the user, the outputs of which are connected with the other group of inputs of the block selection redividing satellites. In case of loss of radio contact with one of the satellites of the working constellation entered the block of the periodic exhibition pre-empt time output connected to the third inputs of the block rough calculate its own location system and transmitter location satellite, and the unit switch to another satellite.

This system solves the problem of determining the user's location in three-dimensional space, if it is reliable radiocontact and accurate information from all four satellites selected work constellations, however, search, seizure and maintenance of this constellation spend considerable time due to inaccurate determination of the starting location of the user with the error component of hundreds of kilometers.

Closest to the proposed system to the technical essence is the system [2], which contains the radio is connected through an amplifier to the antenna, and outputs connected to the transmitter location navigation satellites that are connected to other inputs to block the initial setup of the almanac data about the orbits of the satellites, and the outputs of the calculator connected to the inputs of block allocation redividing satellites. The outputs of this block are connected to the inputs of the block allocation desktop POPs is ezdia satellites, United outputs to the inputs of the block of the transmitter location of the consumer. In addition, the system includes a meter projection of absolute angular velocity, consisting of three orthogonal set of laser gyroscopes, meter projections of the apparent acceleration, including three accelerometers mounted on the respective axes of the laser gyro. These measures through the correction blocks connected to the computer navigation parameters, the outputs of which are connected through the third block correction system outputs and display outputs in this part of the system outputs connected to the inputs of block allocation redividing satellites, as part of the outputs of the transmitter navigation parameters connected to the first group of inputs of the analyzer accuracy of the information, another group of inputs connected to the outputs of the unit for computing the location of the consumer. The outputs of the analyzer through the power of the keys are connected with the inputs of the navigation filter, the first group of outputs of which are connected respectively to the inputs of two blocks of correction, and the second group of outputs connected to the inputs of the third error correction block.

System known quite accurately solves the navigation problem, but it requires input of initial data on latitude, longitude, altitude, vehicle location and orientation considers the flax Meridian - the azimuth and does not ensure the formation of an output signal proportional to the motion parameters obtained on the basis of only the inertial information. Expanded output signals are required, in particular, when using the system in flight-navigation complex aircraft.

The present invention is to increase the autonomy of the system, the expansion of the generated signals and improved accuracy.

To achieve the objectives of the proposed integrated inertial-satellite navigation system that contains multichannel receiver, the entrance through which the amplifier is connected with the antenna, and its outputs connected to the first group of inputs of the transmitter location satellites, block initial installation of the almanac data about satellites, connected the outputs to the second group of inputs of the transmitter of the satellite locations, the timer output connected to the clock input of the transmitter satellite locations, and its outputs connected to inputs of unit selection redividing satellites connected the outputs to the inputs of the block selection constellation of satellites whose outputs are connected to inputs of the unit for computing the location of the user and the meter projections the absolute angular velocity and a measure of the projections of the vector of the apparent acceleration is podklyuchenie, respectively, by the offset of the angular velocity and the offset of the apparent acceleration to the computer navigation parameters, to which have been added to block integration of information and computer initial data inputs from the first to the third of which is connected to the same inputs of the offset of the angular velocity, and outputs meter projection of absolute angular velocity, the inputs of the fourth and sixth respectively connected to the outputs of the meter projection vector of the apparent acceleration and with inputs from the first to the third corrector apparent acceleration, while the second group of inputs connected to inputs from the fourth to the sixth of the offset of the angular velocity and is connected to the outputs from the thirteenth to the fifteenth block integration of information, and the third group of three inputs connected to the inputs from the seventeenth to the nineteenth century unit complexation information and connected to the outputs from the first to the third unit for computing the location of the user, the remaining outputs of which four through six are connected with the inputs from the twentieth to the twenty-second block complexation information directly, while the outputs of the transmitter, the initial data from the fourth to the ninth associated with the second group of inputs of the six computer navigation parameters and inputs from the tenth through the fifteenth block complexation information, and outputs the first to the third directly connected with the inputs of the seventh to ninth unit to which plexitube information the first group of inputs from the first to the sixth of which is connected to the same inputs of the transmitter navigation parameters, nine outputs of which are connected with the same system outputs directly and respectively connected to the three outputs of the offset of the angular velocity and the three outputs of the corrector apparent acceleration, and the sixteenth input is connected with the output of the timer, while the outputs of the block integration of the information from the first to the third is connected with the second group of inputs of the block selection constellation of satellites, the outputs from the sixteenth to the eighteenth connected respectively to the inputs from the fourth to the sixth corrector apparent acceleration, and outputs from the fourth to the twelfth connected to the outputs of the system from the tenth on the eighteenth directly.

Figure 1 shows the block diagram of the proposed system; figure 2 - block diagram of the algorithm implemented in the computer of the initial data in figure 3 - block diagram of the algorithm implemented in the computer navigation parameters; figure 4 - block diagram implemented in the block complexation information algorithm generalized filtering.

Internal block structure of the correction is shown directly in figure 1.

According to the prototype as a measure of the three projections of the absolute angular velocity and the apparent acceleration can be used for the Vanir, for example, three single-axis laser gyros and three accelerometers, the axes of which form a single orthogonal coordinate system associated with the media system.

The remaining blocks of the proposed system implements the algorithms of the prototype.

In accordance with figure 1, the system includes a multichannel radio 1 (RP), which is connected through the amplifier 2 (Rd) with the antenna 3, and outputs connected to the first group of inputs of the transmitter 4 satellite locations (IUD), the second group of inputs connected to the outputs of block 5 initial setup of the almanac data about satellites (BOATS), while the clock input of the transmitter 4 is connected to the output of the timer 6, and its outputs connected to inputs of block 7 allocation redividing satellites (BWRS). The output unit 7 is connected with the first group of inputs of block 8 of the choice of working constellation of satellites (BWRS), the second group of inputs of which are connected to the outputs from the first to the third block 9 integration of information (BCI). The output unit 8 is connected to the input unit 10 calculates the user's location (BUMP), connected to three outputs from the first to the third to the third group of inputs of the transmitter 11 initial data (GNI) and to the inputs from the seventeenth to the nineteenth century block 9 integration of information, and three outputs from the fourth to the sixth connected to the inputs of the block 9 from the twentieth to the twenty watts is Roy. The first group of inputs of the block 9 integration of information from the first to the third connected to the same inputs of the transmitter 12 of the navigation parameters (GNP), the outputs of which are connected with the same system outputs, and connected to the same outputs of the corrector 13 angular velocity (KUS), the first three input from six of which are connected to the same outputs of the meter 14 projection of absolute angular velocity (IPAWS) and inputs from the first to the third transmitter 11 initial data, and inputs from the fourth to the sixth corrector 13 are connected respectively to the inputs of the transmitter 11 of the seventh to ninth and connected respectively to the outputs the thirteenth through the fifteenth block 9 integration of information. Inputs from the fourth to the sixth block 9 integration of information connected with the same inputs of the transmitter 12 of the navigation parameters and connected respectively to the outputs of the corrector 15 apparent acceleration (MCC), the first three inputs of which are connected with the fourth, fifth and sixth inputs of the transmitter 11 of the initial data and is connected to the same outputs of the meter 16 projections of the vector of the apparent acceleration (IPWSO), and inputs from the fourth to the sixth corrector 15 connected respectively to the outputs from the sixteenth to the eighteenth block 9 integration of information. The outputs from the first to the t the th transmitter 11 initial data are connected to the inputs of the seventh to ninth unit 9 integration of information and the outputs from the fourth to the ninth connected to the inputs from the seventh through the twelfth transmitter 12 of the navigation parameters and inputs from the tenth through the fifteenth block 9 integration of information, sixteenth input of which is connected with the output of the timer 6, and the outputs from the fourth to the twelfth directly connected to the outputs of the system from the tenth to the eighteenth.

The proposed integrated inertial-satellite navigation system (IISS) works as follows.

The initial information for generating output parameters IISNS signals from three related to the airframe and currently installed orthogonal relative to each other gyroscopes included in the meter 14 projection of absolute angular velocity, and the signals from three similarly spaced accelerometers included in the meter 16 projections of the vector of apparent acceleration.

The signals from the gyroscopes, are proportional to the projections of the vector of absolute angular velocity ωx, ωy, ωz, and the signals from the accelerometers are proportional to the projections of the vector of apparent acceleration ax, ay, az, proceed in the transmitter 11 of the initial data and through the corrector 13 angular velocity and the offset 15 of the apparent acceleration in block 9 of the aggregation of information, and the transmitter 12 of the navigation parameters.

In GNI also receives signals about antionline latitude ϕ with a height hc and the longitude λthe plane of the block 10 calculate the location of the user receiver satellite data, as well as the signals of the measurement errors of the projections of the angular velocity Δωx, Δωy, Δωz from the KJV to be stored in non-volatile memory block. At the initial moment of time, these signals are not available.

In GNI prepares initial data for the BCI and GNP according to the following algorithm (see figure 2). Signals ϕ0, h0, λ0, is proportional to the latitude, altitude and latitude of the aircraft, obtained by averaging the same name of the satellite signals for the time period of data accumulation. Signals ψ0, θ0, γ0, respectively, proportional to the initial values of the angle of heading, pitch and roll of the aircraft, determined by algorithm

where,,- averaged for the time period of data accumulation signals ax, ay, az;

- horizontal projection of the vector of the measured angular velocity with regard to the initial values of measurement errors;

,, signals ωx, ω, ωZ, averaged for the time period of data accumulation;

Δωx 0, ΔωV0, Δωz0 - measurement errors of the projections of the angular velocity obtained at the previous turning the system on and read from the nonvolatile memory GNI. Accounting for measurement errors in the angular velocity stored in non-volatile memory in the previous turn on the system, improves the accuracy of gyrocommutative in the current is turned on and, accordingly, the accuracy of the functioning of the entire system.

In KUS is the account of measurement errors in the angular velocity of rotation by summing the signals coming from IPAWS, with signals proportional to the errors of the gyros, which are evaluated in the KJV.

In the MCC is considering measurement errors of the apparent acceleration by summing the signals coming from IPUCU, with signals proportional to the errors of the accelerometers measured in the KJV.

In GNP on the signals from the offsets of the angular velocity and the apparent acceleration, taking into account the initial data received from GNI, is the operational calculation of the navigation parameters: the angles of orientation of the aircraft relative to the geographic Meridian ψ and the plane of the local horizon θ, γ; North vN, vh vertical and Eastern vE components of the relative velocity, the post is telego movement of the aircraft, as well as its geographical coordinates ϕ, h λ. The specified parameters in the form of corresponding signals are issued to the external system.

The order of formation of the output signals of GNP next (see figure 3). All calculations associated with the processing of signals from the blocks 13, 15, are carried out for the variables characterizing the state of the object in the starting inertial coordinate system coinciding with the geographical in the starting point, according to the following algorithm.

At the initial moment of time signals ψ0, θ0, γ0 is calculated initial value of the quaternion orientation Λ0={λ0that λ1that λ2that λ3}:

Further, according to the formula of addition of rotations cycles account n=1, 2, 3, ... is computed quaternion current orientation of the plane

in which the quaternion ΔΛ is defined as the result of integrating equationon the quantum account with the initial condition ΔΛ(0)={1,0,0,0}, and ω^ is formed from the signals ωx^, ωy^, ωz^.

Next, the adjusted vector of the apparent acceleration a^composed of signals ax^, ay^, az, pereproektiruetsya in the starting of inertial the th coordinate system in accordance with the standard conversion is calculated from the true accelerationby compensating in the readings of the accelerometers of the vector of gravitational acceleration g', calculated according to the mathematical model taking into account the current location of the plane and projected onto the axis start coordinate system.

The calculation of the vector current speed is achieved by integrating equation

with the initial value V'(0)={0,0, Ω·R0cosϕ0}, where Ω - the angular velocity of the rotation of the Earth, R0- the length of the radius vector connecting the center of the Earth with the start point.

The location of the aircraft in the starting coordinate system is calculated by integrating equation

with zero initial value of the vector r'.

The formation of the output signal of the transmitter 12 of the navigation parameters ψ, θ, γ, ϕ, h λ, vN, vh, vE carried out taking into account the obtained values of the quaternion orientation Λ, the vector of the absolute velocity v' and the radius-vector r' in the well-known formulas.

Received by the antenna 3, the navigation signals through the amplifier 2 receives the multiband radio 1, after which processing returns information about the satellites in the transmitter 4 satellite locations. The transmitter 4 through the data about the orbits of the x satellites issued by the unit 5 information from radio 1 and the signal of the timer 6, calculates the location of the satellites, which combination is then selected group that provides the best accuracy of the navigation solution.

This is done in block 8 of the choice of working constellation of satellites, the inputs of which, in addition to satellite data from the block 7, proceed from block 9 signals ^ϕ, ^h, ^λthat is proportional to the geographical coordinates of the aircraft derived from inertial data and their corresponding a priori estimate in the Kalman filter at the time of arrival of the satellite signals. Based on these signals in the block 8 is a rational choice of the working constellation of satellites when the number redividing satellites greater than 4, which increases the reliability and accuracy of subsequent navigation solutions.

The algorithm for this choice is the following:

1) estimated position of the aircraft (according to the signals from the KJV) and satellites (signals of 4) are determined by the calculated distance to each of the navigation satellites, as well as the corridors of possible values of pseudorange;

2) taking into account all available information about the distribution environment of the navigation signal, the States of time scales and so on. clarifies the results of measurement of pseudorange for each navigation satellite and determined Neuve the conditions of measurement as the difference between the measured (including revisions) and the calculated values;

3) Compare the values of the residuals of the measurements with the threshold level (based on the corridor of possible values), we conclude that the inclusion of the measurement result in the further processing on the basis of which is formed a working constellation of navigation satellites.

Further information about the satellites included in the working constellation, enters the unit 10 calculates the user's location, which produce signals proportional to the coordinates of the plane ϕC, hc, λand with his speed vn, vh, ve. All these signals are in the KJV for the correction of navigation parameters. In addition, signals ϕc, hc, λc come in GNI for the initial exhibition of the aircraft when the system is turned on.

The integration of inertial and satellite data is carried out in block 9 of the aggregation of information, the input of which receives signals adjusted to the angular velocity of rotation of the corrector 13 angular velocity, corrected the apparent acceleration of the corrector 15 apparent acceleration, as well as signals from the block 10 satellite receiver information about the location and speed of the aircraft and the second signal marks from the timer 6 to synchronize the inertial and satellite information. After turning on the system in block 9 of the aggregation of information disposable also receives signals from GNI location JG is the ϕ 0, h0, λ0, orientation of the plane ψ0, θ0, γ0 and the errors of gyros Δωx0, Δωy0, Δωz0. The output signals of the block formed in accordance with the algorithm of the generalized Kalman filter block diagram is shown in figure 4, and include the corrected value for the location of the aircraft ϕ^, h^, λ^, aircraft speed vN^, vh^, vE^, the orientation of the plane ψ^, θ^, γ^given in the external system, and the signals proportional to the measurement errors of gyros Δωx, Δωy, Δωz coming in corrector 13 for the correction of the current measurements of angular velocity and in the transmitter 11 to save in nonvolatile memory, and the measurement errors of accelerometers Δax Δay, Δaz entering the corrector 15 for the correction of the current measurements of the apparent acceleration. In addition, the output of the BCI are formed from unadjusted satellite information signals ^ϕ, ^h, ^λreceived in block 8 to optimize the selection of the working constellation.

Thus, due to the expansion of the output signals of the system, which includes, in addition to those in the prototype, the adjusted orientation angles of the aircraft, as well as the coordinates and speed of the aircraft, computed without satellite correction information increases the value of the system from the point of view of its use is increased in the composition of the flight-navigation complex plane. Thanks to the introduction of the system evaluator initial data, eliminating the need to enter the initial data from the outside, increases its autonomy. In addition, stored in non-volatile memory of the transmitter, the initial data of the measurement errors of the angular velocity obtained in a previous run of the system, and their use in the current run improves the accuracy of the navigation system. Introduction feedback from unit to integration of information to the block selection working constellation of satellites, which allows the selection of the most reliable satellite information if there is excessive redividing satellites, increases the reliability and accuracy of navigation definitions of the system as a whole.

Sources of information

1. The EPO application No. 0353849, G 01 S 5/14, 1989.

2. RF patent №2087867, G 01 C 23/00, 1993 prototype.

Integrated inertial-satellite navigation system that contains multichannel receiver, the entrance through which the amplifier is connected with the antenna, and its outputs connected to the first group of inputs of the transmitter location satellites, block initial installation of the almanac data about satellites, connected the outputs to the second group of inputs of the transmitter of the satellite locations, the timer output connected to the clock input of the transmitter satellite locations, which its outputs connected to inputs of unit selection redividing satellites, connected the outputs to the inputs of the block selection constellation of satellites whose outputs are connected to inputs of the unit for computing the location of the user and the meter projection of absolute angular velocity and measuring the projection of the vector of apparent acceleration connected respectively through the corrector angular velocity and the offset of the apparent acceleration to the computer navigation parameters, characterized in that it additionally introduced block integration of information and computer initial data inputs from the first to the third of which is connected to the same inputs of the offset of the angular velocity, and outputs meter projection of absolute angular velocity, the inputs of the fourth and sixth respectively connected to the outputs of the meter projection vector of the apparent acceleration and with inputs from the first to the third corrector apparent acceleration, while the second group of inputs connected to inputs from the fourth to the sixth of the offset of the angular velocity and is connected to the outputs from the thirteenth to the fifteenth block integration of information, and the third group of three inputs connected to the inputs from the seventeenth to the nineteenth century block integration of information and connected to the outputs from the first to the third unit for computing the location of the user, the remaining outputs of which the fourth is estay are connected with the inputs from the twentieth to the twenty-second block complexation information directly, when the transmitter outputs the initial data from the fourth to the ninth associated with the second group of inputs of the six computer navigation parameters and inputs from the tenth through the fifteenth block complexation information, and outputs the first to the third directly connected with the inputs of the seventh to ninth unit of the aggregation of information, the first group of inputs from the first to the sixth of which is connected to the same inputs of the transmitter navigation parameters, nine outputs of which are connected with the same system outputs directly and respectively connected to the three outputs of the offset of the angular velocity and the three outputs of the corrector apparent acceleration, and the sixteenth input is connected with the output of the timer, when the outputs of the block integration of the information from the first to the third is connected with the second group of inputs of the block selection constellation of satellites, the outputs from the sixteenth to the eighteenth connected respectively to the inputs from the fourth to the sixth corrector apparent acceleration, and outputs from the fourth to the twelfth connected to the outputs of the system from the tenth to the eighteenth directly.



 

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SUBSTANCE: system can be used for controlling flying vehicles. Memory unit and long-term adaptation unit are introduced into the system additionally. Input/output of memory unit is connected to first input/output of long-term adaptation unit. Second input/output of long-term adaptation unit is connected to input/output of prediction and evaluation unit.

EFFECT: improved precision.

1 dwg

FIELD: instrument engineering.

SUBSTANCE: system can be used for controlling flying vehicles. Motion parameter detector is introduced into the system additionally. Input/output of the detector is connected with data exchange line. Computational system has closing error forming unit, speed of wind estimating unit, wind speed predicting unit, speed vector back calculating unit, speed vector re-projecting unit and angle of attack and slip angle calculating unit.

EFFECT: widened operational capabilities.

1 dwg

FIELD: navigation of on-water and underwater vessels.

SUBSTANCE: side surface of underwater object has two static stress detectors which are mounted in opposition to each other and are made in form of fiber coils being optically connected with coherent light source and photoreceiver. Spring-loaded screen is mounted onto nose part of floating vehicle; the screen is mounted for movement along axis of floating vessel. Side surfaces of screen have different lengths. End switch is mounted at shorter side of screen which screen is connected with controlled inputs of propulsive device and steering gear of floating vehicle by means of electric terminals.

EFFECT: widened operational capabilities.

2 cl, 2 dwg

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