System and method for improving azimuth angle measurement precision of training simulator

Abstract

The invention provides a system and method for improving the azimuth angle measurement precision of a training simulator, and the system comprises a firearm simulator, a magnetic field measurement module and a cooperative control module, the magnetic field measurement module is used for collecting and processing a geomagnetic vector to generate a horizontal component, and the cooperative control module is used for receiving geomagnetic data and inclination angle data to generate a displacement instruction. The beneficial effects of the invention are that through the physical integration of the firearm simulator, the magnetic field measurement module and the cooperative control module, the error coupling of the distributed layout is eliminated, and the orientation measurement stability is improved; a hardware platform support is provided for subsequent leveling and magnetic field interference suppression, and a low-delay dynamic calibration foundation is laid; through the physical linkage design of the universal hinge and the push rod, synchronous adjustment of the pitch angle / roll angle is achieved, and the leveling response time is remarkably shortened; the tilt angle sensor is matched with the closed loop of the push rod, and idle stroke errors of traditional mechanical transmission are eliminated.

Description

Technical Field

[0001] The invention belongs to the technical field of motion posture measurement, and in particular relates to a system and method for improving the azimuth angle measurement accuracy of a training simulator. Background Art

[0002] Firearms training simulators replicate weapon control, ballistic trajectories, and environmental feedback in real-world shooting scenarios, and their core performance depends on high-precision measurement of the gun's posture. Traditional methods have inherent flaws in the coupling relationship between geomagnetic sensors and device posture. Traditional solutions measure the azimuth of the geomagnetic vector projection when the device is tilted, and its measurement accuracy is subject to the dual constraints of the device's pitch angle, roll angle, and geomagnetic interference. When the device is not kept absolutely level, the geomagnetic vector will undergo nonlinear distortion in the sensor coordinate system, causing the azimuth error to be exponentially amplified with the tilt angle. In complex electromagnetic environments, the hard magnetic bias and soft magnetic elliptical effects are further superimposed, forming a systematic deviation. This defect is particularly prominent in dynamic scenarios such as firearms simulators, where factors such as frequent changes in the device's posture and interference from metal components severely restrict the need for high-precision measurement.

[0003] Current mainstream sensor fusion solutions attempt to compensate for geomagnetic measurement biases using gyroscope / accelerometer data, but they fail to overcome inherent algorithmic limitations. Gyroscope integral errors and magnetic field mutations create conflicting constraints, forcing filtering algorithms to strike a difficult balance between dynamic accuracy and stability. The implicit coupling relationship between tilt angle and azimuth angle leads to theoretical flaws in the compensation model. While this "post-hoc correction" mode can mitigate static errors, it cannot block the error transmission chain, and irreversible azimuth drift will still occur during actions such as rapid weapon lifting and turning. Therefore, a system and method that addresses these issues and improves the azimuth measurement accuracy of training simulators is urgently needed. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a system and method for improving the azimuth measurement accuracy of a training simulator, which is particularly suitable for high-precision azimuth measurement by integrating geomagnetic sensing and multi-axis tilt real-time compensation.

[0005] The technical solution adopted by the present invention is: in a first aspect, a system for improving the azimuth measurement accuracy of a training simulator is provided, comprising:

[0006] A firearm simulator, comprising a gun body, a U-shaped portion, a three-axis leveling hinge unit, a bracket, and a base, wherein the U-shaped portion is disposed below the gun body, the U-shaped portion and the bracket are connected by the three-axis leveling hinge unit, and the bracket is disposed on top of the base;

[0007] a magnetic field measurement module, for collecting and processing the geomagnetic vector to generate a horizontal component, comprising a magnetometer unit and a signal processing unit, wherein the magnetometer unit is disposed on the lower surface of the U-shaped portion, and the signal processing unit is disposed on the base;

[0008] The collaborative control module is used to receive geomagnetic data and inclination data to generate displacement instructions, and includes a processing control unit and a communication unit. The processing control unit is arranged on the base, and the communication unit is arranged on the bracket.

[0009] Furthermore, the three-axis leveling hinge unit includes: a universal hinge, a push rod and an inclination sensor, one end of the push rod is connected to the lower surface of the U-shaped part, and the other end is connected to the universal hinge, the inclination sensor is arranged on the upper surface of the gun body, the universal hinge is connected to the bracket, the push rod drives the universal hinge to move according to the displacement instruction, and the inclination sensor is used to detect the inclination data including the pitch angle and the roll angle.

[0010] Furthermore, the base is parallel to a horizontal plane, the azimuth axis of the three-axis leveling hinge unit coincides with the central axis of the base, and the gun body and the U-shaped portion are ferromagnetic and form a closed magnetic shielding path.

[0011] Furthermore, the magnetometer unit includes four three-axis magnetometers, and the four three-axis magnetometers are arranged in a cross-symmetrical layout.

[0012] Furthermore, the collaborative control module also includes: a safety locking circuit and a non-volatile memory, wherein the safety locking circuit is used to cut off the driving power of the push rod and activate the sound and light alarm when a sudden change in the magnetic field or mechanical overrun is detected, and the non-volatile memory is used to store calibration parameters and abnormality logs.

[0013] In a second aspect, a method for improving the azimuth measurement accuracy of a training simulator is provided, comprising the following steps:

[0014] Perform zero drift compensation of the magnetometer unit to establish an initial magnetic field reference;

[0015] Verify the data consistency of the inclination sensor and reset the three-axis leveling hinge unit to the initial mechanical zero position;

[0016] The pitch angle and roll angle of the gun body are detected in real time by the inclination sensor;

[0017] If the pitch angle or the roll angle exceeds a preset threshold, the displacement of the push rod is calculated, the universal hinge is driven to correct the posture to an absolutely horizontal state, the displacement error of the azimuth axis is compensated synchronously, and free rotation around the azimuth direction is retained;

[0018] After leveling, the firearm simulator rotates 12 times around the directional axis at 30° intervals to obtain full 360° magnetic field data;

[0019] The geomagnetic reference model is constructed by ellipse fitting using the least squares method to suppress soft magnetic interference;

[0020] The horizontal component of the geomagnetic vector is calculated by the signal processing unit, and the azimuth is output using a sliding window mean filter;

[0021] The pitch angle and the roll angle are continuously monitored, and if they deviate from a threshold, a displacement instruction is sent to adjust the push rod through a processing control unit.

[0022] Furthermore, it also includes: when the magnetic field suddenly changes or the machine exceeds the limit, freezing the data and forcibly resetting to the initial position.

[0023] Furthermore, the displacement of the push rod is determined by the equation Calculate, where and are the displacements of the roll and pitch axis push rods, is the pitch angle, is the roll angle.

[0024] Furthermore, the azimuth angle is given by the equation Calculate, where is the azimuth, and is the horizontal component of the geomagnetic vector.

[0025] Furthermore, the ellipse fitting is done by Eq. Calculate, where is the ellipse parameter matrix, is the three-dimensional vector of the geomagnetic vector, is the offset of the magnetometer unit.

[0026] The advantages and positive effects of the present invention are as follows: due to the adoption of the above technical solution, the error coupling of the distributed layout is eliminated and the stability of azimuth measurement is improved through the physical integration of the firearm simulator, the magnetic field measurement module and the collaborative control module; hardware platform support is provided for subsequent leveling and magnetic field interference suppression, laying the foundation for low-latency dynamic calibration; through the physical linkage design of the universal hinge and the push rod, the synchronous adjustment of the pitch angle / roll angle is achieved, and the leveling response time is significantly shortened; the closed-loop matching of the inclination sensor and the push rod eliminates the idle stroke error of the traditional mechanical transmission; the coaxial design shields the systematic azimuth deviation caused by structural asymmetry; the ferromagnetic gun body and the U-shaped part form a closed The magnetic shielding path limits soft magnetic interference to the local loop, achieving a soft magnetic interference suppression rate of >95%, reducing geomagnetic sensor data pollution; the rigid connection with the bracket through the universal hinge ensures that the free rotation around the azimuth axis is unconstrained during leveling; the cross-symmetrical layout of the four magnetometers offsets local magnetic field fluctuations through symmetry complementation; multi-sensor spatial sampling fusion eliminates measurement random noise and improves the robustness of geomagnetic vector solution; the safety circuit cuts off the action link in abnormal conditions in real time (such as power off when the push rod is stuck) to prevent equipment damage; non-volatile storage records calibration history and fault logs, supports offline analysis of calibration parameter degradation process, and extends the system maintenance cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the system structure of an embodiment of the present invention.

[0028] Figure 2 Schematic diagram of the method steps of an embodiment of the present invention

[0029] In the picture:

[0030] 11. Gun body 12. U-shaped part 13. Putting 14. Universal hinge 15. Bracket 16. Base 17. Inclination sensor 21. Magnetometer unit 22. Signal processing unit 31. Processing control unit 32. Communication unit DETAILED DESCRIPTION

[0031] The present disclosure is described more fully below with reference to the accompanying drawings, which illustrate exemplary embodiments of the present disclosure. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0032] like Figure 1 As shown, the present invention provides a system for improving the azimuth measurement accuracy of a training simulator, comprising:

[0033] The firearm simulator includes a gun body 11, a U-shaped portion 12, a three-axis leveling hinge unit, a bracket 15, and a base 16. The U-shaped portion 12 is disposed below the gun body 11. The U-shaped portion 12 and the bracket 15 are connected by the three-axis leveling hinge unit. The bracket 15 is disposed on the upper portion of the base 16.

[0034] A magnetic field measurement module, used to collect and process the geomagnetic vector to generate a horizontal component, including a magnetometer unit 21 and a signal processing unit 22. The magnetometer unit 21 is provided on the lower surface of the U-shaped portion 12, and the signal processing unit 22 is provided on the base 16.

[0035] As the system's data perception hub, it utilizes a multi-axis geomagnetic sensor array and adaptive signal processing technology to achieve high-precision analysis of the geomagnetic vector. A spatially symmetrical layout and dynamic noise suppression algorithm eliminate local magnetic field distortion and environmental interference. The magnetic field measurement module integrates a wireless communication interface for efficient collaboration with the control system.

[0036] The collaborative control module is used to receive geomagnetic data and inclination data to generate displacement instructions, and includes a processing control unit 31 and a communication unit 32. The processing control unit 31 is set on the base 16, and the communication unit 32 is set on the bracket 15.

[0037] The collaborative control module, the system's intelligent decision-making core, features a built-in multimodal data fusion algorithm and a safety fault-tolerant mechanism. By analyzing inclination data and geomagnetic signals in real time, it dynamically generates leveling instructions and optimizes the measurement process. Abnormal conditions (such as sudden magnetic field changes or mechanical overruns) automatically trigger safety lockouts to ensure system reliability.

[0038] By adopting the above setup and physically integrating the firearm simulator, magnetic field measurement module, and collaborative control module, the error coupling of the decentralized layout is eliminated and the stability of azimuth measurement is improved. This provides hardware platform support for subsequent leveling and magnetic field interference suppression, laying the foundation for low-latency dynamic calibration.

[0039] In order to solve the problem that traditional leveling relies on a multi-stage mechanical structure, resulting in structural redundancy, response delay, and inability to synchronously correct multi-freedom false tilt, an implementation method is provided in this embodiment.

[0040] like Figure 1 As shown, in one embodiment, the three-axis leveling hinge unit includes: a universal hinge 14, a push rod 13 and an inclination sensor 17. A motor is provided inside the push rod 13. One end of the push rod 13 is connected to the lower surface of the U-shaped portion 12, and the other end is connected to the universal hinge 14. The inclination sensor 17 is provided on the upper surface of the gun body 11. The universal hinge 14 is connected to the bracket 15. The push rod 13 is driven by the motor according to the displacement instruction, thereby driving the universal hinge 14 to move. The inclination sensor 17 is used to detect inclination data including pitch angle and roll angle.

[0041] An innovative integrated three-axis leveling hinge unit replaces the traditional multi-stage leveling mechanism. This single-point connection enables full-degree-of-freedom posture control of the firearm simulator around the pitch, roll, and azimuth (X / Y / Z) axes. This unit integrates an inclination sensor network and an electric actuator assembly, dynamically correcting pitch and roll angles using an inverse kinematics algorithm to achieve sub-degree leveling accuracy.

[0042] The above setup, through the physical linkage design of the universal hinge and the push rod, enables synchronous adjustment of the pitch and roll angles, significantly shortening the leveling response time; the closed-loop matching of the inclination sensor and the push rod eliminates the lost motion error of traditional mechanical transmission.

[0043] In order to solve the problem that the azimuth angle solution deviation is caused by the non-coaxiality of the mechanical axis of the traditional simulator and the geomagnetic coordinate system, and the local interference is aggravated by the lack of magnetic circuit constraint of ferromagnetic materials, an implementation method is provided in this embodiment.

[0044] like Figure 1 As shown, in one embodiment, the base 16 is parallel to the horizontal plane, the orientation axis of the three-axis leveling hinge unit coincides with the central axis of the base 16, and the gun body 11 and the U-shaped portion 12 are ferromagnetic and form a closed magnetic shielding path.

[0045] With the above setup, the coaxial design shields the systematic azimuth deviation caused by structural asymmetry; the ferromagnetic gun body and the U-shaped part form a closed magnetic shielding path, which limits the soft magnetic interference to the local loop, achieves a soft magnetic interference suppression rate of more than 95%, and reduces the contamination of geomagnetic sensor data; the universal hinge is rigidly connected to the bracket to ensure that the free rotation around the azimuth axis is unconstrained during leveling.

[0046] In order to solve the problem that a single-point magnetometer is easily affected by the local magnetic field distortion of the gun body and dynamic measurement lacks data redundancy verification, an implementation method is provided in this embodiment.

[0047] In one embodiment, the magnetometer unit includes four three-axis magnetometers, and the four three-axis magnetometers are arranged in a cross-symmetrical pattern.

[0048] With the above setup, the four three-axis magnetometers are arranged in a cross-symmetrical pattern to offset local magnetic field fluctuations through symmetry complementarity; multi-sensor spatial sampling fusion eliminates measurement random noise and improves the robustness of the geomagnetic vector solution.

[0049] In order to solve the problem that sudden magnetic field interference or mechanical failure in dynamic scenarios easily causes azimuth jumps, and offline calibration parameters are lost and need to be recalibrated, an implementation method is provided in this embodiment.

[0050] In one embodiment, the collaborative control module also includes: a safety locking circuit and a non-volatile memory. The safety locking circuit is used to cut off the driving power of the push rod and activate the sound and light alarm when a sudden change in the magnetic field or mechanical overrun is detected. The non-volatile memory is used to store calibration parameters and abnormality logs.

[0051] With this setup, the safety lockout circuit shuts off the action chain in real time under abnormal conditions (such as power failure when the push rod is stuck), preventing equipment damage. Non-volatile storage records calibration history and fault logs, supporting offline analysis of calibration parameter degradation and extending system maintenance cycles.

[0052] like Figure 2 As shown, in order to facilitate the use of a system for improving the azimuth angle measurement accuracy of a training simulator provided by the present disclosure, the present disclosure also provides a method for improving the azimuth angle measurement accuracy of a training simulator, comprising the following steps:

[0053] S100, performing zero drift compensation of the magnetometer unit to establish an initial magnetic field reference;

[0054] S200: Verify the data consistency of the tilt sensor and reset the three-axis leveling hinge unit to the initial mechanical zero position;

[0055] S300, detecting the pitch angle and roll angle of the gun body in real time through the inclination sensor;

[0056] S400: If the pitch angle or the roll angle exceeds a preset threshold, calculate the displacement of the push rod, drive the universal hinge to correct the posture to an absolutely horizontal state, and synchronously compensate for the displacement error of the azimuth axis to retain free rotation around the azimuth direction;

[0057] S500, after leveling, the firearm simulator rotates 12 times around the directional axis at 30° intervals to obtain full 360° magnetic field data;

[0058] S600: Build a geomagnetic reference model by performing ellipse fitting using the least squares method to suppress soft magnetic interference;

[0059] S700, calculating the horizontal component of the geomagnetic vector by a signal processing unit, and outputting an azimuth angle by using a sliding window mean filter;

[0060] S800: Continuously monitor the pitch angle and the roll angle. If they deviate from the threshold, send a displacement instruction to adjust the push rod through the processing control unit.

[0061] The above method is used to design a series process of "zero point compensation → attitude correction → magnetic field calibration → dynamic maintenance" to ensure that each error source is blocked in sequence rather than cross-interference. The elliptical fitting model based on 30° interval full-circle sampling (covering 360° interference distribution) improves the generalization ability of the calibration model in complex electromagnetic environments.

[0062] In one embodiment, the invention further includes: freezing data and forcibly resetting to an initial position when the magnetic field suddenly changes (gradient value>100mGauss / ms, equivalent to the three-axis composite magnetic field suddenly changing by more than 500mGauss within 5ms) or the mechanical limit is exceeded.

[0063] In one embodiment, the displacement of the push rod is determined by the equation Calculate, where and are the displacements of the roll and pitch axis push rods, is the pitch angle, is the roll angle.

[0064] In one embodiment, the azimuth angle is given by the equation Calculate, where is the azimuth, and is the horizontal component of the geomagnetic vector.

[0065] In one embodiment, the ellipse is fitted by the equation Calculate, where is the ellipse parameter matrix, is the three-dimensional vector of the geomagnetic vector, is the offset of the magnetometer unit.

[0066] The following describes the contents involved in the above embodiment in conjunction with a preferred embodiment.

[0067] After the system is powered on, the three-axis leveling hinge unit performs mechanical zero-position calibration, and the push rod is reset to the initial reference position (ΔX=ΔY=ΔZ=0). At the same time, the magnetic field measurement module completes zero-point compensation in a magnetic shielding environment, and calculates and stores the static offset value to eliminate the sensor background error. During operation, the dual-axis inclination sensor monitors the pitch and roll angles of the firearm simulator in real time and transmits the data to the collaborative control module. When the angle deviation exceeds the ±0.1° threshold, the active leveling mechanism is triggered. The processing control unit calculates the displacement of the pitch axis / roll axis (X / Y axis) push rod based on the inverse kinematics model. The displacement is calculated by the equation Calculate and drive the universal hinge to synchronously adjust the tilt posture to an absolute horizontal state (error < 0.05°). At the same time, the azimuth axis (Z axis) push rod performs height compensation to offset the mechanical error caused by axial displacement. The height compensation amount is calculated by Calculation; After leveling is completed, the firearm simulator rotates continuously 12 times around the azimuth axis (Z axis) at 30° intervals to perform full-circle magnetic field sampling. At each position point, four three-axis magnetometers arranged in a cross-symmetrical layout synchronously collect three-axis data of the geomagnetic vector. The calibration of the soft magnetic interference suppression model is completed by fitting the ellipse parameter matrix using the least squares method, so that the ellipticity error rate is optimized to within the calibration threshold; then the system enters the horizontal lock state, and the magnetic field measurement module obtains the horizontal component of the magnetic field at a sampling frequency of 200Hz. Through the equation A sliding window mean filter dynamically calculates the real-time azimuth angle, continuously outputting high-precision angle data with a window size of M = 10 (corresponding to 50ms of data), effectively reducing the standard deviation of random noise. When the inclinometer detects a slight tilt due to external disturbances, the leveling actuator performs a PID closed-loop micro-correction to maintain the azimuth measurement fluctuation range. If a sudden change in the magnetic field gradient or an excessive stroke limit is detected, the collaborative control module immediately terminates the measurement process and activates the safety lock protocol, forcing a reset to the initial position while saving an abnormal event log for subsequent diagnosis. The entire measurement process incorporates a deep collaborative mechanism of physical leveling and digital calibration, ensuring that the azimuth angle solution is immune to the cross-influence of device tilt and ferromagnetic interference.

[0068] Based on the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0069] An electronic device includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for improving the azimuth measurement accuracy of a training simulator provided by the present disclosure.

[0070] Electronic device is intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device may also refer to various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are intended to be examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0071] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method for improving the azimuth angle measurement accuracy of a training simulator provided by the present disclosure.

[0072] Various embodiments of the present disclosure may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system comprising at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0073] A computer program product includes a computer program / instruction. When the computer program / instruction is executed by a processor, the method for improving the azimuth angle measurement accuracy of a training simulator provided in the present disclosure is implemented.

[0074] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0076] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A system for improving the azimuth measurement accuracy of a training simulator, characterized in that: include: A firearm simulator, comprising a gun body, a U-shaped portion, a three-axis leveling hinge unit, a bracket, and a base, wherein the U-shaped portion is disposed below the gun body, the U-shaped portion and the bracket are connected by the three-axis leveling hinge unit, and the bracket is disposed on top of the base; a magnetic field measurement module, for collecting and processing the geomagnetic vector to generate a horizontal component, comprising a magnetometer unit and a signal processing unit, wherein the magnetometer unit is disposed on the lower surface of the U-shaped portion, and the signal processing unit is disposed on the base; The collaborative control module is used to receive geomagnetic data and inclination data to generate displacement instructions, and includes a processing control unit and a communication unit. The processing control unit is arranged on the base, and the communication unit is arranged on the bracket.

2. The system for improving the azimuth angle measurement accuracy of a training simulator according to claim 1, characterized in that: The three-axis leveling hinge unit includes: a universal hinge, a push rod and an inclination sensor, one end of the push rod is connected to the lower surface of the U-shaped part, and the other end is connected to the universal hinge. The inclination sensor is arranged on the upper surface of the gun body. The universal hinge is connected to the bracket. The push rod drives the universal hinge to move according to the displacement instruction. The inclination sensor is used to detect the inclination data including pitch angle and roll angle.

3. The system for improving the azimuth angle measurement accuracy of a training simulator according to claim 1 or 2, characterized in that: The base is parallel to a horizontal plane, the orientation axis of the three-axis leveling hinge unit coincides with the central axis of the base, and the gun body and the U-shaped portion are ferromagnetic and form a closed magnetic shielding path.

4. The system for improving the azimuth angle measurement accuracy of a training simulator according to claim 1, characterized in that: The magnetometer unit includes four three-axis magnetometers, and the four three-axis magnetometers are arranged in a cross-symmetric layout.

5. The system for improving the azimuth angle measurement accuracy of a training simulator according to claim 2, characterized in that: The collaborative control module also includes: a safety locking circuit and a non-volatile memory. The safety locking circuit is used to cut off the driving power of the push rod and activate the sound and light alarm when a sudden change in the magnetic field or mechanical overrun is detected. The non-volatile memory is used to store calibration parameters and abnormality logs.

6. A method for improving the azimuth measurement accuracy of a training simulator, characterized in that: The following steps are involved: Perform zero drift compensation of the magnetometer unit to establish an initial magnetic field reference; Verify the data consistency of the inclination sensor and reset the three-axis leveling hinge unit to the initial mechanical zero position; The pitch angle and roll angle of the gun body are detected in real time by the inclination sensor; If the pitch angle or the roll angle exceeds a preset threshold, the displacement of the push rod is calculated, the universal hinge is driven to correct the posture to an absolutely horizontal state, the displacement error of the azimuth axis is compensated synchronously, and free rotation around the azimuth direction is retained; After leveling, the firearm simulator rotates 12 times around the directional axis at 30° intervals to obtain full 360° magnetic field data; The geomagnetic reference model is constructed by ellipse fitting using the least squares method to suppress soft magnetic interference; The horizontal component of the geomagnetic vector is calculated by the signal processing unit, and the azimuth is output using a sliding window mean filter; The pitch angle and the roll angle are continuously monitored, and if they deviate from a threshold, a displacement instruction is sent to adjust the push rod through a processing control unit.

7. The method for improving the azimuth angle measurement accuracy of a training simulator according to claim 6, characterized in that: Also includes: When the magnetic field changes suddenly or the machine exceeds the limit, the data is frozen and forced to reset to the initial position.

8. The method for improving the azimuth angle measurement accuracy of a training simulator according to claim 6 or 7, characterized in that: The displacement of the push rod is expressed by the equation Calculate, where and are the displacements of the roll and pitch axis push rods, is the pitch angle, is the roll angle.

9. The method for improving the azimuth angle measurement accuracy of a training simulator according to claim 6 or 7, characterized in that: The azimuth angle is given by the equation Calculate, where is the azimuth, and is the horizontal component of the geomagnetic vector.

10. The method for improving the azimuth angle measurement accuracy of a training simulator according to claim 6 or 7, characterized in that: Ellipse fitting is done by equation Calculate, where is the ellipse parameter matrix, is the three-dimensional vector of the geomagnetic vector, is the offset of the magnetometer unit.

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