CN110530400A - Gyroscopic drift modification method, device, photoelectric nacelle and aircraft - Google Patents
Gyroscopic drift modification method, device, photoelectric nacelle and aircraft Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application proposes a kind of gyroscopic drift modification method, device, photoelectric nacelle and aircraft, it is related to automatic control technology field, pass through the azimuth platform rotation angle and pitching platform rotation angle measured by received inertial attitude angle and gyroscope, gyroscope attitude angle is calculated, and according to the gyroscope attitude angle, gyroscope Attitude estimation angle is calculated in the original angular speed of the gyroscope that gyroscope measures and the gyroscope angular speed parameter of setting, to which gyroscope angular speed drift estimate angle be calculated according to the gyroscope Attitude estimation angle and gyroscope attitude angle, and then the original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate angle, compared with the prior art, it can be without under the premise of human intervention, the null offset of amendment gyroscope in real time.
Description
Technical field
This application involves automatic control technology field, in particular to a kind of gyroscopic drift modification method, device,
Photoelectric nacelle and aircraft.
Background technique
Photoelectric nacelle is installed on aircraft, is generally used for scanning for target, track.The flight environment of vehicle of aircraft is complicated
And variation is huge, causes the ambient temperature situation of change of photoelectric nacelle complicated.
Photoelectric nacelle use gyroscope measurement task load space angular speed, but the zero-bit of gyroscope can with temperature and when
Between drift about, cause mission payload space angular speed to deviate, video image task device picture center excursD needs pair
The null offset phenomenon that gyroscope occurs compensates.
However, the mode or precision that compensate at present for gyroscope null offset be lower or required time compared with
It is long, cause production efficiency lower.
Summary of the invention
The application's is designed to provide a kind of gyroscopic drift modification method, device, photoelectric nacelle and aircraft, can
Under the premise of without human intervention, the null offset of gyroscope is corrected in real time.
To achieve the goals above, the embodiment of the present application the technical solution adopted is as follows:
In a first aspect, the embodiment of the present application provides a kind of gyroscopic drift modification method, which comprises
The azimuth platform rotation angle and pitching platform rotation angle that inertial attitude angle and the gyroscope measure based on the received, meter
Calculation obtains gyroscope attitude angle；
According to the gyroscope angle of the gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and setting speed
Gyroscope Attitude estimation angle is calculated in rate parameter；
According to gyroscope Attitude estimation angle and the gyroscope attitude angle, gyroscope angular speed drift estimate is calculated
Value；
The original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate value.
Second aspect, the embodiment of the present application provide a kind of gyroscopic drift correcting device, and described device includes:
Preprocessing module, the azimuth platform rotation angle measured for inertial attitude angle based on the received and the gyroscope and bows
Platform rotation angle is faced upward, gyroscope attitude angle is calculated；
The preprocessing module is also used to, the gyroscope rudimentary horn speed measured according to the gyroscope attitude angle, the gyroscope
Rate and the gyroscope angular speed parameter of setting, are calculated gyroscope Attitude estimation angle；
The preprocessing module is also used to, and according to gyroscope Attitude estimation angle and the gyroscope attitude angle, is calculated
Gyroscope angular speed drift estimate value；
Correction module, for correcting the original angular speed of gyroscope using the gyroscope angular speed drift estimate value.
The third aspect, the embodiment of the present application provide a kind of photoelectric nacelle, and the photoelectric nacelle includes memory, for storing
One or more programs；Processor and gyroscope；When one or more of programs are executed by the processor, realize above-mentioned
Gyroscopic drift modification method.
Fourth aspect, the embodiment of the present application provide a kind of aircraft, and the aircraft includes that inertial navigation meter and the application are real
The photoelectric nacelle that a third aspect provides is applied, the inertial navigation meter is communicated with photoelectric nacelle foundation；
The inertial navigation meter is sent to the photoelectric nacelle for measuring inertial attitude angle；
The photoelectric nacelle is used to execute the gyroscope as described in the embodiment of the present application first aspect according to the inertial attitude angle and float
The step of moving modification method.
A kind of gyroscopic drift modification method, device, photoelectric nacelle and aircraft provided by the embodiments of the present application, by by
The azimuth platform rotation angle and pitching platform rotation angle that received inertial attitude angle and gyroscope measure, are calculated gyroscope
Attitude angle, and according to the gyroscope angle of the gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and setting speed
Gyroscope Attitude estimation angle is calculated in rate parameter, to be calculated according to the gyroscope Attitude estimation angle and gyroscope attitude angle
Gyroscope angular speed drift estimate angle is obtained, and then utilizes gyroscope angular speed drift estimate angle amendment gyroscope rudimentary horn speed
Rate compared with the prior art can be without correcting the null offset of gyroscope under the premise of human intervention in real time.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of schematic block diagram of photoelectric nacelle provided by the embodiments of the present application；
Fig. 2 shows a kind of schematic flow charts of gyroscopic drift modification method provided by the embodiments of the present application；
Fig. 3 is a kind of schematic Flight Vehicle Structure figure of the embodiment of the present application；
Fig. 4 shows a kind of schematic flow chart of the sub-step of S201 in Fig. 2；
Fig. 5 shows a kind of schematic flow chart of the sub-step of S203 in Fig. 2；
Fig. 6 is a kind of illustrative logical block diagram of the embodiment of the present application；
Fig. 7 shows another schematic flow chart of gyroscopic drift modification method provided by the embodiments of the present application；
Fig. 8 shows a kind of schematic diagram of gyroscopic drift correcting device provided by the embodiments of the present application.
In figure: 100- photoelectric nacelle；101- memory；102- processor；103- gyroscope；300- gyroscopic drift amendment
Device；301- preprocessing module；302- correction module.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Mostly use following two scheme greatly for the scheme of gyroscope null offset phenomenon at present: one of scheme is behaviour
Make personnel manually to compensate gyroscopic drift, gondola operator find gondola gyroscope occur null offset when,
Observation mission load real-time pictures artificially analyze gondola drift size and Orientation, control handle by gondola, input gyro
Instrument drift correction value completes a manual compensation when frame stabilization no longer drifts about.
Another scheme is gondola integral platform to be put into progress temperature correction compensation in high-low temperature chamber, by adopting in real time
Collection records the drift bias of gyroscope under each state of temperature, and the function of temperature and drift is then fitted using luminance curve,
And the function is recorded in gondola；In use, real time temperature when gondola works according to gyroscope, in real time according to record
" function of temperature and drift " calculates drift compensation value and carries out drift compensation.
However, manual compensation scheme needs operator real at present in two kinds of compensation schemes of gyroscope null offset
When operate, precision is lower；The scheme of integral platform temperature correction needs large capacity calibrating tank, and prover time is long, production efficiency compared with
It is low.
For this purpose, being based on drawbacks described above, a kind of possible implementation provided by the embodiments of the present application are as follows: by by received
The azimuth platform rotation angle and pitching platform rotation angle that inertial attitude angle and gyroscope measure, are calculated gyroscope posture
Angle, and joined according to the gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and the gyroscope angular speed of setting
Gyroscope Attitude estimation angle is calculated in number, to be calculated according to the gyroscope Attitude estimation angle and gyroscope attitude angle
Gyroscope angular speed drift estimate angle, and then the original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate angle,
To realize under the premise of being not necessarily to human intervention, the null offset of gyroscope is corrected in real time.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Referring to Fig. 1, Fig. 1 shows a kind of schematic block diagram of photoelectric nacelle 100 provided by the embodiments of the present application.Light
Electric gondola 100 includes memory 101, processor 102 and gyroscope 103, the memory 101, processor 102 and gyroscope 103
It is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, these elements can lead between each other
It crosses one or more communication bus or signal wire is realized and is electrically connected.
Memory 101 can be used for storing software program and module, and such as gyroscopic drift provided by the embodiments of the present application is corrected
Corresponding program instruction/the module of device 300, processor 102 is by executing the software program and mould that are stored in memory 101
Block, thereby executing various function application and data processing.Gyroscope 103 can be used for measuring azimuth platform rotation angle, pitching is put down
The parameters such as the original angular speed of platform rotation angle, gyroscope.
Wherein, memory 101 can be but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electrically erasable programmable read-only memory (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..
Processor 102 can be a kind of IC chip, have signal handling capacity.The processor 102 can be logical
With processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), dedicated collection
At circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.
It is appreciated that structure shown in FIG. 1 is only to illustrate, photoelectric nacelle 100 can also include it is more than shown in Fig. 1 or
The less component of person, or with the configuration different from shown in Fig. 1.Each component shown in Fig. 1 can using hardware, software or
A combination thereof is realized.
Below using photoelectric nacelle shown in FIG. 1 as schematic executing subject, to gyroscope provided by the embodiments of the present application
Drift correction method illustrates.
Referring to Fig. 2, Fig. 2 shows a kind of schematic flows of gyroscopic drift modification method provided by the embodiments of the present application
Figure, comprising the following steps:
S201, the azimuth platform rotation angle and pitching platform rotation angle that inertial attitude angle and gyroscope measure based on the received,
Gyroscope attitude angle is calculated；
S203, according to gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and the gyroscope angular speed of setting
Gyroscope Attitude estimation angle is calculated in parameter；
Gyroscope angular speed drift estimate value is calculated according to gyroscope Attitude estimation angle and gyroscope attitude angle in S205；
S207 corrects the original angular speed of gyroscope using gyroscope angular speed drift estimate value.
As shown in figure 3, gyroscope is installed on photoelectric nacelle, light in a kind of schematic aircraft of the embodiment of the present application
Electric gondola and inertial navigation meter are fixedly installed in aircraft, and inertial navigation meter and photoelectric nacelle keep opposite static with aircraft；
Inertial navigation meter is communicated with photoelectric nacelle foundation, for example inertial navigation meter can establish communication with photoelectric nacelle by the way of being electrically connected, with
Send the interaction that data are able to carry out between inertial navigation meter and photoelectric nacelle, such as the inertial attitude angle that inertial navigation meter obtains measurement
To photoelectric nacelle.
In addition, photoelectric nacelle also obtains the attitude parameter that gyroscope measures, such as Representation Level direction attitudes vibration angle
Azimuth platform rotation angle, characterize the pitching platform rotation angle and gyroscope rudimentary horn speed of pitch orientation attitudes vibration angle
Rate etc.；Wherein, the photoelectric nacelle azimuth platform rotation angle that inertial attitude angle and gyroscope measure based on the received and pitching are flat
Gyroscope attitude angle is calculated in platform rotation angle.
It should be noted that since inertial attitude angle is the external data that the received inertial navigation meter of photoelectric nacelle is sent, for
For photoelectric nacelle, inertial attitude angle and azimuth platform rotation angle and pitching platform rotation angle are calculated based on the received
Gyroscope attitude angle belongs to the higher data of precision, and the original angular speed of gyroscope that gyroscope measures then be possible be by zero point
The value of drift effect.
For this purpose, photoelectric nacelle is according to the gyroscope attitude angle and the gyroscope angle of the original angular speed of gyroscope and setting
Gyroscope Attitude estimation angle is calculated in rate parameter, wherein the gyroscope Attitude estimation angle includes as that null offset is produced
The value of raw error.
Then, photoelectric nacelle is calculated according to the gyroscope Attitude estimation angle and gyroscope attitude angle, to obtain
Gyroscope angular speed drift estimate value, and the original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate value, it is right
The original angular speed of the gyroscope that gyroscope measures carries out real-time compensation, such as computing gyroscope angular speed drift estimate value and gyro
The algebraical sum of both original angular speeds of instrument obtains revised gyroscope angular speed, to realize to the original angular speed of gyroscope
Real-time compensation.
As it can be seen that it is based on above-mentioned design, gyroscopic drift modification method provided by the embodiments of the present application, by by received used
The azimuth platform rotation angle and pitching platform rotation angle that sexual stance angle and gyroscope measure, are calculated gyroscope attitude angle,
And according to the gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and the gyroscope angular speed parameter meter of setting
Calculation obtains gyroscope Attitude estimation angle, so that gyro be calculated according to the gyroscope Attitude estimation angle and gyroscope attitude angle
Instrument angular speed drift estimate angle, and then the original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate angle, it compares
It, can be without correcting the null offset of gyroscope in real time under the premise of human intervention in the prior art.
Wherein, to realize S201, referring to Fig. 4, Fig. 4 shows a kind of schematic flow chart of the sub-step of S201 in Fig. 2,
As a kind of possible implementation, S201 may include following sub-step:
It is flat that orientation is calculated in S201-1, the azimuth platform rotation angle that inertial attitude angle and gyroscope measure based on the received
Platform attitude angle；
S201-2, the pitching platform rotation angle measured according to azimuth platform attitude angle and gyroscope, is calculated gyroscope appearance
State angle.
In the embodiment of the present application, the received inertial attitude angle of photoelectric nacelle include pitch attitude angle, roll attitude angle with
And yaw-position angle；Since aircraft is as photoelectric nacelle and the installation carrier of inertial navigation meter, inertial navigation meter and photoelectric nacelle with fly
Row device keeps opposite static, and therefore, photoelectric nacelle receives the inertial attitude angle that inertial navigation meter is sent, the as posture of aircraft
Angle, the also attitude angle of photoelectric nacelle；That is, it is assumed that withIndicate the inertial attitude angle that inertial navigation measures, with
The attitude angle for indicating aircraft, then have:。
Therefore, in the embodiment of the present application, the photoelectric nacelle side that inertial attitude angle and gyroscope measure based on the received
Azimuth platform attitude angle is first calculated in bit platform rotation angle；Then further according to the azimuth platform attitude angle being calculated, and
The pitching platform rotation angle that gyroscope measures, is calculated gyroscope attitude angle.That is, in the embodiment of the present application, light
Electric gondola converts at the inertial attitude angle that inertial navigation measures in the horizontal direction and in pitch orientation respectively, can be obtained
Gyroscope attitude angle.
Illustratively, be calculated azimuth platform attitude angle formula can satisfy it is as follows:
In formula,、、, be respectively inertial attitude angle pitch attitude angle, roll attitude angle and yaw
Attitude angle,For azimuth platform rotation angle,、、The respectively pitch attitude of azimuth platform attitude angle
Angle, roll attitude angle and yaw-position angle.
In addition, the formula that gyroscope attitude angle is calculated can satisfy it is as follows:
In formula,For pitching platform rotation angle,、、The respectively pitch attitude of gyroscope attitude angle
Angle, roll attitude angle and yaw-position angle.
It should be noted that aforesaid way is only to illustrate, when calculating acquisition gyroscope attitude angle, inertial navigation is measured first
The inertial attitude angle obtained is first converted in the horizontal direction, is then converted in the pitch direction；In the embodiment of the present application
In some other possible implementation, calculate obtain gyroscope attitude angle when, the inertia that can also first measure inertial navigation
Attitude angle is first converted in the pitch direction, is then converted in the horizontal direction, this depends on specific application scenarios
Either depending on user setting, the embodiment of the present application is to this without limiting.
In addition, to realize S203, referring to Fig. 5, Fig. 5 shows a kind of schematic flow chart of the sub-step of S203 in Fig. 2,
As a kind of possible implementation, S203 may include following sub-step:
S203-1, the original angular speed of gyroscope measured according to gyroscope attitude angle and gyroscope, is calculated gyroscope appearance
State angular rate of change；
Gyroscope appearance is calculated according to gyroscope posture angular rate of change and the gyroscope angular speed parameter of setting in S203-2
State estimates angle.
In the embodiment of the present application, photoelectric nacelle, can be by gyroscope when gyroscope posture angular rate of change is calculated
Intermediary matrix is first calculated in attitude angle, then by intermediary matrixOperation is carried out with the original angular speed of gyroscope
Obtain gyroscope posture angular rate of change.
Then, it is calculated according to the gyroscope posture angular rate of change and the gyroscope angular speed parameter of setting
Obtain gyroscope Attitude estimation angle.
Illustratively, be calculated gyroscope posture angular rate of change formula can satisfy it is as follows:
In formula,、The respectively pitch attitude angle, roll attitude angle of gyroscope attitude angle,、、The respectively pitch rate of the original angular speed of gyroscope, rolling angular speed and yawrate、、Respectively the pitch attitude angular rate of change of gyroscope posture angular rate of change, roll attitude angle become
Rate and yaw-position angular rate of change.
In addition, the formula that gyroscope Attitude estimation angle is calculated can satisfy it is as follows:
In formula,、、The gyroscope angular speed parameter respectively set pitch orientation, rolling direction with
And the component of yaw direction,、、The respectively pitch attitude at gyroscope Attitude estimation angle
Estimate that angle, roll attitude estimation angle and yaw-position estimate angle.
It should be noted that the mode of above-mentioned computing gyroscope posture angular rate of change is only to illustrate, pass through decoupled method
Intermediary matrix is first calculated in mode, then due to intermediary matrixThe original angular speed of premultiplication gyroscope, to obtain top
Spiral shell instrument posture angular rate of change；In some other possible implementation of the embodiment of the present application, the variation of computing gyroscope attitude angle
The mode of rate can also be carried out without substep, for example will calculate intermediate squareFormula and premultiplication gyroscope original angular speed
Formula merges, and when calculating, the value and gyroscope rudimentary horn speed of gyroscope attitude angle need to be only substituted into calculation formula
Gyroscope posture angular rate of change can be calculated in the value of rate.
It, can also be in such a way that others be some also, in some other possible implementation of the embodiment of the present application
Or formula, it is calculated according to the gyroscope angular speed parameter of gyroscope attitude angle, the original angular speed of gyroscope and setting
Gyroscope Attitude estimation angle, the embodiment of the present application is to this without limiting.
, can be in conjunction with PI(Proportional Integral, proportional integration also, when executing S205) controller, benefit
Gyroscope Attitude estimation angle and the algebraical sum of both gyroscope attitude angles are handled with the PI control algolithm of setting, thus
To gyroscope attitude angular rate drift estimate value.
For example, preset PI control algolithm in photoelectric nacelle, photoelectric nacelle computing gyroscope Attitude estimation angle first with
The algebraical sum of both gyroscope attitude angles, then using the algebraical sum being calculated as the input of the PI control algolithm of the setting,
Result to export the PI control algolithm of the setting is as gyroscope attitude angular rate drift estimate value.
In addition, it is necessary to explanation, the gyroscope angular speed parameter of above-mentioned setting can be value set by user, it can also
To be the result for not stopping to obtain after iteration using gyroscopic drift modification method provided by the embodiments of the present application.
For example, schematically, referring to Fig. 6, Fig. 6 is a kind of illustrative logical block diagram of the embodiment of the present application, with then(n
> 2) for the modified process of secondary gyroscopic drift: by taking aircraft shown in Fig. 3 as an example, photoelectric nacelle and the fixed peace of inertial navigation meter
Loaded on aircraft, installation carrier of the aircraft as photoelectric nacelle and inertial navigation meter；And inertial navigation meter and photoelectric nacelle are and aircraft
Keep opposite static, then inertial navigation measure inertial attitude angle with aircraft as carrier when attitude of carrier angle it is equal, and with
The attitude angle of photoelectric nacelle is equal；Then, the azimuth platform rotation angle and pitching platform that photoelectric nacelle is measured using gyroscope
Rotation angle carries out posture rotation to attitude of carrier angle (i.e. inertial navigation measure inertial attitude angle), to obtain gyroscope posture
Angle；Next the original angular speed of gyroscope measured in conjunction with gyroscope attitude angle and gyroscope carries out angular speed rotation, calculates
Obtain gyroscope posture angular rate of change；Then gyroscope posture angular rate of change and are soughtn- 1 gyroscope obtained when calculating
The algebraical sum of both angular speed drift estimate values (the gyroscope angular speed parameter set), and to the algebraical sum sought into
Row integral, to obtain gyroscope Attitude estimation angle；Next using gyroscope attitude angle and gyroscope Attitude estimation angle as
The result that PI control algolithm exports is obtained by the input of the PI control algolithm of setting after low-pass filternSecondary gyro
Gyroscope angular speed drift estimate value when instrument drift correction；Finally gyro is corrected using the gyroscope angular speed drift estimate value
The original angular speed of instrument, and bynThe gyroscope angular speed drift estimate value obtained when secondary calculating is saved, and is used as then+ 1 time
Gyroscope angular speed parameter when calculating, so that the amendment of gyroscope be enable ceaselessly to be iterated calculating.
It should be noted that in logic diagram as shown in FIG. 6, then(n> 2) the parameter packet used when secondary calculating
Include azimuth platform rotation angle that gyroscope measures and pitching platform rotation angle, attitude of carrier angle (the i.e. inertia that measures of inertial navigation
Attitude angle), Yi Jin- 1 gyroscope angular speed drift estimate value (gyroscope angular speed ginseng set being calculated
Number), and thenResult when secondary calculating is to obtain gyroscope angular speed drift estimate value；Also, work asnWhen=1, photoelectric nacelle can be with
Default gyroscope is there is no drift, then gyroscope angular speed drift estimate value (the gyroscope angle set used when calculating
Rate parameter) can default value be 0.
For this purpose, on the basis of Fig. 2, referring to Fig. 7, Fig. 7 shows gyroscopic drift amendment provided by the embodiments of the present application
Another schematic flow chart of method, as a kind of possible implementation, which can also be wrapped
Include following steps:
S209 utilizes the gyroscope angular speed parameter of gyroscope angular speed drift estimate value more new settings.
Based on the process of above-mentioned iterative calculation, when gyroscope angular speed drift estimate value is calculated by S205 in photoelectric nacelle
Afterwards, it can use the gyroscope angular speed parameter of the gyroscope angular speed drift estimate value more new settings, such as by the gyroscope
Gyroscope angular speed parameter of the angular speed drift estimate value as new setting, or according to set proportion coefficient by the top
After spiral shell instrument angular speed drift estimate value zooms in and out, using the result after scaling as the gyroscope angular speed parameter of new setting,
To enable photoelectric nacelle logic diagram as shown in FIG. 6, when carrying out the amendment of null offset to gyroscope next time, benefit
Calculating is modified with the gyroscope angular speed parameter of the new setting.
It should be noted that above-mentioned implementation provided by the embodiments of the present application, is only with photoelectric nacelle shown in FIG. 1 work
It is schematically illustrated for what executing subject carried out, in some other possible application scenarios of the embodiment of the present application, above-mentioned realization side
Formula can also have other equipment as executing subject, for example other are set to the electronic equipment or electronic device of aircraft,
As long as being able to carry out step described in above-mentioned gyroscopic drift modification method, to realize the drift correction to gyroscope, this
Apply embodiment to executing subject without limiting.
In addition, inventive concept identical with above-mentioned gyroscopic drift modification method is based on, referring to Fig. 8, Fig. 8 shows this Shen
Please embodiment provide gyroscopic drift correcting device 300 a kind of schematic diagram, the gyroscopic drift correcting device 300
Including preprocessing module 301 and correction module 302.Wherein:
Preprocessing module 301 is used for, and the azimuth platform rotation angle that inertial attitude angle and gyroscope measure based on the received and is bowed
Platform rotation angle is faced upward, gyroscope attitude angle is calculated；
Preprocessing module 301 is also used to, the original angular speed of gyroscope measured according to gyroscope attitude angle, gyroscope and setting
Gyroscope angular speed parameter, gyroscope Attitude estimation angle is calculated；
Preprocessing module 301 is also used to, and according to gyroscope Attitude estimation angle and gyroscope attitude angle, gyroscope angle speed is calculated
Rate drift estimate value；
Correction module 302 is used for, and corrects the original angular speed of gyroscope using gyroscope angular speed drift estimate value.
It should be noted that for the convenience and succinct, the specific works mistake of above-mentioned gyroscopic drift correcting device 300 of description
Journey, please refers to step corresponding in above-mentioned corresponding gyroscopic drift modification method, and the embodiment of the present application is no longer gone to live in the household of one's in-laws on getting married herein
It states.
In addition, the embodiment of the present application also provides a kind of aircraft as shown in Figure 3, which includes inertial navigation meter and such as
Photoelectric nacelle shown in FIG. 1, inertial navigation meter are communicated with photoelectric nacelle foundation；Inertial navigation meter is sent to for measuring inertial attitude angle
Photoelectric nacelle；Photoelectric nacelle is used to execute above-mentioned gyroscopic drift amendment provided by the embodiments of the present application according to inertial attitude angle
The step of method.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
According to the device of the embodiment of the present application, the architecture, function and operation in the cards of method and computer program product.
In this regard, each box in flowchart or block diagram can represent a part of a module, section or code, the mould
A part of block, program segment or code includes one or more executable instructions for implementing the specified logical function.
It should also be noted that function marked in the box can also be with difference in some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can also execute in the opposite order, this depends on the function involved.
It is also noted that each box in block diagram and or flow chart and the box in block diagram and or flow chart
Combination, can the dedicated hardware based system of as defined in executing function or movement realize, or can be with dedicated
The combination of hardware and computer instruction is realized.
In addition, each functional module in the embodiment of the present application can integrate one independent part of formation together,
It can be modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute the embodiment of the present application the method all or part of the steps.And it is preceding
The storage medium stated includes: that USB flash disk, mobile hard disk, read-only memory, random access memory, magnetic or disk etc. are various can
To store the medium of program code.
In conclusion a kind of gyroscopic drift modification method, device, photoelectric nacelle and flight provided by the embodiments of the present application
Device is calculated by the azimuth platform rotation angle and pitching platform rotation angle measured by received inertial attitude angle and gyroscope
Obtain gyroscope attitude angle, and the original angular speed of gyroscope that is measured according to the gyroscope attitude angle, gyroscope and setting
Gyroscope Attitude estimation angle is calculated in gyroscope angular speed parameter, thus according to the gyroscope Attitude estimation angle and gyroscope
Gyroscope angular speed drift estimate angle is calculated in attitude angle, and then corrects gyro using the gyroscope angular speed drift estimate angle
The original angular speed of instrument can float compared with the prior art without under the premise of human intervention, correcting the zero point of gyroscope in real time
It moves.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of gyroscopic drift modification method, which is characterized in that the described method includes:
The azimuth platform rotation angle and pitching platform rotation angle that inertial attitude angle and the gyroscope measure based on the received, meter
Calculation obtains gyroscope attitude angle；
According to the gyroscope angle of the gyroscope attitude angle, the gyroscope original angular speed of gyroscope measured and setting speed
Gyroscope Attitude estimation angle is calculated in rate parameter；
According to gyroscope Attitude estimation angle and the gyroscope attitude angle, gyroscope angular speed drift estimate is calculated
Value；
The original angular speed of gyroscope is corrected using the gyroscope angular speed drift estimate value.
2. gyroscopic drift modification method as described in claim 1, which is characterized in that based on the received inertial attitude angle and
The azimuth platform rotation angle and pitching platform rotation angle that the gyroscope measures, the step of gyroscope attitude angle is calculated, packet
It includes:
The azimuth platform rotation angle that the inertial attitude angle and the gyroscope measure based on the received, the side of being calculated
Bit platform attitude angle；
The pitching platform rotation angle measured according to the azimuth platform attitude angle and the gyroscope is calculated described
Gyroscope attitude angle.
3. gyroscopic drift modification method as claimed in claim 2, which is characterized in that the azimuth platform posture is calculated
The formula at angle meets as follows:
In formula,、、The pitch attitude angle at the respectively described inertial attitude angle, roll attitude angle and partially
Boat attitude angle,For the azimuth platform rotation angle,、、The respectively described azimuth platform posture
Pitch attitude angle, roll attitude angle and the yaw-position angle at angle；
The formula satisfaction that the gyroscope attitude angle is calculated is as follows:
In formula,For the pitching platform rotation angle、、The respectively described gyroscope attitude angle
Pitch attitude angle, roll attitude angle and yaw-position angle.
4. gyroscopic drift modification method as described in claim 1, which is characterized in that according to the gyroscope attitude angle, institute
The gyroscope angular speed parameter for stating the original angular speed of gyroscope that gyroscope measures and setting, is calculated gyroscope posture and estimates
The step of counting angle, comprising:
The original angular speed of the gyroscope measured according to the gyroscope attitude angle and the gyroscope, is calculated gyro
Instrument posture angular rate of change；
According to the gyroscope posture angular rate of change and the gyroscope angular speed parameter of the setting, the gyro is calculated
Instrument Attitude estimation angle.
5. gyroscopic drift modification method as claimed in claim 4, which is characterized in that the gyroscope attitude angle is calculated
The formula of change rate meets as follows:
In formula,For intermediary matrix、The pitch attitude angle of the respectively described gyroscope attitude angle, rolling appearance
State angle、、The pitch rate of the respectively described original angular speed of gyroscope, roll angle speed
Rate and yawrate,、、The respectively described gyroscope posture angular rate of change
Pitch attitude angular rate of change, roll attitude angular rate of change and yaw-position angular rate of change；
The formula satisfaction that gyroscope Attitude estimation angle is calculated is as follows:
In formula,、、The gyroscope angular speed parameter of the respectively described setting is in pitch orientation, rolling
The component of direction and yaw direction,、、The respectively described gyroscope Attitude estimation
Pitch attitude estimation angle, roll attitude estimation angle and the yaw-position at angle estimate angle.
6. gyroscopic drift modification method as described in claim 1, which is characterized in that according to gyroscope Attitude estimation angle
And the gyroscope attitude angle, the step of gyroscope angular speed drift estimate value is calculated, comprising:
Using the PI control algolithm of setting to the algebraical sum of both gyroscope Attitude estimation angle and the gyroscope attitude angle
It is handled, obtains the gyroscope angular speed drift estimate value.
7. gyroscopic drift modification method as described in claim 1, which is characterized in that the method also includes:
The gyroscope angular speed parameter of the setting is updated using the gyroscope angular speed drift estimate value.
8. a kind of gyroscopic drift correcting device, which is characterized in that described device includes:
Preprocessing module, the azimuth platform rotation angle measured for inertial attitude angle based on the received and the gyroscope and bows
Platform rotation angle is faced upward, gyroscope attitude angle is calculated；
The preprocessing module is also used to, the gyroscope rudimentary horn speed measured according to the gyroscope attitude angle, the gyroscope
Rate and the gyroscope angular speed parameter of setting, are calculated gyroscope Attitude estimation angle；
The preprocessing module is also used to, and according to gyroscope Attitude estimation angle and the gyroscope attitude angle, is calculated
Gyroscope angular speed drift estimate value；
Correction module, for correcting the original angular speed of gyroscope using the gyroscope angular speed drift estimate value.
9. a kind of photoelectric nacelle characterized by comprising
Memory, for storing one or more programs；
Processor and gyroscope；
When one or more of programs are executed by the processor, such as top of any of claims 1-7 is realized
Spiral shell instrument drift correction method.
10. a kind of aircraft, which is characterized in that the aircraft includes that inertial navigation meter and photoelectricity as claimed in claim 9 are hung
Cabin, the inertial navigation meter are communicated with photoelectric nacelle foundation；
The inertial navigation meter is sent to the photoelectric nacelle for measuring inertial attitude angle；
The photoelectric nacelle is used to execute the gyroscope as described in any one of claim 1-7 according to the inertial attitude angle and float
The step of moving modification method.
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Address after: 7 / F, area a, building 6, No. 200, Tianfu 5th Street, high tech Zone, Chengdu, Sichuan 610000 Patentee after: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 6a7 / F, Jingrong International Plaza, No.200, Tianfu Fifth Street, hi tech Zone, Chengdu, Sichuan 610000 Patentee before: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |