• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of harmonizing a first inertial measurement unit and a second inertial measurement unit with each other, comprising the steps of: - comparing by a control unit the vectors measured by the units of measurement inertial to determine a specific force difference and a rotation difference taking into account the lever arms between these two units of measurement; - Have the control unit determine a harmonization value from the specific force difference and the rotation difference by taking into account the lever arms between these two units of measurement. Navigation system for the implementation of this method.
    公开号:FR3081220A1
    申请号:FR1854076
    申请日:2018-05-16
    公开日:2019-11-22
    发明作者:Emmanuel Robert；Philippe Elie；Pascal Agostini
    申请人:Safran Electronics and Defense SAS；
    IPC主号:
    专利说明:

    The present invention relates to the field of inertial position and / or attitude measurement.
    STATE OF THE ART
    An inertial unit (or INS for "inertial navigation system") usually incorporates an inertial measurement unit (UMI or IMU for "inertial measurement unit") which includes three accelerometric sensors arranged along the axes of a reference frame and three angular sensors, gyroscopes or gyrometers, to measure angular movements of the accelerometric measurement mark relative to a reference orientation of the measurement mark. Each accelerometric sensor includes a test mass (or "proof mass") subjected to gravity and to the accelerations of the object to which the inertial unit (for example a vehicle) is attached. In the accelerometric measurement benchmark, the accelerometers measure a quantity called specific force (“specific force” or “g-force” in English) and determine the three components of a vector of specific force. The specific force is equal to the sum of the non-inertial forces to which the inertial body is subjected, divided by the mass of the inertial body. The specific force therefore has the dimension of an acceleration and is also also called "proper acceleration" in Anglo-Saxon literature.
    The harmonization between a first inertial unit and a second inertial unit which are carried by the same vehicle is carried out by calculating a rotation matrix to project the specific force vectors of the two inertial units in the same frame. This harmonization operation can only be carried out using an inertial navigation program, the execution of which requires relatively large computer resources. In addition, it is necessary that the two inertial units have sufficient precision to allow navigation to be carried out.
    OBJECT OF THE INVENTION
    An object of the invention is to provide a means of harmonization which is reliable while being simple.
    BRIEF STATEMENT OF THE INVENTION
    For this purpose, provision is made, according to the invention, for a method of harmonizing a first inertial measurement unit and a second inertial measurement unit with each other, the first inertial measurement unit and the second inertial measurement unit being connected to the same control circuit and being arranged to determine a specific force vector and an instantaneous rotation vector; characterized in that the method comprises the steps of:
    - have the control unit compare to each other at least one of the two vectors determined by each inertial measurement unit to determine a difference by taking into account a lever arm between the two inertial measurement units ;
    - have the control unit determine a harmonization value from said difference, taking into account the lever arm between these two measurement units.
    In the method of the invention, the two vectors of specific force and / or the two vectors of rotation are compared directly to each other, without going through an inertial reference frame. It is therefore not necessary in the invention to perform a navigation or to calculate an inertial frame of reference to perform the comparison. It is therefore not necessary either to have significant IT resources or two inertial units of measurement of equivalent precision.
    According to a particular embodiment, the control unit compares the two specific force vectors to determine a specific force deviation and the two instantaneous rotation vectors to determine a rotation deviation and determines the harmonization value from the specific force deviation and the rotation deviation.
    Harmonization is therefore particularly effective.
    The invention also relates to a navigation system for a vehicle, comprising a first inertial measurement unit and a second inertial measurement unit connected to an electronic control unit arranged to implement the method of the invention
    According to a particular embodiment, the system comprises an optronic device comprising a base and a turret provided with an aiming device and mounted on the base to pivot around a first axis, the second inertial measurement unit being integral with the turret, and preferably the control unit is arranged to determine a line of sight of the sighting device from measurements of the second inertial measurement unit and to project it into a reference mark of the first inertial measurement unit.
    Thus, it is possible to use the optronigue device for navigation by targeting elements of the landscape whose position is known, such as bitters or celestial objects.
    Other characteristics and advantages of the invention will emerge on reading the following description of particular non-limiting embodiments of the invention.
    BRIEF DESCRIPTION OF THE FIGURES
    Reference will be made to the appended drawings, among which:
    - Figure 1 is a schematic plan view of a navigation system implementing the method of the invention;
    - Figure 2 is a schematic view of an inertial unit of this system;
    - Figure 3 is a geometric view showing the positioning of the specific force vector in the marks of the two inertial units;
    - Figure 4 is a schematic sectional view of an inertial system according to the invention.
    DETAILED DESCRIPTION OF THE INVENTION
    With reference to the figures, the invention relates to a navigation system 1 for a vehicle. The vehicle is here a ship but the invention applies in the same way to any other type of vehicle, air or land.
    The navigation system 1 here comprises an electronic control unit 10 connected to an electronic satellite geolocation unit 20 and to an optronic device 30.
    The satellite geolocation unit 20 is arranged in a manner known per se to operate with at least one of the constellations of GPS, GALILEO, GLONASS, BAIDU satellites ...
    The optronic apparatus 30 comprises, in a manner known per se, a base 40 and a turret 50 provided with a sighting device 60 and mounted on the base 50 to pivot around a first axis A1 or axis of bearing. The sighting device 60 is mounted in the turret 50 to pivot around an axis A2, or site axis, perpendicular to the axis Al.
    The base 40 comprises a motor for adjusting the angular position of the turret 50, and therefore of the sighting device 60, around the axis A1, with respect to the base 40. The base 40 also includes a first inertial unit.
    The turret 50 comprises a motor for adjusting the angular position of the sighting device 60, about the axis A2, relative to the turret 50.
    The aiming device 60, known in itself, comprises a support frame 61 carrying an optical assembly 62 behind which is mounted at least one electronic imaqe sensor 63. The aiming device 60 here also comprises a stabilization device 64 connecting the electronic image sensor 63 to the support frame 61. The stabilization device comprises actuators, for example piezoelectric, connected to a control circuit arranged to move the electronic image sensor 63 in response to signals from a inertial measurement unit 100.2 connected to the control circuit of the stabilization device.
    The inertial unit includes a 100.1 inertial measurement unit incorporating three accelerometers
    111.1, 112.1, 113.1 arranged along the axes XI, Yl, ZI of a reference mark Ri of origin 01. The inertial measurement unit
    100.1 includes three angular sensors 121.1, 122.1,
    123.1 are mounted along the axes XI, Yl, Zi. The angular sensors 121.1, 122.1, 123.1 are here gyroscopes with vibrating axisymmetric resonator.
    The inertial measurement unit 100.2 comprises three accelerometers 111.2, 112.2, 113.2 arranged along the axes X2, Y2, Z2 of a reference mark R2 of origin 02. Three angular sensors 121.2, 122.2, 123.2 are mounted along the axes X2, Y2 , Z2. The accelerometers 111.2, 112.2,
    113.2 and angular sensors 121.2, 122.2, 123.2 are here electromechanical microsystems (or MEMS from the English “Microelectromechanical Systems”).
    The inertial measurement units 100.1, 100.2 are positioned in such a way that the marks RI and R2 are substantially aligned with each other. A precision of a few degrees is sufficient due to the subsequent implementation of the harmonization process of the invention which will make it possible to compensate for these few deviations.
    The inertial measurement units 100.1, 100.2 are arranged to measure the same specific force in the form of a specific force vector represented at F in FIG. 3. The inertial measurement units 100.1,
    100.2 are also arranged to allow an instantaneous rotation vector to be determined. It will be noted that, in the present embodiment, the two inertial measurement units 100.1, 100.2 are positioned in the vicinity of one another, that is to say sufficiently close to each other, of so as to have between them a negligible lever arm.
    The electronic control unit 10 is designed to implement a navigation method mixing, by a hybridization algorithm, the signals coming from:
    - the electronic satellite geolocation unit 2 0;
    - dead reckoning means such as log, stopwatch and on-board compass;
    - the inertial unit incorporating the inertial measurement unit 100.1;
    - the optronic device 30.
    The hybridization of the signals from the satellite geolocation unit 20 and from the inertial unit 100.1 in such a way that the inertial unit incorporating the inertial measurement unit 100.1 ensures continuity of navigation in the absence of reception of the signals from the electronic satellite geolocation unit 20. This is known per se.
    The control unit 10 is also arranged to carry out a hybridization of the signals from the satellite geolocation unit 20 and dead reckoning navigation means so that the dead reckoning means ensure the continuity of navigation in the absence of reception of the signals from the electronic satellite geolocation unit 20. This is also known per se.
    The control unit 10 is further arranged to determine a line of sight of the sighting device 60 from measurements of the second inertial measurement unit 100.2 and to project it into a reference mark of the first inertial measurement unit 100.1. To do this, the aiming device 60 is pointed towards geographical landmarks whose position is known, for example celestial objects and / or bitters.
    For this navigation to be exact, it is necessary to harmonize the first inertial measurement unit 100.1 and the second inertial measurement unit 100.2 with each other. The harmonization process is implemented by the control unit 10 and includes the steps of:
    - compare the signals emitted by the inertial measurement units 100.1, 100.2 and representative of the specific force vector and the instantaneous rotation vector to determine a specific force difference and a rotation difference between the marks RI and R2 (the lever arm between the two inertial measurement units is neglected here);
    - have the control unit determine a harmonization value from the specific force difference and the rotation difference (the lever arm between the two inertial measurement units is neglected here).
    The comparison of specific force vectors is carried out by comparing the outputs of the accelerometers
    111.1, 112.1, 113.1 at the outputs of the accelerometers 111.2,
    112.2, 113.2 respectively. The outputs of the accelerometers are compared two by two here after a correction of the normalization of the specific force vectors. The comparison of the instantaneous rotation vectors is carried out by comparing the outputs of the angular sensors
    121.1, 122.1, 123.1 at the angle sensor outputs
    121.2, 122.2, 123.2 respectively. The outputs of the angular sensors are compared two by two here after a correction of the normalization of the instantaneous vectors of rotation. The outputs of the accelerometers and the angular sensors are here speed increments, that is to say an average speed during a given time.
    The value of harmonization is taken into account to project, in the RI coordinate system, the information of the coordinate system linked to the direction of aiming in order to be able to use this information during hybridization.
    The harmonization process is carried out periodically to ensure that the two central units are always harmonized with each other. Harmonization is carried out here in real time.
    Of course, the invention is not limited to the embodiments described but encompasses any variant coming within the scope of the invention as defined by the claims.
    In particular, the two inertial measurement units can be mounted in the same device, as in the embodiment described, or in separate devices.
    The control unit can be integrated into or separated from the optronigue device.
    The second inertial measurement unit 100.2 can be distinct from the optronigue device 30.
    The first inertial unit incorporating the inertial measurement unit 100.1 can be distinct from the optronigue device 30.
    If the inertial measurement units are distant from each other, account will be taken of the lever arm existing between the inertial measurement units, when comparing the vectors with one another and when determining the value of harmonization.
    According to a degraded version of the method, it is possible to determine the value of harmonization from a single deviation determined by comparison either of the vectors of specific force or of the instantaneous vectors of rotation. The precision of the harmonization is then less than in the method described above.
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1. Method for harmonizing a first inertial measurement unit and a second inertial measurement unit with each other, the first inertial measurement unit and the second inertial measurement unit being connected to the same circuit and being arranged to determine a specific force vector and an instantaneous rotation vector; characterized in that the method comprises the steps of:
    - have the control unit compare to each other at least one of the two vectors determined by each inertial measurement unit to determine a difference taking into account a lever arm between the two inertial measurement units ;
    - have the control unit determine a harmonization value from said difference, taking into account the lever arm between these two measurement units.
    [2" id="c-fr-0002]
    2. Method according to claim 1, in which the control unit compares the two vectors of specific force to determine a difference in specific force and the two instantaneous vectors of rotation to determine a difference in rotation and determines the value of harmonization with from the specified force deviation and the rotation deviation.
    [3" id="c-fr-0003]
    3. Method according to claim 1 or claim 2, the first inertial measurement unit and the second inertial measurement unit each comprise three accelerometers each arranged along an axis of the coordinate system, the comparison of the specific force vectors is carried out by comparing two to two the accelerometer outputs of the two inertial measurement units.
    [4" id="c-fr-0004]
    4. Method according to one guelcongue of the preceding claims, wherein the first inertial measurement unit and the second inertial measurement unit each comprise three angular sensors each arranged along an axis of the coordinate system, the comparison of the instantaneous vectors of rotation is carried out in comparing the outputs of the angular sensors of the two inertial measurement units two by two.
    [5" id="c-fr-0005]
    5. Method according to any one of the preceding claims, in which the harmonization is carried out periodically.
    [6" id="c-fr-0006]
    6. Method according to claim 5, in which the harmonization is carried out in real time.
    [7" id="c-fr-0007]
    7. Navigation system for a vehicle, comprising a first inertial measurement unit and a second inertial measurement unit connected to an electronic control unit arranged to implement the method according to any one of the preceding claims.
    [8" id="c-fr-0008]
    8. System according to the preceding claim, comprising an optronic device comprising a base and a turret provided with a sighting device and mounted on the base to pivot around a first axis, the second inertial measurement unit being integral with the turret .
    [9" id="c-fr-0009]
    9. System according to the preceding claim, wherein the second inertial measurement unit is arranged to ensure stabilization of the aiming device carried by the turret.
    [10" id="c-fr-0010]
    10. The system of claim 8 or claim 9, wherein the first inertial measurement unit is integral with the base of the optronic device.
    [11" id="c-fr-0011]
    11. System according to any one of claims 8 to 10, in which the control unit is arranged to determine a line of sight of the aiming device from measurements of the second inertial measurement unit and to project it into a benchmark of the first inertial measurement unit.
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    同族专利:
    公开号 | 公开日
    US20210116247A1|2021-04-22|
    CA3100115A1|2019-11-21|
    WO2019219626A1|2019-11-21|
    EP3794318A1|2021-03-24|
    FR3081220B1|2020-05-29|
    引用文献:
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    法律状态:
    2019-04-18| PLFP| Fee payment|Year of fee payment: 2 |
    2019-11-22| PLSC| Search report ready|Effective date: 20191122 |
    2020-04-22| PLFP| Fee payment|Year of fee payment: 3 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1854076|2018-05-16|
    FR1854076A|FR3081220B1|2018-05-16|2018-05-16|METHOD FOR HARMONIZING TWO UNIT OF INERTIAL MEASUREMENT WITH ONE ANOTHER AND NAVIGATION SYSTEM IMPLEMENTING THIS METHOD|FR1854076A| FR3081220B1|2018-05-16|2018-05-16|METHOD FOR HARMONIZING TWO UNIT OF INERTIAL MEASUREMENT WITH ONE ANOTHER AND NAVIGATION SYSTEM IMPLEMENTING THIS METHOD|
    US17/055,388| US20210116247A1|2018-05-16|2019-05-13|Method for harmonising two inertial measurement units with one another and navigation system implementing this method|
    CA3100115A| CA3100115A1|2018-05-16|2019-05-13|Method for harmonising two inertial measurement units with one another and navigation system implementing this method|
    PCT/EP2019/062241| WO2019219626A1|2018-05-16|2019-05-13|Method for harmonising two inertial measurement units with one another and navigation system implementing this method|
    EP19722653.3A| EP3794318A1|2018-05-16|2019-05-13|Method for harmonising two inertial measurement units with one another and navigation system implementing this method|
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