Synchronous control method of combined navigation semi-physical simulation test

Abstract

The invention discloses a synchronous control method of a combined navigation semi-physical simulation test. According to the invention, characteristics of all branch systems in a combined navigation semi-physical simulation test system are fully considered, and a synchronous control method combining controlled quantity presetting, delay quantity evaluation and compensation and synchronization pulse triggering is used, so synchronous errors of different data sources during operation of the system are eliminated and a synchronous problem among GNSS simulation signals, inertia measurement data simulation signals and triaxial rotary table inertia posture changing excitation in a GNSS / INS ombined navigation semi-physical simulation is solved.

Description

technical field [0001] The invention relates to a synchronous control method between a satellite navigation simulator and a three-axis position rate turntable device in an integrated navigation semi-physical simulation test system, and in particular relates to a test command issued from a simulation control computer to a GNSS (Global Navigation Satellite System) signal simulator to generate radio frequency signals, Sending IMU (InertialMeasurementUnit) simulation data, time synchronization control of turntable rotation to simulate carrier attitude moment, ensuring the alignment of GNSS signal simulation time, IMU data simulation time, and turntable rotation attitude time, realizing the fidelity of semi-physical simulation test of integrated navigation system and correctness. Background technique [0002] With the emergence of precision-guided weapons and various complex electromagnetic environments, a single navigation system is increasingly unable to meet the needs of missi...

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Problems solved by technology

[0011] 2) There is a delay in data transmission when the simulation control computer sends command data to the GNSS / INS integrated navigation simulator and the turntable control computer, and the delay time is not fixed;

[0014] The uncertainty of the time delay of the above-mentioned processes directly leads to the inability to synchronize the simulated GNSS navigation signal, IMU simulation data, and the attitude obtained by the turntable operation. The measurement information obtained by the integrated navigation system is also asynchronous, which cannot simulate real use. environment, and cannot test system performance

[0015] At present, domestic scholars mainly focus on the problem of time asynchrony caused by the different frequencies of IMU and GNSS data output inside the integrated navigation receiver. However, for the joint test of GNSS / INS integrated navigation simulator and turntable in semi-physical simulation test, There is no effective solution on how to ensure the synchronization of radio frequency signals, analog accelerometer data, and turntable attitude changes. The present invention mainly solves this problem

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