Compensation method for accelerometer inner lever arm of strapdown inertial measurement unit, electronic equipment and medium

Abstract

The invention provides an accelerometer inner lever arm compensation method of a strapdown inertial measurement unit, electronic equipment and a medium, and the accelerometer inner lever arm compensation method of the strapdown inertial measurement unit comprises the following steps: according to a strapdown inertial measurement unit gyroscope or a space structure model of an accelerometer, obtaining measurement value information under an inertial measurement unit orthogonal coordinate system by a strapdown inertial measurement unit gyroscope measurement value, and converting to an orthogonal coordinate taking an accelerometer mounting axis as an x axis, and determining an accelerometer inner lever arm error to compensate the accelerometer so as to finish the accelerometer inner lever arm error compensation of the strapdown inertial measurement unit. The method can be applied to strapdown inertial measurement units with different instrument number configurations and different space configurations, and a space configuration mathematical model can be obtained only by changing the number and rotation angles of the instruments; according to the method, the gyroscope measurement value of the redundant strapdown inertial measurement unit is directly converted to the corresponding accelerometer coordinate system through the space conversion relation, and the problem that the error compensation of the rod arm in the accelerometer of the redundant strapdown inertial measurement unit is difficult is solved.

Description

Technical Field

[0001] This invention belongs to the field of strapdown inertial navigation error technology, and specifically relates to a method for compensating the internal lever arm of an accelerometer in a strapdown inertial navigation system, as well as electronic equipment and media. Background Technology

[0002] Redundant strapdown inertial navigation systems (INS) can effectively improve the reliability of inertial navigation systems. Especially in the context of the increasing number of space launches, they can provide a strong guarantee for the successful completion of space missions. By increasing the number of gyroscopes and add-ons, INS fault diagnosis and redundancy backup functions can be achieved. This solves the problem that it is difficult to handle faults caused by gyroscope or add-on malfunctions during flight, and the lack of backup measures can lead to the inability to output usable information for navigation and control.

[0003] Accelerometer internal arm error is a factor that has a significant impact on navigation and fault diagnosis. Currently, the traditional three-orthogonal inertial navigation system (INS) accelerometer internal arm compensation method is very mature. It directly uses the angular velocity and internal arm information in the orthogonal coordinate system to solve for the internal arm error. However, due to the diverse and complex structural types of redundant strapdown INS, there is no direct correlation between the various gyroscope and accelerometer mounting axes and other axes, and they do not directly form an orthogonal coordinate system. Therefore, the traditional compensation method cannot be applied to the accelerometer internal arm compensation of redundant strapdown INS. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a method, electronic device, and medium for compensating the internal lever arm of accelerometers in a strapdown inertial navigation system (SINS). This invention solves the problem of internal lever arm errors caused by the inability of multiple accelerometers in a redundant SINS to be installed in their theoretical positions, which leads to accelerometer measurement errors during rotational motion and improves navigation accuracy.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] By rotating the coaxial accelerometer or gyroscope around the x-axis and y-axis of the inertial navigation system by a first angle and a second angle respectively, the transformation relationship between the inertial navigation system orthogonal coordinate system and the accelerometer orthogonal coordinate system is established.

[0007] The transformation relationship between the combined inertial navigation system orthogonal coordinate system and the orthogonal coordinate systems of all accelerometers is established, and a mathematical model of the spatial configuration of accelerometers or gyroscopes in the inertial navigation system orthogonal coordinate system is constructed.

[0008] By configuring a mathematical model in the space of the inertial navigation system or orthogonal coordinate system using accelerometers or gyroscopes, all gyroscope measurements are transformed into the inertial navigation system orthogonal coordinate system to obtain the first measurement value.

[0009] By using the transformation relationship between the inertial navigation system orthogonal coordinate system and the accelerometer orthogonal coordinate system, the first measurement value is transformed into the accelerometer orthogonal coordinate system to obtain the second measurement value;

[0010] Based on the second measurement value, the error of the inner rod wall of the accelerometer is determined.

[0011] This invention is based on the spatial structure model of redundant strapdown inertial navigation system (SINS) gyroscopes and accelerometers. It obtains measurement information in the orthogonal coordinate system of the SINS using the measurement values ​​of the redundant SINS gyroscopes, transforms it into orthogonal coordinates with the accelerometer mounting axis as the x-axis, determines the internal lever arm error of the accelerometer, and compensates for the accelerometer error, thereby completing the compensation for the internal lever arm error of the redundant strapdown inertial navigation system.

[0012] This invention can be applied to strapdown inertial navigation systems with different instrument counts and spatial configurations. Only the number of instruments and rotation angles need to be changed to obtain the spatial configuration mathematical model. This solves the problem of diverse configurations of current redundant strapdown inertial navigation systems and the lack of established or unified models, and has high versatility.

[0013] This invention directly converts the gyroscope measurements of redundant strapdown inertial navigation systems (INS) to the corresponding accelerometer coordinate system through spatial transformation, thus solving the problem of difficult lever arm error compensation in redundant INS accelerometers.

[0014] Furthermore, in the orthogonal coordinate system of the inertial navigation system, the x-axis points upward, the y-axis points forward, and the z-axis satisfies the right-hand rule;

[0015] The accelerometer orthogonal coordinate system has the accelerometer mounting axis as the x-axis, and the x-axis of all accelerometer orthogonal coordinate systems of the strapdown inertial navigation system intersects at the origin of the inertial navigation system's orthogonal coordinate system.

[0016] Furthermore, the first angle is coaxial with the accelerometer or gyroscope in the orthogonal coordinate system of the inertial navigation system. b y b z b The first angle is the angle between the projection on the plane and the z-axis of the inertial navigation system orthogonal coordinate system, and the second angle is the angle between the coaxial accelerometer or gyroscope and the x-axis of the inertial navigation system orthogonal coordinate system.

[0017] Furthermore, the transformation relationship between the inertial navigation system's orthogonal coordinate system and the accelerometer's orthogonal coordinate system is expressed as follows:

[0018]

[0019] Among them, C i β represents the transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system. i For the i-th accelerometer or the i-th gyroscope in the orthogonal coordinate system o of the inertial navigation system b y b z bThe angle α between the projection on the plane and the z-axis of the orthogonal coordinate system of the inertial system. i The angle between the i-th accelerometer or the i-th gyroscope and the x-axis of the orthogonal coordinate system of the inertial navigation system.

[0020] Furthermore, the mathematical model H for the spatial configuration of the accelerometer or gyroscope in the orthogonal coordinate system of the inertial navigation system is expressed as follows:

[0021]

[0022] Where n is the number of accelerometers or gyroscopes in the strapdown inertial navigation system, β i For the i-th accelerometer or the i-th gyroscope in the orthogonal coordinate system o of the inertial navigation system b y b z b The angle α between the projection on the plane and the z-axis of the orthogonal coordinate system of the inertial system. i The angle between the i-th accelerometer or the i-th gyroscope and the x-axis of the orthogonal coordinate system of the inertial navigation system.

[0023] Furthermore, the first measured value is obtained using the following formula:

[0024]

[0025] Where ω is the first measured value, m g For all the measurements of the gyroscopes, H is the mathematical model of the spatial configuration of the accelerometers or gyroscopes in the orthogonal coordinate system of the inertial navigation system.

[0026] Furthermore, the second measurement value is obtained through the following formula:

[0027] ω ai =C i ω

[0028] Where, ω ai Let C be the second measurement value in the orthogonal coordinate system of the i-th accelerometer. i This represents the transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system.

[0029] Furthermore, the error of the inner rod wall of the accelerometer is obtained by the following formula:

[0030]

[0031] Where, δf ai Let r be the internal lever error of the i-th accelerometer. xbi r ybi r zbi Let C represent the components of the i-th accelerometer inner lever arm on the three axes of the inertial navigation system orthogonal coordinate system. i The transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system is given by ω.ai This is the second measurement value in the orthogonal coordinate system of the i-th accelerometer. For ω ai The derivative of .

[0032] Based on the same inventive concept, the present invention also provides an electronic device, comprising:

[0033] One or more processors;

[0034] A memory storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the steps of the accelerometer internal lever compensation method for strapdown inertial navigation systems.

[0035] Based on the same inventive concept, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the accelerometer inner arm compensation method for a strapdown inertial navigation system.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] This invention can be applied to strapdown inertial navigation systems with different instrument counts and spatial configurations. Only the number of instruments and rotation angles need to be changed to obtain the spatial configuration mathematical model. This solves the problem of diverse configurations of current redundant strapdown inertial navigation systems and the lack of established or unified models, and has high versatility.

[0038] This invention directly converts the gyroscope measurements of redundant strapdown inertial navigation systems (INS) to the corresponding accelerometer coordinate system through spatial transformation relationships, thus solving the problem of difficult lever arm error compensation in redundant INS accelerometers. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the accelerometer internal lever arm compensation method of a strapdown inertial navigation system according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the spatial configuration of the strapdown inertial navigation system according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the orthogonal coordinate system for strapdown inertial navigation system according to an embodiment of the present invention. Detailed Implementation

[0042] The present invention will be described in detail below with reference to embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. For ease of description, the words "upper," "lower," "left," and "right" appearing below only indicate that they are consistent with the upper, lower, left, and right directions of the drawings themselves, and do not limit the structure.

[0043] Example

[0044] Multi-meter redundant strapdown inertial navigation systems (such as ten-meter redundant strapdown inertial navigation systems) are novel inertial navigation systems. During the vehicle's motion, the internal linkages of the accelerometers can cause the acceleration values ​​measured by the accelerometers inside the inertial navigation system to not reflect the actual motion information of the vehicle, resulting in decreased navigation accuracy. This embodiment proposes a method for compensating for the internal linkages of the accelerometers in redundant strapdown inertial navigation systems. This method is based on the spatial structure model of the gyroscopes and accelerometers in the redundant strapdown inertial navigation system. The angular velocity information in the orthogonal coordinate system of the inertial navigation system is obtained from the measurements of the redundant strapdown inertial navigation system gyroscopes. This information is then transformed into an orthogonal coordinate system with the accelerometer mounting axis as the x-axis. Finally, an error model of the internal linkages of the accelerometers is established to compensate for the accelerometer errors, thereby completing the compensation for the internal linkage errors of the accelerometers in redundant strapdown inertial navigation systems.

[0045] The establishment of the coordinate system is crucial in this embodiment. Here, several orthogonal coordinate systems are defined:

[0046] 1. Inertial navigation system orthogonal coordinate system o b x b y b z b :

[0047] The inertial navigation system's orthogonal coordinate system is established for the inertial navigation system itself. b x b Axis facing upwards, o b y b Axis facing forward, o b z b The axes satisfy the right-hand rule.

[0048] 2. Accelerometer orthogonal coordinate system o ai x ai y ai z ai :

[0049] Establishing an accelerometer orthogonal coordinate system is to better describe the position of the accelerometer (accelerometer) in the inertial navigation system orthogonal coordinate system. The number of accelerometer orthogonal coordinate systems varies in different redundancy schemes. In this embodiment, there are five accelerometer orthogonal coordinate systems.

[0050] like Figure 1 The process of a redundant strapdown inertial accelerometer internal lever arm compensation method is as follows:

[0051] Step 1: Based on the orthogonal coordinate system of the inertial navigation system, construct five accelerometers with their own mounting axes as... The accelerometers are in an orthogonal coordinate system around the axis, and each gyroscope or accelerometer is in an orthogonal coordinate system around the inertial navigation system. b x b Axis, o b y bThe axis is rotated twice at two different angles to obtain the transformation relationship between the inertial navigation system orthogonal coordinate system and the five accelerometer orthogonal coordinate systems. The transformation relationship is then combined to obtain a mathematical model of the spatial configuration of the five gyroscopes or five accelerometers in the inertial navigation system orthogonal coordinate system.

[0052] The ten-meter redundant strapdown inertial navigation system (INS) consists of five gyroscopes and five accelerometers. The mounting axes of the five gyroscopes and five accelerometers all intersect at the origin of the INS coordinate system. b The actual installation locations are distributed according to the structural design requirements. Theoretically, gyroscopes with the same serial number coincide with accelerometers; that is, gyroscope G1 is coaxial with accelerometer J1. Gyroscopes G1, G2, G3, G4, and G5 are located at o... b y b z b Projection on the plane and o b z b The included angles of the axes are β1, β2, β3, β4, and β5, and the five gyroscopes are related to o. b x b The included angles of the axes are α1, α2, α3, α4, and α5, and the distribution of accelerometers J1, J2, J3, J4, and J5 is the same as that of the gyroscopes. The five gyroscopes, five accelerometers, and the inertial navigation system are in an orthogonal coordinate system. b x b y b z b Spatial relationships such as Figure 2 As shown.

[0053] That is, the mathematical relationship between the gyroscope or accelerometer in the orthogonal coordinate system of the inertial navigation system can be constructed using α1, α2, α3, α4, α5 and β1, β2, β3, β4, β5. Taking the first gyroscope or accelerometer as an example, the relationship is first constructed using the coordinates around o. b x b Rotating by an angle β1 according to the right-hand coordinate system, the mathematical relationship is:

[0054]

[0055] Then circle around o b y b The axis rotates by an angle -α1 according to the right-hand rule, and the mathematical relationship is:

[0056]

[0057] Then, the coordinate system is rotated from the inertial navigation orthogonal coordinate system to a coordinate system with the first accelerometer mounting axis as... The mathematical model of the first accelerometer orthogonal coordinate system of the axis can be obtained through equations (1) and (2):

[0058]

[0059] That is, the first accelerometer orthogonal coordinate system is obtained by performing two angle transformations through the inertial navigation system orthogonal coordinate system. a1 x a1 y a1 z a1 ,See Figure 3 As shown.

[0060] The remaining four gyroscopes or accelerometers can be used to obtain their mathematical models in the orthogonal coordinate system of the inertial navigation system by following this process.

[0061]

[0062] Among them, C i C represents the transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system. βi For the i-th gyroscope or accelerometer, the orbital distance is o. b x b Rotate β according to the right-hand coordinate system i Mathematical relationship of angles, C αi For the i-th gyroscope or accelerometer, the orbital distance is o. b y b Rotate -α according to the right-hand rule i Mathematical relationship of angles, β i For the i-th gyroscope or accelerometer at o b y b z b Projection on the plane and o b z b The included angle of the axes, α i For the i-th gyroscope or accelerometer and o b x b The included angle of the axis.

[0063] Because the actual accelerometer is only orthogonal to the accelerometer coordinate system o ai x ai If they overlap, take C. i The first row of the matrix forms the spatial configuration mathematical model H of the redundant strapdown inertial navigation system:

[0064]

[0065] Where n is the number of accelerometers in the strapdown inertial navigation system, and in this embodiment, n is 5.

[0066] Step 2: First, obtain the measured angular velocity information through five gyroscopes. Then, use the spatial configuration mathematical model from Step 1 to convert the angular velocity information of the five gyroscopes into the inertial group orthogonal coordinate system to obtain the angular velocity in the inertial group orthogonal coordinate system. Next, use the conversion relationship between the inertial group coordinate system and the accelerometer orthogonal coordinate system from Step 1 to obtain the angular velocity in the orthogonal coordinate system of the five accelerometers. Finally, convert the inner arms of the five accelerometers in the inertial group coordinate system into the corresponding orthogonal coordinate system of the accelerometers.

[0067] The gyro measurement model for redundant strapdown inertial navigation systems can be expressed as:

[0068] m g =Hω (5)

[0069] Where, m g H represents the angular velocity information measured by the gyroscopes of the redundant strapdown inertial navigation system (measurements from all gyroscopes), H is the spatial configuration matrix (spatial configuration mathematical model) of the redundant strapdown inertial navigation system, i.e., the measurement matrix, and ω is the angular velocity measured in the orthogonal coordinate system of the inertial navigation system. b x b y b z b The angular velocity information. Specifically, it is represented as:

[0070]

[0071] Where, m gi (i = 1, ..., 5) represents the measurement value of the i-th gyroscope, ω x ω y ω z Local angular velocity or acceleration at o b x b y b z b Components on the three axes.

[0072] Angular velocity information m measured using five gyroscopes g The angular velocity information ω in the orthogonal coordinate system of the inertial navigation system is obtained through the least squares algorithm:

[0073]

[0074] Obtain the orthogonal coordinate system o of the inertial navigation system b x b y b z b After obtaining the angular velocity information, it is converted into the angular velocity in the five accelerometer coordinate systems using equation (3):

[0075] ω ai =C i ω (i=1,...,5) (8)

[0076] Where, ω ai Let be the angular velocity in the orthogonal coordinate system of the i-th accelerometer.

[0077] Similarly, using the transformation relationship between the inertial navigation system orthogonal coordinate system and the accelerometer orthogonal coordinate system obtained from equation (3), the inner rods r of the five accelerometers in the inertial navigation system orthogonal coordinate system are transformed. xbi r ybi r zbi (i = 1, ..., 5) Switch to the orthogonal coordinate system of the accelerometer:

[0078]

[0079] Step 3: Construct a compensation algorithm model for the inner arm of the accelerometer. Using the angular velocity information of the five accelerometers in the orthogonal coordinate system obtained in Step 2, calculate the error compensation value of the inner arm of the five accelerometers to compensate for the accelerometer measurement value.

[0080] The inner rod arm error is caused by the accelerometer's sensitive point not coinciding with the rotation center. When the accelerometer rotates around the rotation center, it generates centrifugal force. The inner rod arm error model of the accelerometer can be obtained based on the centrifugal force calculation formula:

[0081]

[0082] in, For ω ai The derivative of , in the orthogonal coordinate system of the five accelerometers, is only o ai x ai An accelerometer, δf, exists on the axis. ai For a 3×1 sequence, we only need to take δf. ai The first value is used to compensate for the accelerometer measurement. The accelerometer internal lever compensation is as follows:

[0083]

[0084] Among them, f ai The accelerometer measurement is after compensation. The value is the accelerometer measurement. For δf ai The first value in the list.

[0085] This embodiment mathematically models the spatial configuration of redundant strapdown inertial navigation systems (INS). The model can be applied to INS with different instrument counts and spatial configurations. The spatial configuration mathematical model can be obtained simply by changing the number of instruments and their rotation angles. This solves the problem of diverse configurations of current redundant strapdown INS and the lack of established or unified models, and has high versatility.

[0086] This embodiment directly converts the gyroscope measurements of the redundant inertial navigation system to the corresponding accelerometer coordinate system through spatial transformation. Finally, it achieves internal arm error compensation for the redundant strapdown inertial navigation system accelerometer through an internal arm compensation algorithm. This solves the internal arm error caused by the inability of multiple accelerometers to be installed in the theoretical position in actual production, thus improving navigation accuracy and having very high application value.

[0087] Another embodiment of the present invention provides an electronic device, comprising:

[0088] One or more processors;

[0089] A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the steps of the accelerometer lever compensation method for strapdown inertial navigation systems.

[0090] In some implementations, the memory may be high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device.

[0091] In other implementations, the processor can be any type of general-purpose processor, such as a central processing unit (CPU) or a digital signal processor (DSP), and there is no limitation here.

[0092] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a strapdown inertial navigation system's accelerometer internal lever arm compensation method.

[0093] The above embodiments should be understood as being used only to illustrate the present invention more clearly, and not to limit the scope of the present invention. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art fall within the scope defined by the appended claims.

Claims

1. A method for compensating the internal lever arm of an accelerometer in a strapdown inertial navigation system, characterized in that, Includes the following processes: By rotating the coaxial accelerometer or gyroscope around the x-axis and y-axis of the inertial navigation system by a first angle and a second angle respectively, the transformation relationship between the inertial navigation system orthogonal coordinate system and the accelerometer orthogonal coordinate system is established. The transformation relationship between the combined inertial navigation system orthogonal coordinate system and the orthogonal coordinate systems of all accelerometers is established, and a mathematical model of the spatial configuration of accelerometers or gyroscopes in the inertial navigation system orthogonal coordinate system is constructed. By configuring a mathematical model in the space of the inertial navigation system or orthogonal coordinate system using accelerometers or gyroscopes, all gyroscope measurements are transformed into the inertial navigation system orthogonal coordinate system to obtain the first measurement value. By using the transformation relationship between the inertial navigation system orthogonal coordinate system and the accelerometer orthogonal coordinate system, the first measurement value is transformed into the accelerometer orthogonal coordinate system to obtain the second measurement value; Based on the second measurement value, the error of the inner rod wall of the accelerometer is determined.

2. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, In the orthogonal coordinate system of the inertial navigation system, the x-axis points upward, the y-axis points forward, and the z-axis satisfies the right-hand rule; The accelerometer orthogonal coordinate system has the accelerometer mounting axis as the x-axis, and the x-axis of all accelerometer orthogonal coordinate systems of the strapdown inertial navigation system intersects at the origin of the inertial navigation system's orthogonal coordinate system.

3. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The first angle is the accelerometer or gyroscope on the same axis in the orthogonal coordinate system of the inertial navigation system. b y b z b The first angle is the angle between the projection on the plane and the z-axis of the inertial navigation system orthogonal coordinate system, and the second angle is the angle between the coaxial accelerometer or gyroscope and the x-axis of the inertial navigation system orthogonal coordinate system.

4. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The transformation relationship between the inertial navigation system's orthogonal coordinate system and the accelerometer's orthogonal coordinate system is expressed as follows: Among them, C i β represents the transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system. i For the i-th accelerometer or the i-th gyroscope in the orthogonal coordinate system o of the inertial navigation system b y b z b The angle α between the projection on the plane and the z-axis of the orthogonal coordinate system of the inertial system. i The angle between the i-th accelerometer or the i-th gyroscope and the x-axis of the orthogonal coordinate system of the inertial navigation system.

5. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The mathematical model H for the spatial configuration of the accelerometer or gyroscope in the orthogonal coordinate system of the inertial navigation system is expressed as follows: Where n is the number of accelerometers or gyroscopes in the strapdown inertial navigation system, β i For the i-th accelerometer or the i-th gyroscope in the orthogonal coordinate system o of the inertial navigation system b y b z b The angle α between the projection on the plane and the z-axis of the orthogonal coordinate system of the inertial system. i The angle between the i-th accelerometer or the i-th gyroscope and the x-axis of the orthogonal coordinate system of the inertial navigation system.

6. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The first measured value is obtained using the following formula: Where ω is the first measured value, m g For all the measurements of the gyroscopes, H is the mathematical model of the spatial configuration of the accelerometers or gyroscopes in the orthogonal coordinate system of the inertial navigation system.

7. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The second measurement value is obtained using the following formula: oh ai =C i oh Where, ω ai Let C be the second measurement value in the orthogonal coordinate system of the i-th accelerometer. i This represents the transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system.

8. The method for compensating the internal lever arm of the accelerometer in a strapdown inertial navigation system according to claim 1, characterized in that, The error of the inner rod wall of the accelerometer is obtained by the following formula: Where, δf ai Let r be the internal lever error of the i-th accelerometer. xbi r ybi r zbi Let C represent the components of the i-th accelerometer inner lever arm on the three axes of the inertial navigation system orthogonal coordinate system. i The transformation relationship between the inertial navigation system's orthogonal coordinate system and the i-th accelerometer's orthogonal coordinate system is given by ω. ai This is the second measurement value in the orthogonal coordinate system of the i-th accelerometer. For ω ai The derivative of .

9. An electronic device, characterized in that, include: One or more processors; A memory having stored one or more programs that, when executed by one or more processors, cause the one or more processors to perform the steps of the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-8.

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