A calibration method and device for a guidance instrument based on satellite positioning

Abstract

The present invention discloses a calibration method for a guiding instrument based on satellite positioning, comprising: under static conditions, calibration detection is performed on calibration points at multiple azimuths of a guiding instrument to be calibrated, and theoretical azimuth and pitch angle values ​​of the multiple calibration points compared with the guiding instrument are obtained; the guiding instrument is aligned with the multiple calibration points one by one, a positioning attitude unit generates posture data of a rigid system, the guiding instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, the positioning attitude unit is configured to be fixedly connected with the guiding instrument and constitute the rigid system; the mechanical error and zero-position direction information of the guiding instrument are generated based on the theoretical azimuth and pitch angle values, the measured azimuth and pitch angle values ​​and the posture data; when the guiding instrument is guiding, a data processing unit can generate a corrected target azimuth and pitch angle based on the mechanical error and zero-position direction information.

Description

Technical Field

[0001] The present invention relates to the technical field of guiding instrument calibration, and in particular to a guiding instrument calibration method and device based on satellite positioning. Background Art

[0002] The existing technology usually performs a calibration experiment in the direction to be calibrated after the guidance instrument to be calibrated is installed and fixed. The theoretical azimuth and theoretical pitch angle of the calibration point are calculated by using the latitude and longitude information at the fixed position of the instrument and the latitude and longitude information of the calibration point (using the position information returned by the satellite positioning of the UAV, or using the GPS position information of the calibration tower, etc.), and the actual azimuth and actual pitch angle are measured by manipulating the guidance instrument to align with the calibration point, and the difference is calculated as the correction value, so that the guidance instrument can achieve a more accurate guidance effect near the calibration direction.

[0003] The correction method of the existing scheme is only a simple angle correction in the calibration direction, and does not correct the root cause of the error. Therefore, usually only a relatively accurate guidance effect can be obtained near the calibration point. If the target is far away from the calibration direction, the error will become larger and larger, and eventually escape the range of effective guidance. Therefore, if it is necessary to guide targets in other directions, it is necessary to re-calibrate the test in that direction. At the same time, after the calibration is completed, the guiding instrument will not be able to move or change its posture. If the posture or position of the instrument changes, the calibration test must be repeated. Therefore, the traditional calibration method has low accuracy and small guidance angle. At the same time, it has low flexibility, cannot be moved, and often requires calibration tests, which is labor-intensive and inefficient.

[0004] In summary, the existing calibration methods for guiding instruments have the problems of low accuracy and poor reliability. Summary of the invention

[0005] In view of this, the present invention provides a calibration method and device for a guidance instrument based on satellite positioning, which solves the problems of low accuracy and poor reliability of the traditional guidance instrument calibration method by improving the calibration method and data processing method.

[0006] To solve the above problems, the technical solution of the present invention is to adopt a calibration method for a guiding instrument based on satellite positioning, comprising: under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guiding instrument to be calibrated, and theoretical azimuth and pitch angle values ​​of multiple calibration points compared with the guiding instrument are obtained; the guiding instrument is aligned with the multiple calibration points one by one, a positioning attitude unit generates posture data of a rigid system, and the guiding instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, wherein the positioning attitude unit is configured to be fixedly connected to the guiding instrument and constitute the rigid system; the mechanical error and zero-position direction information of the guiding instrument are generated based on the theoretical azimuth and pitch angle values, the measured azimuth and pitch angle values ​​and the posture data; when the guiding instrument is guiding, the data processing unit can generate a corrected target azimuth and pitch angle based on the mechanical error and zero-position direction information.

[0007] Optionally, the method for calibrating and detecting calibration points at multiple azimuths of a guiding instrument to be calibrated includes: hovering a drone at the multiple calibration points, the drone transmitting satellite positioning data at the calibration points back to the data processing unit, and the data processing unit calculating the theoretical azimuth and pitch angle values ​​of the multiple calibration points compared to the guiding instrument based on the satellite positioning data at the multiple calibration points and the satellite positioning data at the guiding instrument to be calibrated.

[0008] Optionally, when the positioning posture unit is fixedly connected to the guiding instrument, when the guiding instrument is aligned with a plurality of the calibration points one by one, while the guiding instrument generates a plurality of measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, the positioning posture unit can generate posture data of a rigid system including the positioning posture unit and the guiding instrument.

[0009] Optionally, the method for generating the mechanical error and zero direction information of the guiding instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values ​​is a three-point calibration method or a four-point calibration method.

[0010] Correspondingly, the present invention provides a calibration device for a guiding instrument based on satellite positioning, comprising a positioning attitude unit, a guiding instrument, a first antenna and a second antenna, wherein the positioning attitude unit, the guiding instrument, the first antenna and the second antenna are fixed together on the same rigid base, and the first antenna and the second antenna are electrically connected to the positioning attitude unit via an antenna feeder.

[0011] Optionally, the calibration device further comprises a back-end data processing unit, and the data processing unit is respectively communicatively connected with the positioning posture unit and the guiding instrument.

[0012] Optionally, under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guiding instrument to be calibrated, and the data processing unit obtains theoretical azimuth and pitch angle values ​​of the multiple calibration points compared with the guiding instrument. When the guiding instrument is aligned with the multiple calibration points one by one, the guiding instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one and transmits them to the data processing unit. The data processing unit generates the mechanical error and zero direction information of the guiding instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values.

[0013] Optionally, the zero position direction of the positioning posture unit is the same as the pointing direction of the first antenna and the second antenna.

[0014] The primary improvement of the present invention is the calibration method of the guidance instrument based on satellite positioning, which generates the mechanical error and zero direction information of the guidance instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values, thereby achieving accurate guidance of the guidance instrument in all directions. At the same time, since the relative position of the positioning attitude unit and the guidance instrument is constant, no matter how the position and attitude of the guidance instrument change in the subsequent process, there is no need to repeat the calibration experiment. The position and angle information given by the positioning attitude unit can be used to convert and calculate the zero direction of the guidance instrument in the new position and new attitude through a fixed algorithm, so as to achieve the purpose of accurate guidance after moving, and solve the problems of low accuracy and poor reliability of the traditional guidance instrument calibration method. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a simplified flow chart of the calibration method of the guidance instrument based on satellite positioning of the present invention;

[0016] Figure 2 It is a simplified device connection diagram of the calibration device of the satellite positioning-based guidance instrument of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] like Figure 1As shown, a calibration method for a guidance instrument based on satellite positioning comprises: under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guidance instrument to be calibrated, and theoretical azimuth and pitch angle values ​​of the calibration points compared with the guidance instrument are obtained; the guidance instrument is aligned with the multiple calibration points one by one, and a positioning attitude unit generates posture data of a rigid system, and the guidance instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, wherein the positioning attitude unit is configured to be fixedly connected to the guidance instrument and constitute the rigid system; the mechanical error and zero-position direction information of the guidance instrument are generated based on the theoretical azimuth and pitch angle values, the measured azimuth and pitch angle values ​​and the posture data; when the guidance instrument is guiding, the data processing unit can generate a corrected target azimuth and pitch angle based on the mechanical error and zero-position direction information. Among them, the method for generating the mechanical error and zero direction information of the guiding instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values ​​is a three-point calibration method or a four-point calibration method. Specifically, if there are certain limitations on the calibration scene, for example, there is a mountain blocking a certain direction and calibration can only be performed within a smaller angle range, the three-point calibration method can be used; if there is no large environmental interference in the calibration scene, the more accurate four-point calibration method can be used.

[0019] Furthermore, the three-point calibration method is defined as: when the calibration points at three positions of the guidance instrument to be calibrated are calibrated and tested (for example: the calibration points at the three directions of 0°, 45° and 90° of the instrument), by the Vincenty formula, when the longitude and latitude of a calibration point and the longitude and latitude of the instrument to be calibrated are known, the azimuth and pitch angle of the target in the geodetic plane coordinate system where the instrument to be calibrated is located can be calculated very accurately. Therefore, if we can obtain the plane equation of the zero plane of the instrument to be calibrated in the geodetic plane coordinate system, all-round precise guidance can be achieved. Specifically, first take the calibration point in the 0° direction, and the theoretical azimuth angle α can be calculated by the Vincenty formula t0 , the theoretical pitch angle θ t0 By manipulating the instrument to be calibrated to align with the calibration point, the actual alignment azimuth α can be measured. r0 , the actual aligned pitch angle θ r0 Assume that in the geodetic coordinate system, the zero plane equation of the instrument to be calibrated is Ax+By+z=0. Then, the coordinate value of the calibration point in the 0° direction can be expressed as

[0020] Assume that a calibration point is taken at the 0° direction and the 90° direction of the instrument, and the longitude, latitude and altitude of the calibration point are obtained. Then the longitude, latitude and altitude of the instrument to be calibrated are measured. The azimuth and elevation angle of the target in the earth's ground coordinate system can be calculated very accurately through the Vincenty formula. It is recorded as α 理论0 ,θ 理论0 , α 理论90 ,θ 理论90 , operate the instrument to be calibrated to align with the calibration point, and the azimuth and elevation angle of the instrument when it is aligned can be measured, which is recorded as α 实际0 ,θ 实际0 , α 实际90 ,θ 实际90 , a total of 8 sets of data. The earth ground coordinate system is established with the location of the instrument to be calibrated as the origin. For the calibration point in the 0° direction, its coordinate value is (x0, y0, Z0). Among them, Assuming that the zero plane equation of the instrument to be calibrated is Ax+By+z=0, the projection of this point on the zero plane is

[0021] Therefore, the distance between the calibration point and the zero plane should be The theoretical pitch angle is This is an equation with only unknowns A and B. Therefore, we only need to do the same calculation in the 90° direction to form a set of two-variable equations to obtain the zero plane. However, in fact, the above calculation is based on the ideal zero plane. In fact, we calculate based on the pitch angle of the instrument. Therefore, the calculated result is the plane formed by the translation axis in the 0° and 90° directions when the instrument is at 0° pitch. It is obvious that when this plane is used instead of the cone for guidance and control, only the 0° and 90° directions meet the guidance requirements, while the other positions will have pitch deviations. Therefore, a third calibration point is required to determine this deviation. For example, by obtaining the third calibration point in the 45° direction, the projection of this calibration point on the calculation plane can be calculated to obtain the calculated pitch angle. There is a certain deviation between this angle and the actual pitch angle. The difference is the angle between the plane and the cone in this direction. Assuming that the angle between the zero cone and the ideal plane is Δθ, then in the 45° direction, the angle between the calibration plane and the ideal plane is Therefore, the pitch angle calculated by this calibration plane will differ from the actual pitch angle Since the pitch angle of the third calibration point projected onto the calibration plane can be calculated, and the actual pitch angle has also been measured through calibration, Δθ can be directly calculated.

[0022] Furthermore, the four-point calibration method is defined as follows: The simplest four-point calibration method is to calibrate the instrument at four positions, each at 90°, such as 0°, 90°, 180°, and 270°. In fact, these four directions do not need to be particularly precise, and approximation is sufficient. For example, the error of the calculated result of Δθ will not be greater than 0.01° when the calibration points are taken at 0.5°, 88.5°, 181°, and 269°. This method has a simpler calculation method. A calibration plane can be calculated by calibrating every two adjacent points. These four calibration planes will form a tetrahedron, and the angle between the normal vectors of each two faces is Δθ. Similarly, the formula in the three-point calibration method can be used to calculate the solutions of four sets of plane equations, A1, B1, A2, B2, A3, B3, A4, B4, and the angle between the normal vectors (A, B1, 1) and (A2, B2, 1) of the first two planes can be calculated, which is Δθ. However, since the calibration points are not strictly 90° to each other during the calibration process, the Δθ calculated using only two planes will not be particularly accurate. Therefore, the average value of each of the four sets of Δθ can be calculated, and the result will be very close to Δθ. When Δθ is known, calibration correction can be performed very conveniently.

[0023] Furthermore, Δθ is constant without changing the internal environment of the machine, so it can be bound to a guiding instrument. In the future, only two calibrations are required at any time, and the calibration method is as follows: Since the measured pitch angle differs from the Δθ plane by an angle of Δθ, when calculating the plane equation, it is necessary to subtract Δθ from the pitch angle of the two sets of calibration points to calculate the plane. After calculating the plane equation, one set of calibration points is projected onto this plane and rotated counterclockwise by an angle Δα. Δα is the actual azimuth measured by this set of calibration points, so the zero azimuth vector of the instrument to be calibrated can be calculated, that is, the x-axis of the instrument coordinate system. Rotate the x-axis vector 90° to obtain the y-axis vector. Cross-multiply the x-axis vector with the y-axis vector to obtain the z-axis vector. Since the three-axis coordinate system of the instrument has been determined, it is recorded as: Then, the coordinate values ​​in the new coordinate system are (x, y, z) 仪 =T -1 (x, y, z) 地. The azimuth and pitch angles in the new coordinate system can be calculated, but the pitch angle at this time is based on the Δθ plane, so Δθ needs to be added during guidance. However, since we only used one set of calibration points to determine the x-axis direction, that is, in theory, the guidance result will only be strictly close to this calibration point, and the y-axis direction is obtained by rotating the x-coordinate, and the second set of calibration data is not used. If the second set of calibration data has an azimuth error, then in this direction, there will be no error in the pitch angle, but there will be a certain deviation in the azimuth. Therefore, we can calculate the projected azimuth of the new calibration point in the new coordinate system, and fit it with the actual azimuth. For example, the azimuth calculated by the second set of 90° calibration points in the new coordinate system is 89.9°. Then, during guidance, we can set the guidance azimuth to Linear correction is performed, so that at the 0° and 90° directions, they will strictly conform to the calibration points. If we use more calibration points and do more fitting interpolation in the first calibration, the guidance effect will be more accurate. Even if there is a certain error in the instrument azimuth angle engraved disk, it will not affect the final real guidance result. Generally speaking, the four-point calibration method will perform azimuth fitting correction in the four directions of 0°, 90°, 180°, and 270° of the instrument. Basically, the azimuth within the range of 360° can be corrected to meet the requirements of all-round guidance.

[0024] Similarly, the fitting difference error is also caused by the mechanical azimuth engraving plate, which is fixed with the instrument. Therefore, the azimuth fitting algorithm for the same set of instruments can also be bound to one instrument and will never change. If a positioning attitude unit is fixed on the same base of the guide instrument during calibration, the positioning attitude unit can measure its own azimuth vector, and can determine its own plane position based on the measured pitch angle and roll angle. Then, project the x-axis azimuth vector of the instrument coordinate system onto this plane, set the projection pitch angle to γ, and then rotate on this plane. Angle, we can get the orientation vector of the attitude instrument. Then, in the future movement process, rotate the attitude instrument vector on its own plane - Angle, and then rotate γ in the direction perpendicular to the plane, the x-axis vector of the instrument to be calibrated in this state can be obtained, that is, the coordinate system of the instrument to be calibrated can be calculated at any time, then, the guidance azimuth and pitch angle of the instrument to be calibrated in the new state can be determined at any time.

[0025] Therefore, the guiding instrument does not need to be recalibrated after being moved or changed in posture, and can be directly powered on and used, and can even achieve accurate guidance during the movement of the instrument.

[0026] The present invention generates the mechanical error and zero direction information of the guiding instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values, thereby achieving accurate guidance of the guiding instrument in all directions. At the same time, since the relative position of the positioning attitude unit and the guiding instrument is constant, no matter how the position and attitude of the guiding instrument change in the subsequent process, there is no need to repeat the calibration experiment. The position and angle information given by the positioning attitude unit can be used to convert and calculate the zero direction of the guiding instrument in the new position and new attitude through a fixed algorithm, so as to achieve the purpose of accurate guidance after movement, and solve the problems of low accuracy and poor reliability of the traditional calibration method of guiding instruments.

[0027] Furthermore, the method for calibrating and detecting the calibration points at multiple azimuths of the guiding instrument to be calibrated includes: hovering a drone at the multiple calibration points, the drone transmitting the satellite positioning data at the calibration points back to the data processing unit, and the data processing unit calculating the theoretical azimuth and pitch angle values ​​of the multiple calibration points compared to the guiding instrument based on the satellite positioning data at the multiple calibration points and the satellite positioning data at the guiding instrument to be calibrated. Among them, the method for calibrating and detecting the calibration points at multiple azimuths of the guiding instrument to be calibrated can also be other methods that can indicate the coordinates of the calibration points, for example: using a constructed calibration tower, aligning the instrument with the calibration tower, and then using the longitude and latitude of the calibration tower to perform calibration calculations.

[0028] Furthermore, when the positioning posture unit is fixedly connected to the guiding instrument, and the guiding instrument is aligned with a plurality of the calibration points one by one, while the guiding instrument generates a plurality of measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, the positioning posture unit can generate posture data of a rigid system including the positioning posture unit and the guiding instrument.

[0029] Correspondingly, such as Figure 2 As shown, the present invention provides a calibration device for a guidance instrument based on satellite positioning, characterized in that it includes a positioning attitude unit 1, a guidance instrument 2, a first antenna 3 and a second antenna 4, wherein the positioning attitude unit 1, the guidance instrument 2, the first antenna 3 and the second antenna 4 are fixed on the same rigid base 5, and the first antenna 3 and the second antenna 4 are both electrically connected to the positioning attitude unit 1 through an antenna feeder. Figure 2 The relative position relationship between the positioning posture unit 1 and the guiding instrument 2 is only an example, and the present invention does not specifically limit its relative position relationship. For example, when the rigid base 5 is a double-layer rigid base, the positioning posture unit 1 can be fixed on the lower layer of the guiding instrument 2.

[0030] Furthermore, the calibration device also includes a back-end data processing unit, and the data processing unit is communicatively connected with the positioning posture unit 1 and the guiding instrument 2 respectively.

[0031] Furthermore, under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guiding instrument to be calibrated, and the data processing unit obtains theoretical azimuth and pitch angle values ​​of the multiple calibration points compared with the guiding instrument. When the guiding instrument is aligned with the multiple calibration points one by one, the guiding instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one and transmits them to the data processing unit. The data processing unit generates the mechanical error and zero direction information of the guiding instrument based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values.

[0032] Furthermore, the zero position direction of the positioning attitude unit 1 is the same as the pointing direction of the first antenna 3 and the second antenna 4. Among them, since the positioning attitude unit 1 has the function of self-detection of north, but this azimuth positioning angle usually has a certain error (the azimuth error of most inertial navigation products is in the order of 0.5° to 1°), most of them will be equipped with dual antennas to search for satellite signals for real-time azimuth correction, and the azimuth error can be controlled at the percentile level when the satellite signal is good. If the pointing direction of the first antenna 3 and the second antenna 4 is different from the direction of the zero position of the positioning attitude unit 1 itself, the positioning attitude unit 1 will usually correct back and forth between its own angle and the antenna angle, causing a huge jump in the azimuth measurement. At the same time, since the roll angle and pitch angle measured by the positioning attitude unit 1 are the pitch and roll angles in the direction of its own zero position, the azimuth of the zero position of the attitude meter itself must be measured, and the pitch angle and roll angle are meaningful. Therefore, the pointing direction of the first antenna 3 and the second antenna 4 must be the same as the zero position direction of the attitude meter. Furthermore, since it may not be possible to ensure that the pointing directions of the first antenna 3 and the second antenna 4 are completely consistent with the zero position direction of the positioning posture unit 1 in actual installation conditions, in this case, the angular error between the first antenna 3 and the second antenna 4 and the zero position direction of the positioning posture unit 1 can be measured through a sports car experiment, and this parameter can be input into the positioning posture unit 1 to complete the correction.

[0033] The calibration method and device of the guidance instrument based on satellite positioning provided by the embodiment of the present invention are introduced in detail above. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0034] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0035] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Claims

1. A calibration method for a guidance instrument based on satellite positioning, characterized in that: include: Under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guiding instrument to be calibrated, and theoretical azimuth and elevation angle values ​​of the calibration points compared with the guiding instrument are obtained; The guiding instrument is aligned with the plurality of calibration points one by one, and a positioning attitude unit generates posture data of a rigid system, and the guiding instrument generates a plurality of measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, wherein the positioning attitude unit is configured to be fixedly connected with the guiding instrument and constitute the rigid system; Based on the theoretical azimuth and pitch angle values, the measured azimuth and pitch angle values ​​and the posture data, a three-point calibration method or a four-point calibration method is used to generate the mechanical error and zero direction information of the guiding instrument; When the guidance instrument is guiding, the data processing unit can generate a corrected target azimuth and pitch angle based on the mechanical error and the zero direction information.

2. The calibration method according to claim 1, characterized in that: The method for performing calibration detection on calibration points at multiple positions of a guiding instrument to be calibrated comprises: The drone is hovered at multiple calibration points, and the drone transmits the satellite positioning data at the calibration points back to the data processing unit. The data processing unit calculates the theoretical azimuth and pitch angle values ​​of the multiple calibration points compared to the guidance instrument based on the satellite positioning data at the multiple calibration points and the satellite positioning data at the guidance instrument to be calibrated.

3. The calibration method according to claim 2, characterized in that: When the positioning posture unit is fixedly connected to the guiding instrument, and the guiding instrument is aligned with a plurality of the calibration points one by one, while the guiding instrument generates a plurality of measured azimuth and pitch angle values ​​when aligned with the calibration points one by one, the positioning posture unit can generate posture data of a rigid system including the positioning posture unit and the guiding instrument.

4. A calibration device for a guidance instrument based on satellite positioning, characterized in that: It comprises a positioning posture unit (1), a guiding instrument (2), a first antenna (3) and a second antenna (4), The positioning attitude unit (1), the guiding instrument (2), the first antenna (3) and the second antenna (4) are fixed together on a same rigid base (5), and the first antenna (3) and the second antenna (4) are both electrically connected to the positioning attitude unit (1) via an antenna feeder; The calibration device further comprises a back-end data processing unit, and the data processing unit is respectively connected to the positioning posture unit (1) and the guiding instrument (2) for communication; Among them, under static conditions, calibration detection is performed on calibration points at multiple azimuths of the guiding instrument to be calibrated, and the data processing unit obtains theoretical azimuth and pitch angle values ​​of multiple calibration points compared with the guiding instrument. When the guiding instrument is aligned with the multiple calibration points one by one, the guiding instrument generates multiple measured azimuth and pitch angle values ​​when aligned with the calibration points one by one and transmits them to the data processing unit. Based on the theoretical azimuth and pitch angle values ​​and the measured azimuth and pitch angle values, the data processing unit generates the mechanical error and zero direction information of the guiding instrument through a three-point calibration method or a four-point calibration method.

5. The calibration device according to claim 4, characterized in that: The zero position direction of the positioning posture unit (1) is the same as the pointing direction of the first antenna (3) and the second antenna (4).

Images