A multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing

Abstract

The present invention discloses a multi-dimensional full-operating condition IMU performance verification and evaluation method for extraterrestrial landing, the method comprising the following steps: step 1: obtaining the test matrix of the IMU product according to the mission requirements of the Tianwen-1 Mars Lander; step 2: testing the IMU product according to the test matrix of the IMU product; step 3: conducting mechanical environment adaptability evaluation, thermal environment adaptability evaluation, navigation condition adaptability evaluation and inertial parameter measurement capability evaluation on the tested IMU product. The present invention meets the high requirements of the reliability of the IMU in the landing mission, as well as the high requirements of the IMU inertial guidance accuracy under multi-dimensional and full-operating condition conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of IMU products' anti-overload capability under multi-dimensional and full-operating conditions, parachute characteristic adaptability, explosive performance retention capability of pyrotechnics, inertial navigation performance under high-thrust engine reverse landing conditions, and inertial navigation performance under combined force and heat conditions during the landing of an extraterrestrial body, and in particular, relates to a multi-dimensional and full-operating condition IMU performance verification and evaluation method for the landing of an extraterrestrial body. Background Art

[0002] The Inertial Measurement Unit (IMU) is the core unit of the satellite navigation system. It does not rely on external input information and can measure the three-axis angular velocity and apparent acceleration of the carrier relative to the inertial space in real time. Through navigation solution, it can obtain the three-axis velocity, position, attitude and other information of the carrier relative to the inertial space. With the technological milestone leap from the Earth-Moon system to the interplanetary system in my country's deep space exploration mission, there will be a blowout in the future landing and exploration missions of extraterrestrial bodies. At the same time, the increasing demand for returning satellites such as scientific breeding / experiments also requires an effective multi-dimensional, full-condition IMU product performance verification and evaluation method for landing extraterrestrial bodies to evaluate the reliability and reusability of landing missions.

[0003] In addition, with the continuous advancement of manned space missions, the requirements for the accuracy of the landing area for Earth return and lunar landing have been continuously improved. The accuracy of the Earth return landing point has been improved from tens of kilometers to the kilometer level, and the accuracy of the lunar landing landing point has been improved from the previous kilometer level to the hundred-meter level. The reliability of the existing IMU in landing missions cannot meet the high requirements, and the IMU inertial navigation accuracy under multi-dimensional and full working conditions cannot meet the high requirements. Summary of the invention

[0004] The present invention is based on the multi-dimensional, full-operating-condition IMU test verification and performance assessment carried out during the development of the Tianwen-1 high-dynamic inertial navigation system for the Mars entry, descent, and landing (EDL) process. Through typical operating condition decomposition, test item and condition formulation, IMU product test process monitoring, performance evaluation and other work, a relatively effective multi-dimensional, full-operating-condition simulation verification and evaluation method for IMU product landing on extraterrestrial bodies is provided, which can effectively support the high-reliability development of my country's future related space missions.

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a multi-dimensional and full-operating-condition IMU performance verification and evaluation method for extraterrestrial landing, which meets the high requirements for the reliability of the IMU in the landing mission and the high requirements for the IMU inertial navigation accuracy under multi-dimensional and full-operating-condition conditions.

[0006] The purpose of the present invention is achieved through the following technical solutions: a multi-dimensional and full-working condition IMU performance verification and evaluation method for extraterrestrial landing, the method comprising the following steps: step one: obtaining a test matrix of the IMU product according to the mission requirements of the Tianwen-1 Mars lander and rover; step two: testing the IMU product according to the test matrix of the IMU product; step three: conducting mechanical environment adaptability evaluation, thermal environment adaptability evaluation, navigation working condition adaptability evaluation and inertial parameter measurement capability evaluation on the tested IMU product.

[0007] In the above-mentioned multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing, in step 1, the test matrix of the IMU product is:

[0008]

[0009] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the dynamic load test refers to a test that can assess the output characteristics of the IMU product under dynamic load conditions. The maximum angular velocity and maximum acceleration during the dynamic load test must be measured, and output saturation must not occur.

[0010] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the thermal environment navigation test refers to the navigation performance test of the IMU product in a thermal working environment, which is carried out under thermal cycle conditions of -20℃ to +50℃ or thermal vacuum conditions of -20℃ to +50℃.

[0011] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the parachute test refers to a test to evaluate the output characteristics of the IMU product under the parachute barrel and parachute conditions. The performance evaluation of the IMU product is to add the output unsaturation, and the maximum acceleration and maximum angular rate during the test need to be measured.

[0012] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the supersonic parachute opening test refers to a multi-dimensional comprehensive condition test of the re-entry phase under supersonic and low dynamic pressure conditions with large overload, large angular velocity, and even surge phenomenon. It requires the IMU product to be able to accurately measure the position and attitude information without saturation, and the maximum acceleration and maximum angular velocity during the test must be measured.

[0013] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the pyrotechnic explosion test or impact test is a test of the impact effect generated by the explosion of pyrotechnics on the output characteristics of the IMU product. The performance assessment of the IMU product is that the IMU output is not saturated or the attitude error is less than 0.01°.

[0014] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for extraterrestrial landing, the navigation test under mechanical environment is a comprehensive navigation test of the IMU product under random vibration conditions. The performance assessment of the IMU product is that the inertial navigation test accuracy based on the geographic system under the specified conditions and time is not greater than (0.1°, 3km); the static navigation test refers to the test to assess the static navigation characteristics of the IMU product. In order to place the IMU product on a marble platform or a three-axis turntable and keep it still, the 15-minute navigation accuracy is required to be no greater than (0.01°, 1km); the dynamic navigation test refers to the dynamic navigation characteristics of the IMU product under cushioned landing conditions, and the navigation accuracy is required to be no greater than (0.01°, 1km); the extraterrestrial inertial parameter benchmark calibration refers to the test of using the IMU product's own inertial measurement characteristics to carry out basic inertial parameter measurements of extraterrestrial bodies.

[0015] In the above-mentioned multi-dimensional and full-condition IMU performance verification and evaluation method for landing on an extraterrestrial body, in step 2, if only one IMU product is used to carry out the test verification, the test process is: pyrotechnic explosion test or impact test, navigation test under a mechanical environment, navigation test in a thermal environment, static navigation test, dynamic navigation test, dynamic load test, parachute test, supersonic parachute opening test, and extraterrestrial body inertial parameter benchmark calibration; if two IMU products are used to carry out the test verification, the test process is: one IMU product sequentially carries out pyrotechnic explosion test or impact test, navigation test under a mechanical environment, navigation test in a thermal environment, static navigation test, dynamic navigation test, and extraterrestrial body inertial parameter benchmark calibration; the other IMU product sequentially carries out dynamic load test, parachute test, supersonic parachute opening test, and extraterrestrial body inertial parameter benchmark calibration.

[0016] In the above-mentioned multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing, in step three, the mechanical environment adaptability evaluation is: when the IMU product passes all test items of dynamic load test, parachute test, supersonic parachute opening test, pyrotechnic explosion test or impact test, and navigation test under mechanical environment, it is considered that the IMU product meets the mechanical condition requirements of the extraterrestrial landing mission and the mission is risk-free; the thermal environment adaptability evaluation is: when the IMU product passes the thermal environment navigation test test items, it is considered that the IMU product meets the mechanical condition requirements of the extraterrestrial landing mission and the mission is risk-free. The product meets the thermal condition requirements of the extraterrestrial landing mission, and the mission is risk-free; the navigation condition adaptability assessment is: when the IMU product passes all test items of the thermal environment navigation test, the mechanical environment navigation test, the static navigation test, and the dynamic navigation test, it is considered that the IMU product meets the navigation test requirements of the extraterrestrial landing mission, and the mission is risk-free; the inertial parameter measurement capability assessment is: when the IMU product passes the static navigation test and the extraterrestrial body inertial parameter benchmark calibration test items, it is considered that the IMU product meets the extraterrestrial body inertial basic parameter measurement requirements of the extraterrestrial landing mission, and the obtained extraterrestrial body rotation angular velocity vector and acceleration vector accuracy indicators meet the requirements, and the mission is risk-free.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention proposes 11 IMU multi-dimensional, full-operating condition test projects, which can fully cover the extraterrestrial landing mission and the Earth manned return mission test projects, and effectively solve the verification coverage problem of IMU multi-dimensional, full-operating condition performance evaluation;

[0019] (2) The present invention divides 11 IMU multi-dimensional and full-condition test items into four capabilities, which can explicitly identify the risks of IMU products in a certain field, facilitate targeted IMU product technology upgrades, and enhance corresponding capabilities;

[0020] (3) The present invention has formulated a serial test verification process and a parallel test verification process, which can flexibly carry out IMU product capability identification work according to product completeness or cost pressure, thereby improving the efficiency of IMU capability identification work carried out by different institutions and different mission models;

[0021] (4) The present invention proposes an IMU product minimum test item capability assessment matrix, which can be widely used in the commercial aerospace field or in the reuse capability assessment of reusable IMU products, further reducing the cost and cycle of multi-dimensional, full-condition performance verification and evaluation of IMU products, and improving the flexibility of related work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the serial verification process of multi-dimensional and full-condition IMU tests for extraterrestrial landing;

[0024] Figure 2 This is a schematic diagram of the parallel verification process of multi-dimensional and full-condition IMU tests for extraterrestrial landing;

[0025] Figure 3 This is a schematic diagram of the capability distribution of the multi-dimensional and full-condition IMU test project for extraterrestrial landing;

[0026] Figure 4 Schematic diagram of the multi-dimensional, full-condition IMU evaluation workflow for extraterrestrial landing;

[0027] Figure 5 This is a schematic diagram of the capability distribution of the minimum test items of the multi-dimensional, full-condition IMU for landing on extraterrestrial objects. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] The present embodiment provides a multi-dimensional, full-working condition IMU performance verification and evaluation method for extraterrestrial landing, the method comprising the following steps: Step 1: Obtaining a test matrix of the IMU product according to the mission requirements of the Tianwen-1 Mars lander and rover; Step 2: Testing the IMU product according to the test matrix of the IMU product; Step 3: Conducting mechanical environment adaptability evaluation, thermal environment adaptability evaluation, navigation working condition adaptability evaluation and inertial parameter measurement capability evaluation on the tested IMU product.

[0030] Step 1: According to the characteristics of the background model mission, conduct multi-dimensional and full-condition analysis and summary of IMU, and sort out the performance verification test items that need to be carried out. For landing missions with atmospheric celestial bodies, all the test items shown in Table 1 should be carried out. For landing missions without atmospheric celestial bodies, items 8 to 10 in Table 1 can be carried out;

[0031] Table 1 IMU product extraterrestrial landing multi-dimensional and full-condition development test matrix

[0032]

[0033] Among them, the dynamic load test refers to a test that can assess the output characteristics of IMU products under dynamic load conditions. The maximum angular velocity and maximum acceleration (overload) during the dynamic load test must be measured, and output saturation must not occur. Navigation tests can be carried out if conditions permit, such as navigation accuracy based on the geographic system not greater than (0.1°, 3km).

[0034] Among them, the thermal environment navigation test refers to the navigation performance test of the IMU product under thermal working conditions, which can generally be carried out under thermal cycle conditions of -20℃ ~ +50℃ or thermal vacuum conditions of -20℃ ~ +50℃. The navigation accuracy based on the geographic system meets the model mission requirements, such as not greater than (0.1°, 3km).

[0035] Among them, the parachute test refers to a test to evaluate the output characteristics of the IMU product under the parachute barrel and parachute conditions (equivalent to an impact test). The performance evaluation of the IMU product mainly adds output unsaturation, and the maximum acceleration and maximum angular velocity during the test need to be measured.

[0036] Among them, the supersonic parachute opening test refers to a multi-dimensional comprehensive working condition test of the re-entry phase under supersonic and low dynamic pressure conditions with large overload, large angular velocity, and even possible surge. It requires the IMU product to be able to accurately measure the posture information and cannot be saturated (many foreign missions fail at this stage), and the maximum acceleration and maximum angular velocity during the test must be measured.

[0037] Among them, the pyrotechnic explosion test (impact test) is a test of the impact effect (such as throwing the big bottom, throwing the back cover, structural unlocking, etc.) generated by the explosion of pyrotechnics on the output characteristics of the IMU product. The performance assessment of the IMU product is mainly that the IMU output is not saturated, the attitude error is less than 0.01° or meets the model mission requirements.

[0038] Among them, the navigation test under mechanical environment is a comprehensive navigation test of IMU products under random vibration conditions (such as reverse landing of large thrust engines, acceptance-level or identification-level random vibration tests). The performance assessment of IMU products is mainly based on the inertial navigation test accuracy of the geographic system under specified conditions and time, which is not greater than (0.1°, 3km) or as specified by the model.

[0039] Among them, the static navigation test refers to a test to assess the static navigation characteristics of the IMU product. Generally, the IMU product is placed on a marble platform or a three-axis turntable and kept stationary. The navigation accuracy for 15 minutes is no more than (0.01°, 1km) or meets the model mission requirements.

[0040] Among them, the dynamic navigation test refers to the dynamic navigation characteristics of the IMU product under the cushioned landing condition, which generally requires the navigation accuracy to be no greater than (0.01°, 1km) or to meet the model mission requirements.

[0041] Among them, the benchmark calibration of inertial parameters of extraterrestrial objects refers to the experiment of measuring the basic inertial parameters (acceleration vector, angular velocity vector) of extraterrestrial objects using the inertial measurement characteristics of the IMU itself, so as to enhance the scientific value of the model mission.

[0042] Step 2: Develop a test process based on the test items selected in step 1 (specific test conditions are implemented according to the model task requirements), which is divided into serial and parallel types. Test items that do not need to be carried out can be skipped and the next test can be carried out directly.

[0043] If only one IMU product is used for test verification, the test can be carried out in the order of mechanical test, thermal test, single machine test, and system level test. The specific test process is as follows: Figure 1 shown.

[0044] If multiple IMU products can be used for test verification and the tests can be carried out in parallel, the test process can be shown in Figure 2.

[0045] Step 3: According to the test items selected in step 1, after completing the established tests and data processing according to the test flow in step 2, the multi-dimensional full-condition performance evaluation of the IMU product for extraterrestrial landing can be carried out. The capability evaluation matrix is ​​shown in Table 2. The evaluation items are divided into mandatory items and optional items. Figure 3 shown.

[0046] Table 2 IMU extraterrestrial landing multi-dimensional and full-condition capability evaluation matrix

[0047]

[0048] Among them, the content marked with “√” is required to be evaluated, and the content marked with “Δ” is optional to be evaluated.

[0049] Step 4: According to the capability evaluation matrix and capability distribution diagram listed in step 3, formulate the IMU product capability evaluation process. Carry out multi-dimensional and full-condition IMU performance verification and evaluation for extraterrestrial landing in the order of mechanical capability, thermal capability, navigation capability, and inertial parameter measurement capability. Only after passing the previous project can you proceed to the next capability evaluation. If there are any failed projects, you need to supplement or redo the test project and then re-evaluate. The evaluation workflow is as follows: Figure 4 shown.

[0050] Step 5: Carry out the "mechanical environment adaptability assessment" of the IMU product according to the capability assessment matrix in step 3 and the capability assessment process in step 4. This project assessment is a risk assessment. When the IMU product passes all the test items of dynamic load test, parachute test, supersonic parachute test, pyrotechnic explosion test or impact test, and navigation test under mechanical environment, it can be considered that the IMU product meets the mechanical condition requirements of the extraterrestrial landing mission. This capability is passed and the mission is risk-free. If there are out-of-tolerance items in the above test items, the IMU product can be repaired or upgraded. The repaired product must pass all the above test items before it can be considered that the product meets the mechanical environment adaptability.

[0051] Step 6: Carry out the "Thermal Environment Adaptability Assessment" of the IMU product according to the capability assessment matrix in step 3 and the capability assessment process in step 4. This project assessment is a risk assessment. When the IMU product passes the thermal environment navigation test project, it can be considered that the IMU product meets the thermal condition requirements of the extraterrestrial landing mission. This capability is passed and the mission is risk-free. If there are out-of-tolerance items in the above test items, the IMU product can be repaired or upgraded. The repaired product must pass all the above test items before it can be considered to meet the thermal environment adaptability.

[0052] Step 7: Carry out the "Navigation Condition Adaptability Assessment" of the IMU product according to the capability assessment matrix in step 3 and the capability assessment process in step 4. This project assessment is a risk assessment. When the IMU product passes all test items of the thermal environment navigation test, the mechanical environment navigation test, the static navigation test, and the dynamic navigation test, it can be considered that the IMU product meets the navigation test requirements of the extraterrestrial landing mission. This capability is passed and the mission is risk-free. If there are out-of-tolerance items in the above test items, the IMU product can be repaired or upgraded. The repaired product must pass all the above test items before it can be considered that the product meets the adaptability of navigation conditions.

[0053] Step 8: Carry out the IMU product inertial parameter measurement capability assessment according to the capability assessment matrix in step 3 and the capability assessment process in step 4. This project assessment is a general capability assessment. When the IMU product passes the static navigation test and the extraterrestrial body inertial parameter benchmark calibration test project, it can be considered that the IMU product meets the extraterrestrial body inertial basic parameter measurement requirements for the extraterrestrial body landing mission, and the obtained extraterrestrial body rotation angular velocity vector and acceleration vector accuracy indicators meet the scientific research value, and this capability is passed. If there are out-of-tolerance items in the above test items, the IMU product can be repaired or upgraded. The repaired product must pass all the above test items before it can be considered that the product meets the inertial parameter measurement capability assessment requirements.

[0054] Step 9: According to the capability evaluation matrix in step 3, the minimum test item capability distribution diagram of IMU products can be formed under the condition that each capability is supported by at least 2 test items, as shown in the figure below: Figure 5 shown.

[0055] Step 10: Carry out the capability assessment of the minimum test items of IMU products according to the capability assessment matrix in step 9 and the capability assessment process in step 4. This can be promoted and applied in the commercial aerospace field or in the reuse capability assessment of reusable IMU products.

[0056] (1) Test project selection: Based on the mission requirements of the Tianwen-1 Mars lander and rover, all test projects are planned according to the test matrix shown in Table 1.

[0057] (2) Test process formulation: Since the Tianwen-1 Mars lander uses two IMU products, Figure 2 The parallel verification process of multi-dimensional and full-condition IMU tests for extraterrestrial landing shown in the figure is used to carry out test planning and test preparation.

[0058] (3) Test preparation: Prepare the test products to ensure that the technical status of the two IMU products participating in the test is completely consistent. Before conducting the test, test the performance of the IMU products to confirm that the performance of the test products is normal.

[0059] (4) Test implementation: According to Figure 2 The test process shown is used to implement the test.

[0060] The first set of IMU carried out explosion tests or impact tests on pyrotechnics, navigation tests in mechanical environments, navigation tests in thermal environments, static navigation tests, dynamic navigation tests, and benchmark calibration of celestial body inertial parameters. The product passed various tests with good performance consistency.

[0061] The second set of IMU carried out dynamic load tests, parachute bomb tests, supersonic parachute opening tests, and celestial body inertial parameter benchmark calibration. The product passed various tests with good performance consistency.

[0062] (5) Performance evaluation: Based on Figure 4 The multi-dimensional, full-condition IMU evaluation workflow for extraterrestrial landing is shown. Multi-dimensional, full-condition IMU performance verification and evaluation for extraterrestrial landing of the high-dynamic, large-range inertial measurement unit adopted by Tianwen-1 during the Mars EDL mission is carried out from four dimensions in the order of mechanical capability, thermal capability, navigation capability, and inertial parameter measurement capability. The relevant IMU product has passed all the above-mentioned capability evaluations and it can be considered that the IMU product has the capability to perform the Mars EDL mission, which can effectively ensure that my country's Tianwen-1 lander and rover can land on Mars with high precision and stability.

[0063] The present invention proposes 11 IMU multi-dimensional and full-operating condition test items, which can fully cover the extraterrestrial landing mission and the Earth manned return mission test items, and effectively solve the verification coverage problem of IMU multi-dimensional and full-operating condition performance evaluation; the present invention divides the 11 IMU multi-dimensional and full-operating condition test items into 4 capabilities, which can explicitly identify the risks of IMU products in a certain field, and facilitate targeted IMU product technology upgrades and enhance corresponding capabilities; the present invention respectively formulates a serial test verification process and a parallel test verification process, which can flexibly carry out IMU product capability identification work according to product completeness or cost pressure, and improves the efficiency of IMU capability identification work for different institutions and different mission models; the present invention proposes an IMU product minimum test item capability evaluation matrix, which can be promoted and applied in the commercial aerospace field or the reuse capability evaluation of reusable IMU products, further reducing the cost and cycle of multi-dimensional and full-operating condition performance verification and evaluation of IMU products, and improving the flexibility of related work.

[0064] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing, characterized in that: The method comprises the following steps: Step 1: Obtain the test matrix of IMU products according to the mission requirements of the Tianwen-1 Mars Lander and Rover; Step 2: Test the IMU product according to the test matrix of the IMU product; Step 3: Conduct mechanical environment adaptability assessment, thermal environment adaptability assessment, navigation condition adaptability assessment and inertial parameter measurement capability assessment on the IMU product after the test; In step 1, the test matrix of the IMU product is:

2. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1 is characterized by: Dynamic load test refers to a test that can assess the output characteristics of IMU products under dynamic load conditions. The maximum angular velocity and maximum acceleration during the dynamic load test must be measured, and output saturation must not occur.

3. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: Thermal environment navigation test refers to the navigation performance test of IMU products in a thermal working environment, which is carried out under thermal cycle conditions of -20℃ ~ +50℃ or thermal vacuum conditions of -20℃ ~ +50℃.

4. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: The parachute launch test refers to a test to evaluate the output characteristics of the IMU product under the parachute launch barrel condition. The performance evaluation of the IMU product is to add the output unsaturation, and the maximum acceleration and maximum angular rate during the test need to be measured.

5. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: The supersonic parachute opening test refers to a multi-dimensional comprehensive test of the reentry phase under supersonic and low dynamic pressure conditions with large overload, large angular velocity, and even possible surge. It requires the IMU product to be able to accurately measure the position and attitude information without saturation, and to measure the maximum acceleration and maximum angular velocity during the test.

6. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: The pyrotechnic explosion test or impact test is a test of the impact effect generated by the explosion of pyrotechnics on the output characteristics of the IMU product. The performance assessment of the IMU product is that the IMU output is not saturated or the attitude error is less than 0.01°.

7. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: The navigation test under mechanical environment is a comprehensive navigation test of IMU products under random vibration conditions. The performance assessment of IMU products is that the inertial navigation test accuracy based on the geographic system under specified conditions and time is not greater than (0.1°, 3km); Static navigation test refers to the test to evaluate the static navigation characteristics of IMU products. The IMU product is placed on a marble platform or a three-axis turntable to keep it still. The navigation accuracy for 15 minutes is required to be no greater than (0.01°, 1km). Dynamic navigation test refers to the dynamic navigation characteristics of IMU products under cushioned landing conditions, requiring the navigation accuracy to be no greater than (0.01°, 1km); The extraterrestrial object inertial parameter benchmark calibration refers to the experiment of measuring the basic inertial parameters of extraterrestrial objects by using the inertial measurement characteristics of the IMU product itself.

8. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: In step 2, if only one IMU product is used for test verification, the test process is as follows: explosive device explosion test or impact test, navigation test in mechanical environment, navigation test in thermal environment, static navigation test, dynamic navigation test, dynamic load test, parachute test, supersonic parachute opening test, and extraterrestrial body inertial parameter benchmark calibration; If two IMU products are used to carry out test verification, the test process is as follows: one IMU product sequentially conducts pyrotechnic explosion test or impact test, navigation test in mechanical environment, navigation test in thermal environment, static navigation test, dynamic navigation test, and benchmark calibration of inertial parameters of extraterrestrial body; the other IMU product sequentially conducts dynamic load test, parachute test, supersonic parachute opening test, and benchmark calibration of inertial parameters of extraterrestrial body.

9. The multi-dimensional full-condition IMU performance verification and evaluation method for extraterrestrial landing according to claim 1, characterized in that: In step 3, the mechanical environment adaptability assessment is: when the IMU product passes all the test items of dynamic load test, parachute test, supersonic parachute opening test, pyrotechnic explosion test or impact test, and navigation test under mechanical environment, it is considered that the IMU product meets the mechanical condition requirements of the extraterrestrial landing mission, and the mission implementation is risk-free; Thermal environment adaptability assessment is: when the IMU product passes the thermal environment navigation test items, it is considered that the IMU product meets the thermal condition requirements of the extraterrestrial landing mission, and the mission is risk-free; The navigation condition adaptability assessment is as follows: when the IMU product passes all test items of the thermal environment navigation test, the mechanical environment navigation test, the static navigation test, and the dynamic navigation test, it is considered that the IMU product meets the navigation test requirements of the extraterrestrial landing mission and the mission is risk-free. The inertial parameter measurement capability is assessed as follows: when the IMU product passes the static navigation test and the extraterrestrial body inertial parameter benchmark calibration test items, it is considered that the IMU product meets the extraterrestrial body inertial basic parameter measurement requirements for the extraterrestrial body landing mission, and the obtained extraterrestrial body rotation angular velocity vector and acceleration vector accuracy indicators meet the requirements, and the mission is risk-free.

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