-
摘要:
地磁导航半实物仿真系统是地磁导航从理论走向工程应用的关键环节，而现阶段实时性是制约其发展的关键技术之一。针对这一问题，重点分析了系统中磁场模拟的延迟效应，建立了磁场模拟过程中电流随时间变化的数学模型，并基于此提出了一种基于超前调节的磁场模拟实时控制方法。仿真实验结果表明，初始调节电流增加18.43%的情况下，系统的实时性提高了5.45倍; 实测实验结果表明，初始调节电流增加18.57%的情况下，系统的实时性提高了3倍。本文提出的方法可以为地磁导航半实物仿真系统实时性的提高提供一种参考。
Abstract:The hardware in the loop simulation system of geomagnetic navigation is the key link of geomagnetic navigation from theory to engineering application. At the present stage, the real-time performance is one of the key technologies that restrict its development. To solve this problem, the delay effect of the magnetic field simulation in the system is analyzed emphatically, and the mathematical model of current versus time in magnetic field simulation is established. Then the real-time control method of magnetic field simulation based on advance regulation is proposed. The simulation experimental results show that when the initial control current is increased by 18.43%, the real-time performance of the system is increased by 5.45 times. And the test experimental results show that when the initial control current is increased by 18.57%, the real-time performance of the system is improved by 3 times. The method presented in this paper can provide a reference for improving the real-time performance of the hardware in the loop simulation system of geomagnetic navigation.
-
图 2 地磁导航半实物仿真系统结构组成示意图
Figure 2. Schematic diagram of architecture of hardware in the loop simulation system for geomagnetic navigation
图 5 常规方法电流随时间的变化规律(仿真实验)
Figure 5. Change of current with time in conventional method (simulation experiment)
图 6 超前调节方法电流随时间的变化规律(仿真实验)
Figure 6. Change of current with time in advance regulation method (simulation experiment)
图 8 常规方法磁场随时间的变化规律(实测实验)
Figure 8. Change of magnetic field with time in conventional method (test experiment)
-
[1] STORMS W, SHOCKLEY J, RAQUET J. Magnetic field navigation in an indoor environment[C]//Ubiquitous Positioning, Indoor Navigation and Location-based Service. Piscataway, NJ: IEEE Press, 2010: 1-10. [2] KIM H S, SEO W, BAEK K R.Indoor positioning system using magnetic field map navigation and an encoder system[J].Sensors, 2017, 17(3):651. doi: 10.3390/s17030651 [3] NAVABI M, BARATI M.Mathematical modeling and simulation of the earth's magnetic field:A comparative study of the models on the spacecraft attitude control application[J].Applied Mathematical Modelling, 2017, 46:365-381. doi: 10.1016/j.apm.2017.01.040 [4] MUHAMMAD I, KUK C, SEUNG-HO B, et al.Drift reduction in pedestrian navigation system by exploiting motion constraints and magnetic field[J].Sensors, 2016, 16(9):1455. doi: 10.3390/s16091455 [5] LEE S M, JUNG J, MYUNG H.Geomagnetic field-based localization with bicubic interpolation for mobile robots[J].International Journal of Control Automation & Systems, 2015, 13(4):967-977. doi: 10.1007%2Fs12555-014-0143-z [6] 郭才发, 胡正东, 张士峰, 等.地磁导航综述[J].宇航学报, 2009, 30(4):1314-1319. http://edu.wanfangdata.com.cn/Periodical/Detail/gfkj200703004GUO C F, HU Z D, ZHANG S F, et al.A survey of geomagnetic navigation[J].Journal of Astronautics, 2009, 30(4):1314-1319(in Chinese). http://edu.wanfangdata.com.cn/Periodical/Detail/gfkj200703004 [7] 周军, 葛致磊, 施桂国, 等.地磁导航发展与关键技术[J].宇航学报, 2008, 29(5):1467-1472. http://www.cqvip.com/QK/91348X/201310/47452646.htmlZHOU J, GE Z L, SHI G G, et al.Key technique and development for geomagnetic navigation[J].Journal of Astronautics, 2008, 29(5):1467-1472(in Chinese). http://www.cqvip.com/QK/91348X/201310/47452646.html [8] 吕志峰, 孙渊, 张金生, 等.地磁匹配导航半实物仿真方案设计及关键技术分析[J].电光与控制, 2015, 22(2):59-64. http://www.cnki.com.cn/Article/CJFDTotal-JCKX201502027.htmLÜ Z F, SUN Y, ZHANG J S, et al.The design and key technoligy analysis of hardware-in-the-loop simulation for geomagnetic matching navigation[J].Electronics Optics & Control, 2015, 22(2):59-64(in Chinese). http://www.cnki.com.cn/Article/CJFDTotal-JCKX201502027.htm [9] 周莹莹, 张延顺, 郭雷.地磁/惯性组合导航系统半物理仿真研究[J].控制工程, 2011, 18(增刊):15-17. http://www.cnki.com.cn/Article/CJFDTOTAL-JZDF2011S1004.htmZHOU Y Y, ZHANG Y S, GUO L.Hardware-in-the-loop simulation of GNS/INS integrated navigation system[J].Control Engineering of China, 2011, 18(S1):15-17(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-JZDF2011S1004.htm [10] 马云建. 基于地磁传感器的弹体角速度测量装置研究[D]. 太原: 中北大学, 2016: 65-72.MA Y J. Research on measuring device of angular velocity of projectile based on geomagnetic sensor[D]. Taiyuan: North University of China, 2016: 65-72(in Chinese). [11] 童浩. 地磁测姿及其在精确制导弹药上的应用[D]. 哈尔滨: 哈尔滨工业大学, 2015: 57-63.TONG H. Attitude determination based on geomagnetic field and its application on precision guidance ammunition[D]. Harbin: Harbin Institute of Technology, 2015: 57-63(in Chinese). [12] 单家元, 孟秀云, 丁艳.半实物仿真[M].北京:国防工业出版社, 2008:236.SHAN J Y, MENG X Y, DING Y.Hardware in the loop simulation[M].Beijing:National Defence Industry Press, 2008:236(in Chinese). [13] 马青永.航天器空间动态磁场模拟技术[J].航天器环境工程, 2005, 22(3):141-146. http://www.cqvip.com/QK/89474X/200503/1001773215.htmlMA Q Y.Space dynamic magnetic field simulation techniques of spacecraft[J].Spacecraft Environment Engineering, 2005, 22(3):141-146(in Chinese). http://www.cqvip.com/QK/89474X/200503/1001773215.html [14] 王仕成, 吕志峰, 张金生, 等.基于半实物仿真的地磁导航等值线匹配算法评估[J].北京航空航天大学学报, 2015, 41(2):187-192. http://bhxb.buaa.edu.cn/CN/abstract/abstract13146.shtmlWANG S C, LÜ Z F, ZHANG J S, et al.Evaluation of ICCP algorithm for geomagnetic navigation based on hardware-in-the-loop simulation[J].Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(2):187-192(in Chinese). http://bhxb.buaa.edu.cn/CN/abstract/abstract13146.shtml [15] CHUNG H J, YANG C S, JUNG W J.A magnetic field separation technique for a scaled model ship through an earth's magnetic field simulator[J].Journal of Magnetics, 2015, 20(1):62-68. https://www.researchgate.net/publication/275237648_A_Magnetic_Field_Separation_Technique_for_a_Scaled_Model_Ship_through_an_Earth's_Magnetic_Field_Simulator [16] 吕志峰, 贺浩, 张金生, 等.仿真地磁的磁场模拟装置[J].电光与控制, 2014, 21(6):76-80. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgbzkjbl201115161LÜ Z F, HE H, ZHANG J S, et al.The magnetic field generating device used for the simulation of magnetic field[J].Electronics Optics & Control, 2014, 21(6):76-80(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgbzkjbl201115161 [17] 吕志峰, 张金生, 王仕成, 等.高精度地磁场模拟系统的设计与研究[J].宇航学报, 2014, 35(11):1284-1290. doi: 10.3873/j.issn.1000-1328.2014.11.009LV Z F, ZHANG J S, WANG S C, et al.Design and research of high-accuracy geomagnetic field intensity simulation system[J].Journal of Astronautics, 2014, 35(11):1284-1290(in Chinese). doi: 10.3873/j.issn.1000-1328.2014.11.009 [18] 李斌, 杜英霞, 白彦锋, 等.基于LabVIEW的高精度磁场模拟系统[J].计算机测量与控制, 2011, 19(12):3127-3129. https://www.researchgate.net/publication/266673275_jiyuLabVIEWdeSPRchuanganjiancexitongdeshejiLI B, DU Y X, BAI Y F, et al.Simulation system of high precision magnetic field based on LabVIEW[J].Computer Measurement & Control, 2011, 19(12):3127-3129(in Chinese). https://www.researchgate.net/publication/266673275_jiyuLabVIEWdeSPRchuanganjiancexitongdesheji [19] 李素敏, 张万清.地磁场资源在匹配制导中的应用研究[J].制导与引信, 2004, 25(3):19-21. http://www.cnki.com.cn/Article/CJFDTOTAL-DZGJ200701006.htmLI S M, ZHANG W Q.Study on the application of geomagnetic field contour in matching guidance[J].Guidance and Fuze, 2004, 25(3):19-21(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-DZGJ200701006.htm [20] 邓法金.大学物理学[M].2版.北京:科学出版社, 2004:525-529.DENG F J.College physics[M].2nd ed.Beijing:Science Press, 2004:525-529(in Chinese). [21] 管志宁.地磁场与磁力勘探[M].北京:地质出版社, 2005:7.GUAN Z N.Geomagnetic field and magntic exploration[M].Beijing:Geological Publishing House, 2005:7(in Chinese). -
下载:
点击查看大图
计量
- 文章访问数: 689
- HTML全文浏览量: 105
- PDF下载量: 371
- 被引次数: 0
