Inertial measurement unit error calibration method and device

Abstract

The present application relates to an inertial measurement unit error calibration method, apparatus, computer device, and storage medium. The method comprises: controlling a calibration object placed on a dual-axis turntable to undergo position transformation according to a preset position set; the calibration object is an inertial measurement unit whose error is to be calibrated; collecting a plurality of specific position data and a plurality of position transformation data; and calibrating a first error and a second error of the calibration object based on the plurality of specific position data and the plurality of position transformation data. Embodiments of the present application can quickly and accurately calibrate the bias, scale factor, and non-orthogonality error of an inertial measurement unit's accelerometer, as well as the bias, scale factor, and non-orthogonality error of a gyroscope.

Description

Technical Field

[0001] The present application relates to the field of calibration of inertial measurement units, and in particular to an inertial measurement unit error calibration method, apparatus, computer equipment, storage medium, and error calibration system. Background Art

[0002] The following statements merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] The Inertial Measurement Unit (IMU) is one of the essential sensors for unmanned vehicles. It is used to measure the vehicle's angular velocity and acceleration. Since IMUs usually have errors such as non-orthogonality error, bias (or zero bias), and scale factor after leaving the factory, they generally need to be calibrated before use.

[0004] A common calibration method is single-axis or dual-axis turntable calibration. Using an absolutely accurate 90-degree or 180-degree rotation of the turntable as a true reference value, the error calibration of the inertial measurement unit is achieved through a multi-position method. Single-axis and dual-axis turntables are precision instruments with very high accuracy and are also very expensive. Domestic single-axis turntables cost at least 150,000 yuan, while dual-axis turntables cost nearly one million yuan. Consequently, the high calibration cost makes it imperative to accurately calibrate more error terms of the inertial measurement unit in a shorter time. Summary of the Invention

[0005] In response to the above-mentioned deficiencies or shortcomings, the present application provides an inertial measurement unit error calibration method, apparatus, computer equipment, storage medium and error calibration system. The embodiments of the present application can quickly and accurately calibrate the bias, scale factor and non-orthogonality error of the accelerometer of the inertial measurement unit, as well as the bias, scale factor and non-orthogonality error of the gyroscope.

[0006] According to a first aspect, the present application provides a method for calibrating an inertial measurement unit error. In one embodiment, the method includes:

[0007] Controlling the position transformation of a calibration object placed on a dual-axis turntable according to a preset position set; the calibration object refers to an inertial measurement unit whose error is to be calibrated; the preset position set includes a first specific position with an orientation of northeast celestial body, a second specific position with an orientation of east celestial south, a third specific position with an orientation of southeast terrestrial body, a fourth specific position with an orientation of north east terrestrial body, a fifth specific position with an orientation of southeast terrestrial body, a sixth specific position with an orientation of southwest celestial body, a seventh specific position with an orientation of south east celestial body, an eighth specific position with an orientation of northeast celestial body, and a ninth specific position with an orientation of east terrestrial north;

[0008] Collecting multiple specific position data and multiple position transformation data;

[0009] The first error and the second error of the calibration object are calibrated according to the above-mentioned multiple specific position data and the above-mentioned multiple position transformation data; the first error includes the bias, scale factor and non-orthogonal error of the accelerometer; the second error includes the bias, scale factor and non-orthogonal error of the gyroscope.

[0010] In one embodiment, the specific position data refers to data measured when the measurement object is stationary at a specific position; and the position change data refers to data measured when the measurement object changes from a current specific position to a next specific position.

[0011] In one embodiment, controlling the position transformation of a calibration object placed on a dual-axis turntable according to a preset position set includes:

[0012] Taking the first specific position as a starting point, controlling the calibration object to rotate so as to transform to a second specific position;

[0013] Then controlling the calibration object to rotate to transform to a third specific position;

[0014] Then controlling the calibration object to rotate to transform to a fourth specific position;

[0015] Then controlling the calibration object to rotate to transform to a fifth specific position;

[0016] Then controlling the calibration object to rotate so as to transform to a second specific position;

[0017] Then controlling the calibration object to rotate to transform to a sixth specific position;

[0018] Then controlling the calibration object to rotate to transform to a third specific position;

[0019] Then controlling the calibration object to rotate to transform to a seventh specific position;

[0020] Then controlling the calibration object to rotate to transform to an eighth specific position;

[0021] The calibration object is then controlled to rotate to transform to a ninth specific position.

[0022] In one embodiment, controlling the position transformation of a calibration object placed on a dual-axis turntable according to a preset position set includes:

[0023] Starting from the first specific position, the calibration object is controlled to rotate 90 degrees around the X axis to transform to the second specific position;

[0024] Then, the calibration object is controlled to rotate -90 degrees around the Z axis to transform to a third specific position;

[0025] Then, the calibration object is controlled to rotate 90 degrees around the Y axis to transform to a fourth specific position;

[0026] Then, the calibration object is controlled to rotate 90 degrees around the Z axis to transform to a fifth specific position;

[0027] Then, the calibration object is controlled to rotate -90 degrees around the X axis to transform to a second specific position;

[0028] Then, the calibration object is controlled to rotate 90 degrees around the Z axis to be transformed to a sixth specific position;

[0029] Then, the calibration object is controlled to rotate -180 degrees around the Z axis to transform to a third specific position;

[0030] Then, the calibration object is controlled to rotate -90 degrees around the Y axis to transform to the seventh specific position;

[0031] Then, the calibration object is controlled to rotate -90 degrees around the Y axis to transform to the eighth specific position;

[0032] The calibration object is then controlled to rotate 90 degrees around the Z axis to be transformed to a ninth specific position.

[0033] In one embodiment, the method further comprises controlling the calibration object to rotate from the ninth specific position to the first specific position. Further, controlling the calibration object to rotate 90 degrees around the X-axis from the ninth specific position to the first specific position.

[0034] In one embodiment, the plurality of specific position data include first position data, second position data, third position data, fourth position data, fifth position data, seventh position data, ninth position data and eleventh position data;

[0035] The plurality of position transformation data include first transformation data, second transformation data, third transformation data, fifth transformation data, sixth transformation data and eighth transformation data.

[0036] In one embodiment, calibrating the first error and the second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data includes:

[0037] calibrating a first error according to first static data; the first static data is obtained based on the first position data, the second position data, the third position data, the fifth position data, the seventh position data and the eleventh position data;

[0038] The second error is calibrated according to the second static data and the dynamic data; the second static data is obtained based on the first position data, the second position data, the third position data, the fourth position data, the fifth position data, the seventh position data, the ninth position data and the eleventh position data; the dynamic data is obtained based on the first position transformation data, the second position transformation data, the third position transformation data, the fifth position transformation data, the sixth position transformation data and the eighth position transformation data.

[0039] In one embodiment, calibrating the second error according to the second static data and the dynamic data includes:

[0040] Calibrate the bias of the gyroscope according to the second stationary data, where the bias of the gyroscope includes an X-axis bias, a Y-axis bias, and a Z-axis bias;

[0041] The scale factor and non-orthogonality error of the gyroscope are calibrated based on dynamic data. The scale factor of the gyroscope includes the X-axis scale factor, the Y-axis scale factor and the Z-axis scale factor. The non-orthogonality error of the gyroscope includes the non-orthogonality error between any axis and any other axis.

[0042] In one embodiment, calibrating the bias of the gyroscope according to the second stationary data includes:

[0043] calibrating an X-axis bias of the gyroscope according to the third position data, the fourth position data, the seventh position data, and the ninth position data;

[0044] calibrating a Y-axis bias of the gyroscope according to the first position data, the second position data, the fifth position data, and the eleventh position data;

[0045] The Z-axis bias of the gyroscope is calibrated according to the first position data, the third position data, the fourth position data, and the eleventh position data.

[0046] In one embodiment, calibrating the scale factor and non-orthogonality error of the gyroscope based on the dynamic data includes:

[0047] Calibrate an X-axis scale factor of the gyroscope and a non-orthogonality error between the X-axis and any other axis of the gyroscope according to the first position transformation data and the fifth position transformation data;

[0048] calibrating a Y-axis scale factor of the gyroscope and a non-orthogonality error between the Y-axis and any other axis of the gyroscope based on the second position transformation data and the sixth position transformation data;

[0049] The Z-axis scale factor of the gyroscope and the non-orthogonality error between the Z-axis and any other axis of the gyroscope are calibrated according to the third position transformation data and the eighth position transformation data.

[0050] In one embodiment, after calibrating the first error and the second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data, the method further includes:

[0051] Obtain initial position data and initial posture data;

[0052] obtaining current position data according to the first error-compensated accelerometer;

[0053] obtaining current posture data according to the second error compensation gyroscope;

[0054] The position and posture drift of the calibration object is calibrated according to the initial position data, the initial posture data, the current position data and the current posture data.

[0055] According to a second aspect, the present application provides an inertial measurement unit error calibration device. In one embodiment, the device includes:

[0056] a control module for controlling a calibration object placed on a dual-axis turntable to change its position according to a preset position set; the calibration object is an inertial measurement unit whose error is to be calibrated; the preset position set includes a first specific position with an orientation of northeast celestial azimuth, a second specific position with an orientation of east celestial south, a third specific position with an orientation of southeast terrestrial azimuth, a fourth specific position with an orientation of northeast terrestrial azimuth, a fifth specific position with an orientation of southeast terrestrial azimuth, a sixth specific position with an orientation of southwest celestial azimuth, a seventh specific position with an orientation of south celestial azimuth, an eighth specific position with an orientation of northeast celestial azimuth, and a ninth specific position with an orientation of east terrestrial north;

[0057] An acquisition module, used for acquiring a plurality of specific position data and a plurality of position transformation data;

[0058] A calibration module is used to calibrate the first error and the second error of the calibration object according to the above-mentioned multiple specific position data and the above-mentioned multiple position transformation data; the first error includes the bias, scale factor and non-orthogonal error of the accelerometer; the second error includes the bias, scale factor and non-orthogonal error of the gyroscope.

[0059] According to a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0060] According to a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-mentioned method embodiments when the computer program is executed by a processor.

[0061] According to a fifth aspect, the present application provides an inertial measurement unit error calibration system, comprising a dual-axis turntable and a control device. The dual-axis turntable is used to place a calibration object, i.e., an inertial measurement unit whose error is to be calibrated; the control device is used to execute the steps of any of the aforementioned method embodiments, wherein the control device controls the calibration object by controlling the dual-axis turntable.

[0062] In the above embodiment of the present application, the calibration object (referring to the inertial measurement unit whose error is to be calibrated) placed on the dual-axis turntable is controlled to undergo position transformation according to a preset position set, and then the static data and dynamic data of the calibration object during the position transformation process, that is, multiple specific position data and multiple position transformation data, are collected. Finally, the first error (that is, the bias, scale factor and non-orthogonal error of the accelerometer) and the second error (that is, the bias, scale factor and non-orthogonal error of the gyroscope) of the calibration object are calibrated based on the collected multiple specific position data and multiple position transformation data. The embodiment of the present application uses the above preset position set to control the position transformation of the calibration object to achieve the effect of calibration with a three-axis turntable when calibrating with a dual-axis turntable. Specifically, the position transformation is performed according to the specific positions in the preset position set. After completing a complete set of position transformation operations, the measurement data for calibrating the first error and the second error of the calibration object can be obtained. Compared with the existing technology, more error terms can be calibrated. In addition, the above measurement data can be collected with fewer specific positions and fewer position transformations, thereby calibrating the error of the calibration object more quickly and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 1 is a flow chart of an inertial measurement unit error calibration method according to an embodiment;

[0064] Figure 2 A schematic diagram of a position change operation in one embodiment;

[0065] Figure 3 Schematic diagram of a process for calibrating a first error and a second error in one embodiment;

[0066] Figure 4 is a schematic diagram of a process for calibrating a second error in one embodiment;

[0067] Figure 5 is a structural block diagram of an inertial measurement unit error calibration device in one embodiment;

[0068] Figure 6 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0070] The present application provides an inertial measurement unit error calibration method. In one embodiment, the inertial measurement unit error calibration method includes the following steps: Figure 1 The above method is described below with reference to the steps shown in FIG.

[0071] S110: Controlling the calibration object placed on the dual-axis turntable to perform position transformation according to a preset position set, wherein the calibration object refers to the inertial measurement unit whose error is to be calibrated.

[0072] This embodiment uses a dual-axis turntable for calibration. Due to the high cost of the dual-axis turntable, in order to improve its utilization, multiple specific positions can be selected as a preset position set based on the idea of ​​forward and reverse error cancellation. The calibration object is then controlled to change its position according to the preset position set. The preset position set may include: a first specific position with an orientation of northeast sky, a second specific position with an orientation of east sky south, a third specific position with an orientation of southeast earth, a fourth specific position with an orientation of northeast earth, a fifth specific position with an orientation of southeast earth, a sixth specific position with an orientation of southwest sky, a seventh specific position with an orientation of south sky, an eighth specific position with an orientation of northeast sky, and a ninth specific position with an orientation of east earth north.

[0073] Furthermore, the specific positions in the preset position set can be sorted to obtain a position change sequence, and then the calibration object can be controlled to change its position according to the position change sequence. The position change sequence includes each specific position in the preset position set, and each specific position corresponds to one or more (for example, two) presentation orders.

[0074] It should be noted that, by sorting the specific positions in the preset position set, a variety of different position change sequences can be obtained. For example, the specific positions in the position change sequence are sorted from early to late according to the presentation order, which can be as follows:

[0075] First specific location → Second specific location → Third specific location → Fourth specific location → Fifth specific location → Second specific location → Sixth specific location → Third specific location → Seventh specific location → Eighth specific location → Ninth specific location

[0076] It should also be noted that the position change sequence may include not only all specific positions in the preset position set, but also other positions. For example, taking the fourth and fifth specific positions in the position change sequence in the above example, the positions before and after the positions inserted between the two can be as follows:

[0077] Before inserting the position: Fourth specific position (northeast) → Fifth specific position (southeast)

[0078] After inserting the position: the fourth specific position (the direction is northeast) → other positions (the direction is northwest) → the first specific position (the direction is northeast) → the fifth specific position (the direction is southeast)

[0079] S120: Collecting a plurality of specific position data and a plurality of position transformation data.

[0080] The specific position data refers to data measured when the object is stationary at a specific position; the position change data refers to data measured when the object is changing from a current specific position to a next specific position, for example, from a first specific position to a second specific position. As can be seen from the above, there can be multiple position change sequences. Therefore, it can be understood that when the position change sequences are different, it may be necessary to collect specific position data at different specific positions and / or collect position change data at different stages of the position change.

[0081] S130: Calibrate the first error and the second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data.

[0082] The first error includes the bias, scale factor and non-orthogonality error of the accelerometer; the second error includes the bias, scale factor and non-orthogonality error of the gyroscope.

[0083] This embodiment uses the above-mentioned preset position set to control the position transformation of the calibration object, which can achieve the effect of calibration with a three-axis turntable when calibrating with a two-axis turntable. Specifically, the position transformation is performed according to the specific position in the preset position set. After completing a whole set of position transformation operations, the measurement data of the first error and the second error for calibrating the above-mentioned calibration object can be obtained. Compared with the existing technology, more error terms can be calibrated.

[0084] In one embodiment, a calibration object placed on a dual-axis turntable is controlled to undergo position transformation according to a preset position set, including: starting from a first specific position, controlling the calibration object to rotate to transform to a second specific position; then controlling the calibration object to rotate to transform to a third specific position; then controlling the calibration object to rotate to transform to a fourth specific position; then controlling the calibration object to rotate to transform to a fifth specific position; then controlling the calibration object to rotate to transform to the second specific position; then controlling the calibration object to rotate to transform to a sixth specific position; then controlling the calibration object to rotate to transform to a third specific position; then controlling the calibration object to rotate to transform to a seventh specific position; then controlling the calibration object to rotate to transform to an eighth specific position; and then controlling the calibration object to rotate to transform to a ninth specific position.

[0085] This embodiment controls the position transformation of the calibration object according to the position transformation sequence of "first specific position → second specific position → third specific position → fourth specific position → fifth specific position → second specific position → sixth specific position → third specific position → seventh specific position → eighth specific position → ninth specific position." The specific positions and their presentation order can be found in Table 1.

[0086] Table 1:

[0087] Presentation Order Specific location Presentation Order Specific location 1 First specific position 7 Sixth specific position 2 Second specific location 8 The third specific location 3 The third specific location 9 Seventh specific position 4 Fourth specific location 10 Eighth specific position 5 Fifth specific location 11 Ninth specific position 6 Second specific location - -

[0088] Furthermore, the above-mentioned re-controlling the calibration object to rotate so as to transform to the X-th specific position refers to controlling the calibration object to rotate from the Y-th specific position to transform to the X-th specific position, and the Y-th specific position refers to the specific position corresponding to the previous presentation order of the X-th specific position in the position transformation sequence. For example, "re-controlling the calibration object to rotate so as to transform to the third specific position" refers to controlling the calibration object to rotate from the second specific position to transform to the third specific position. This embodiment does not specifically limit the transformation process between two adjacent specific positions in the position transformation sequence. For example, in the above-mentioned position transformation sequence, the first specific position can be rotated +90 degrees around the X-axis to transform to the second specific position, or it can be rotated -270 degrees around the X-axis to transform to the second specific position.

[0089] This embodiment can achieve obtaining the measurement data required for calibrating the first error and the second error of the calibration object with the least actions and the least number of position changes.

[0090] In one embodiment, a first specific position can be added to the end of the position transformation sequence, i.e., presentation sequence 12-first specific position, to obtain a new position transformation sequence. Accordingly, the method further includes controlling the calibration object to rotate from the ninth specific position to the first specific position. This embodiment can achieve a closed-loop action, i.e., the starting position and the ending position of the position transformation are the same position. Thus, after completing the position transformation operations required for one calibration task, the position transformation operations for the next calibration task can be seamlessly connected, reducing redundant actions between two calibration tasks and facilitating improved calibration efficiency.

[0091] In one embodiment, a calibration object placed on a dual-axis turntable is controlled to undergo position transformation, including: starting from a first specific position, controlling the calibration object to rotate 90 degrees around the X axis to transform to a second specific position; then controlling the calibration object to rotate -90 degrees around the Z axis to transform to a third specific position; then controlling the calibration object to rotate 90 degrees around the Y axis to transform to a fourth specific position; then controlling the calibration object to rotate 90 degrees around the Z axis to transform to a fifth specific position; then controlling the calibration object to rotate -90 degrees around the X axis to transform to a second specific position; then controlling the calibration object to rotate 90 degrees around the Z axis to transform to a sixth specific position; then controlling the calibration object to rotate -180 degrees around the Z axis to transform to a third specific position; then controlling the calibration object to rotate -90 degrees around the Y axis to transform to a seventh specific position; then controlling the calibration object to rotate -90 degrees around the Y axis to transform to an eighth specific position; and then controlling the calibration object to rotate 90 degrees around the Z axis to transform to a ninth specific position.

[0092] The position change sequence of this embodiment can be seen in Table 1.

[0093] This embodiment can minimize the rotation angle required for position change, thereby reducing the time consumption of position change and completing all position change operations more quickly to obtain the measurement data required to calibrate the first error and second error of the calibration object, which is conducive to faster calibration of the first error and second error of the calibration object.

[0094] In one embodiment, the calibration object can be further controlled to rotate 90 degrees around the X axis from the ninth specific position to the first specific position to achieve a closed loop of action. The position transformation sequence and the entire position transformation operation of this embodiment can be found in Figure 2 As shown in the figure, the direction is represented by a coordinate diagram, the presentation order of the direction is represented by numbers without circles, and the specific positions corresponding to the directions are represented by numbers with circles. For example, the coordinate diagram in the upper left corner of the figure indicates that the direction is northeast, "①" indicates that the direction refers to the first specific position mentioned above, and "1" indicates that the presentation order of the direction is 1.

[0095] In one embodiment, when calibrating the first error, i.e., the error of the accelerometer, first static data is used, including measurement data of the calibration object with the X-axis pointing upward / downward, the Y-axis pointing upward / downward, and the Z-axis pointing upward / downward. Specifically, the offset and scale factor of each axis (X, Y, and Z) of the accelerometer, as well as the non-orthogonality error of each axis with respect to each other axis, are included.

[0096] When calibrating the second error, that is, the error of the gyroscope, the following data is used:

[0097] Second static data, including: measurement data of the calibration object with the X-axis pointing upward / downward / southward / northward (used to calibrate the X-axis offset), measurement data of the Y-axis pointing upward / downward / southward / northward (used to calibrate the Y-axis offset), and measurement data of the Z-axis pointing upward / downward / southward / northward (used to calibrate the Z-axis offset);

[0098] Dynamic data includes: measurement data of the calibration object rotated N1 degrees in the positive / negative direction around the X-axis (used to calibrate the scale factor of the X-axis and the non-orthogonality error between the X-axis and other axes), measurement data of the calibration object rotated N2 degrees in the positive / negative direction around the Y-axis (used to calibrate the scale factor of the Y-axis and the non-orthogonality error between the Y-axis and other axes), and measurement data of the calibration object rotated N3 degrees in the positive / negative direction around the Z-axis (used to calibrate the scale factor of the Z-axis and the non-orthogonality error between the Z-axis and other axes).

[0099] In this embodiment, the above-mentioned N1 degree, N2 degree and N3 degree all refer to the rotation angle. The specific degrees can be flexibly adjusted according to the actual application scenario. This embodiment does not limit them, and the three can be the same or different. The above-mentioned “ / ” represents “and”. It should be noted that one or more of the above-mentioned measurement data can be collected at a specific position. For example, when the calibration object is in the first specific position (presentation order is 1) and is in a stationary state, the measurement data of the Y-axis facing north and the measurement data of the Z-axis facing upward of the calibration object can be collected.

[0100] Furthermore, when the position change sequence is as shown in Table 1 (or Figure 2 As shown), illustratively, the above-mentioned multiple specific position data may include position data of a specific position with a presentation order of 1 (referred to as the first position data for short), position data of a specific position with a presentation order of 2 (referred to as the second position data for short), position data of a specific position with a presentation order of 3 (referred to as the third position data for short), position data of a specific position with a presentation order of 4 (referred to as the fourth position data for short), position data of a specific position with a presentation order of 5 (referred to as the fifth position data for short), position data of a specific position with a presentation order of 7 (referred to as the seventh position data for short), position data of a specific position with a presentation order of 9 (referred to as the ninth position data for short), and position data of a specific position with a presentation order of 11 (referred to as the eleventh position data for short). The specific positions and position data corresponding to each presentation order can be found in Table 2.

[0101] Table 2:

[0102]

[0103] Possibly, the above-mentioned multiple specific position data can also be a combination of other position data. For example, the second position data can be replaced by the position data of the specific position with a presentation order of 6 (referred to as the sixth position data), and the third position data can be replaced by the position data of the specific position with a presentation order of 8 (referred to as the eighth position data), etc. If the position transformation sequence is as follows Figure 2 As shown, the first position data may also be replaced by position data of a specific position with a presentation order of 12 (referred to as the twelfth position data for short).

[0104] The above-mentioned multiple position transformation data may include transformation data corresponding to presentation sequence 1-2 (referred to as first transformation data), transformation data corresponding to presentation sequence 2-3 (referred to as second transformation data), transformation data corresponding to presentation sequence 3-4 (referred to as third transformation data), transformation data corresponding to presentation sequence 5-6 (referred to as fifth transformation data), transformation data corresponding to presentation sequence 6-7 (referred to as sixth transformation data), and transformation data corresponding to presentation sequence 8-9 (referred to as eighth transformation data). The specific positions and transformation data corresponding to each transformation process can be seen in Table 3. Among them, the above-mentioned presentation sequence ab represents the process of the calibration object being transformed from the specific position corresponding to presentation sequence a to the specific position corresponding to presentation sequence b. For example, presentation sequence 1-2 represents the process of the calibration object being transformed from the specific position corresponding to presentation sequence 1 to the specific position corresponding to presentation sequence 2.

[0105] Table 3:

[0106]

[0107] Possibly, the above-mentioned multiple position transformation data can also be a combination of other transformation data. For example, the eighth transformation data can be replaced by the transformation data corresponding to the presentation order 9-10 (referred to as the ninth position data for short), or the sixth transformation data can be replaced by the transformation data corresponding to the presentation order 4-5 (referred to as the fourth position data for short), etc. If the position transformation sequence is as follows Figure 2 As shown, the first transformed data may also be replaced by transformed data corresponding to the presentation order 11-12 (referred to as the eleventh position data for short).

[0108] In one embodiment, if the plurality of specific position data are as shown in Table 2 and the plurality of position transformation data are as shown in Table 3, the first static data can be obtained based on the first position data, the second position data, the third position data, the fifth position data, the seventh position data, and the eleventh position data in the plurality of specific position data. The second static data can be obtained based on the first position data, the second position data, the third position data, the fourth position data, the fifth position data, the seventh position data, the ninth position data, and the eleventh position data in the plurality of position transformation data, and the dynamic data can be obtained based on the first position transformation data, the second position transformation data, the third position transformation data, the fifth position transformation data, the sixth position transformation data, and the eighth position transformation data.

[0109] Accordingly, the first error and the second error of the calibration object are calibrated according to the plurality of specific position data and the plurality of position transformation data, such as Figure 3 Shown, including:

[0110] S131: Calibrate a first error according to the first static data.

[0111] S132: Calibrate the second error according to the second static data and the dynamic data.

[0112] The data included in the first static data and their corresponding reference values ​​can be seen in Table 4.

[0113] Table 4:

[0114]

[0115] Among them, "Sensitive axis attitude" represents the attitude of the sensitive axis (including X-axis, Y-axis and Z-axis) of the calibration object, and "Nominal acceleration" is the reference value corresponding to the orientation. For example, when the calibration object is at position ρ7, the X-axis should be facing upward and the Y-axis and Z-axis should be placed horizontally, and the same applies to other positions. Among them, ρ7 represents a specific position with a presentation order of 7. The explanation of other specific positions in the "Position" column can be found in the explanation of ρ7, so it will not be repeated here. The correspondence between specific positions and presentation orders can be found in Table 1 or Figure 2 .

[0116] The measurement data of each specific position and the corresponding reference value can be used as a set of data, and then 6 sets of data can be obtained. The first error can be calculated through the 6 sets of data. The calculation method can adopt the existing technical method, which will not be repeated here.

[0117] In one embodiment, step S132: calibrate the second error according to the second static data and the dynamic data, such as Figure 4 Shown, including:

[0118] S1321: Calibrate the bias of the gyroscope according to the second static data. The bias of the gyroscope includes X-axis bias, Y-axis bias, and Z-axis bias.

[0119] Among them, when calibrating the bias of the gyroscope according to the second stationary data, the X-axis bias of the gyroscope can be calibrated according to the third position data, the fourth position data, the seventh position data and the ninth position data; the Y-axis bias of the gyroscope can be calibrated according to the first position data, the second position data, the fifth position data and the eleventh position data; and the Z-axis bias of the gyroscope can be calibrated according to the first position data, the third position data, the fourth position data and the eleventh position data.

[0120] Specifically, the second static data may be as shown in Table 5:

[0121] Table 5:

[0122]

[0123] Among them, "Gyroscope attitude" represents the attitude of each axis of the gyroscope of the calibration object, "Position" represents a specific position, and ρ1 represents a specific position with a presentation order of 1. The explanation of other specific positions in the "Position" column can refer to the explanation of ρ1, so it will not be repeated here. The correspondence between specific positions and presentation orders can be found in Table 1 or Figure 2 .

[0124] The following example uses the calculation of the X-axis offset of the gyroscope. The X-axis calculation uses the position data corresponding to four specific positions: ρ3, ρ4, ρ7, and ρ9. The calculation is performed using the following formula:

[0125]

[0126] Furthermore, the Y-axis offset and the Z-axis offset can be calculated using the following formula:

[0127]

[0128]

[0129] Among them, bg x 、bg y 、bg z Respectively represent X-axis offset, Y-axis offset and Z-axis offset. i Indicates the angular velocity in the position data of a specific position with presentation order i.

[0130] When calibrating the offset of each axis, this embodiment uses data of the four orientations of each axis (i.e., up, down, south, and north) for calculation, which can further offset the error caused by the rotation of the earth. Compared with the method commonly used in the prior art that only uses data of two orientations (up and down) for calculation, the calibration accuracy is higher.

[0131] S1322: Calibrate the scale factor and non-orthogonality error of the gyroscope based on the dynamic data. The scale factor of the gyroscope includes the X-axis scale factor, the Y-axis scale factor, and the Z-axis scale factor; the non-orthogonality error of the gyroscope includes the non-orthogonality error between any axis and any other axis.

[0132] When calibrating the scale factor and non-orthogonal error of the gyroscope according to the dynamic data, the X-axis scale factor of the gyroscope and the non-orthogonal error between the X-axis and any other axis of the gyroscope can be calibrated according to the first position transformation data and the fifth position transformation data; the Y-axis scale factor of the gyroscope and the non-orthogonal error between the Y-axis and any other axis of the gyroscope can be calibrated according to the second position transformation data and the sixth position transformation data; and the Z-axis scale factor of the gyroscope and the non-orthogonal error between the Z-axis and any other axis of the gyroscope can be calibrated according to the third position transformation data and the eighth position transformation data.

[0133] Specifically, the dynamic data can be shown in Table 6:

[0134] Table 6:

[0135] stage motion Nominalangle(deg) <![CDATA[Ω 12 ]]> X +90 <![CDATA[Ω 56 ]]> X -90 <![CDATA[Ω 34 ]]> Y +90 <![CDATA[Ω 89 ]]> Y -90 <![CDATA[Ω 67 ]]> Z +90 <![CDATA[Ω 23 ]]> Z -90

[0136] Among them, "stage" means the transformation data, for example, Ω 12 represents the data measured when the calibration object is transformed from a specific position with presentation order 1 to a specific position with presentation order 2, Ω 12 The "12" in the "stage" column indicates the current specific position, and the "12" in the "stage" column indicates the next specific position. For the explanation of other transformation data in the "stage" column, see Ω. 12 The corresponding relationship between specific positions and presentation order can be found in Table 1 or Figure 2 ; "motion" indicates the rotation axis during position transformation, and "Nominal angle" indicates the rotation angle during position transformation, for example, "+90" indicates a positive rotation of 90 degrees, and "-90" indicates a negative rotation of 90 degrees.

[0137] Use the rotation data corresponding to each axis (taking the X axis as an example, the rotation data of the X axis is the transformation data corresponding to the X axis rotation +90 degrees and rotation -90 degrees, that is, Ω 12 and Ω 56) can calculate the scale factor of each axis and its non-orthogonality error with other axes. The calculation method can adopt the existing calculation method and will not be repeated here.

[0138] In one embodiment, after calibrating the first error and the second error of the calibration object based on the plurality of specific position data and the plurality of position transformation data, the method further includes: obtaining initial position data and initial posture data; obtaining current position data based on the first error compensation accelerometer; obtaining current posture data based on the second error compensation gyroscope; and calibrating the posture drift of the calibration object based on the initial position data, the initial posture data, the current position data, and the current posture data. Posture drift includes position drift and posture drift.

[0139] Among them, the calibration object can be stationary on the installed horizontal platform, and the error of the calibration object can be compensated according to the calibrated first error and second error; then the acceleration is double-integrated to obtain the current position data, and the angular velocity is integrated to obtain the current attitude data; then, the current position data is compared with the initial position data, and the current attitude data is compared with the initial attitude data. In theory, the inertial measurement unit is stationary, and the integration result is the same as the initial state, so the difference between the current position data and the initial position data is the position drift introduced by the accelerometer error of the calibration object, and the difference between the current attitude data and the initial attitude data is the attitude drift introduced by the gyroscope error of the calibration object.

[0140] It should be noted that, with respect to the various steps included in the inertial measurement unit error calibration method provided in any of the above embodiments, unless otherwise explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of these steps can include multiple sub-steps or multiple stages, and these sub-steps or stages do not necessarily need to be completed at the same time, but can be executed at different times. The order of execution of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or at least a portion of the sub-steps or stages of other steps.

[0141] Based on the same inventive concept, the present application also provides an inertial measurement unit error calibration device. In this embodiment, Figure 5 As shown, the inertial measurement unit error calibration device includes the following modules:

[0142] A control module 110 is configured to control a calibration object placed on a dual-axis turntable to change its position according to a preset position set; the calibration object is an inertial measurement unit whose error is to be calibrated; the preset position set includes a first specific position with an orientation of northeast celestial azimuth, a second specific position with an orientation of east celestial south, a third specific position with an orientation of southeast celestial azimuth, a fourth specific position with an orientation of north east celestial azimuth, a fifth specific position with an orientation of southeast celestial azimuth, a sixth specific position with an orientation of southwest celestial azimuth, a seventh specific position with an orientation of south east celestial azimuth, an eighth specific position with an orientation of northeast celestial azimuth, and a ninth specific position with an orientation of east celestial north;

[0143] The acquisition module 120 is used to acquire a plurality of specific position data and a plurality of position transformation data;

[0144] The calibration module 130 is used to calibrate the first error and the second error of the calibration object based on the above-mentioned multiple specific position data and the above-mentioned multiple position transformation data; the first error includes the bias, scale factor and non-orthogonal error of the accelerometer; the second error includes the bias, scale factor and non-orthogonal error of the gyroscope.

[0145] In one embodiment, the specific position data refers to data measured when the measurement object is stationary at a specific position; and the position change data refers to data measured when the measurement object changes from a current specific position to a next specific position.

[0146] In one embodiment, the control module 110 is configured to perform the following operations:

[0147] Taking the first specific position as a starting point, controlling the calibration object to rotate so as to transform to a second specific position;

[0148] Then controlling the calibration object to rotate to transform to a third specific position;

[0149] Then controlling the calibration object to rotate to transform to a fourth specific position;

[0150] Then controlling the calibration object to rotate to transform to a fifth specific position;

[0151] Then controlling the calibration object to rotate so as to transform to a second specific position;

[0152] Then controlling the calibration object to rotate to transform to a sixth specific position;

[0153] Then controlling the calibration object to rotate to transform to a third specific position;

[0154] Then controlling the calibration object to rotate to transform to a seventh specific position;

[0155] Then controlling the calibration object to rotate to transform to an eighth specific position;

[0156] The calibration object is then controlled to rotate to transform to a ninth specific position.

[0157] In one embodiment, the control module 110 is configured to perform the following operations:

[0158] Starting from the first specific position, the calibration object is controlled to rotate 90 degrees around the X axis to transform to the second specific position;

[0159] Then, the calibration object is controlled to rotate -90 degrees around the Z axis to transform to a third specific position;

[0160] Then, the calibration object is controlled to rotate 90 degrees around the Y axis to transform to a fourth specific position;

[0161] Then, the calibration object is controlled to rotate 90 degrees around the Z axis to transform to a fifth specific position;

[0162] Then, the calibration object is controlled to rotate -90 degrees around the X axis to transform to a second specific position;

[0163] Then, the calibration object is controlled to rotate 90 degrees around the Z axis to be transformed to a sixth specific position;

[0164] Then, the calibration object is controlled to rotate -180 degrees around the Z axis to transform to a third specific position;

[0165] Then, the calibration object is controlled to rotate -90 degrees around the Y axis to transform to the seventh specific position;

[0166] Then, the calibration object is controlled to rotate -90 degrees around the Y axis to transform to the eighth specific position;

[0167] The calibration object is then controlled to rotate 90 degrees around the Z axis to be transformed to a ninth specific position.

[0168] In one embodiment, the control module 110 is further configured to control the calibration object to rotate from the ninth specific position to the first specific position. Further, the control module 110 controls the calibration object to rotate 90 degrees around the X-axis from the ninth specific position to the first specific position.

[0169] In one embodiment, the above-mentioned multiple specific position data include first position data, second position data, third position data, fourth position data, fifth position data, sixth position data, seventh position data, eighth position data, ninth position data, tenth position data, eleventh position data and twelfth position data; the above-mentioned multiple position transformation data include first transformation data, second transformation data, third transformation data, fourth transformation data, fifth transformation data, sixth transformation data, seventh transformation data, eighth transformation data, ninth transformation data, tenth transformation data and eleventh transformation data.

[0170] In one embodiment, when the calibration module 130 calibrates the first error and the second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data, it is configured to:

[0171] calibrating a first error according to first static data; the first static data is obtained based on the first position data, the second position data, the third position data, the fifth position data, the seventh position data and the eleventh position data;

[0172] The second error is calibrated according to the second static data and the dynamic data; the second static data is obtained based on the first position data, the second position data, the third position data, the fourth position data, the fifth position data, the seventh position data, the ninth position data and the eleventh position data; the dynamic data is obtained based on the first position transformation data, the second position transformation data, the third position transformation data, the fifth position transformation data, the sixth position transformation data and the eighth position transformation data.

[0173] In one embodiment, when calibrating the second error based on the second static data and the dynamic data, the calibration module 130 is configured to:

[0174] Calibrate the bias of the gyroscope according to the second stationary data, where the bias of the gyroscope includes an X-axis bias, a Y-axis bias, and a Z-axis bias;

[0175] The scale factor and non-orthogonality error of the gyroscope are calibrated based on dynamic data. The scale factor of the gyroscope includes the X-axis scale factor, the Y-axis scale factor and the Z-axis scale factor. The non-orthogonality error of the gyroscope includes the non-orthogonality error between any axis and any other axis.

[0176] In one embodiment, when the calibration module 130 calibrates the bias of the gyroscope according to the second stationary data, it is configured to:

[0177] calibrating an X-axis bias of the gyroscope according to the third position data, the fourth position data, the seventh position data, and the ninth position data;

[0178] calibrating a Y-axis bias of the gyroscope according to the first position data, the second position data, the fifth position data, and the eleventh position data;

[0179] The Z-axis bias of the gyroscope is calibrated according to the first position data, the third position data, the fourth position data, and the eleventh position data.

[0180] In one embodiment, when calibrating the scale factor and non-orthogonal error of the gyroscope based on the dynamic data, the calibration module 130 is configured to:

[0181] Calibrate an X-axis scale factor of the gyroscope and a non-orthogonality error between the X-axis and any other axis of the gyroscope according to the first position transformation data and the fifth position transformation data;

[0182] calibrating a Y-axis scale factor of the gyroscope and a non-orthogonality error between the Y-axis and any other axis of the gyroscope based on the second position transformation data and the sixth position transformation data;

[0183] The Z-axis scale factor of the gyroscope and the non-orthogonality error between the Z-axis and any other axis of the gyroscope are calibrated according to the third position transformation data and the eighth position transformation data.

[0184] In one embodiment, the apparatus further includes a posture drift calibration module. The posture drift calibration module is used to:

[0185] Obtain initial position data and initial posture data;

[0186] obtaining current position data according to the first error-compensated accelerometer;

[0187] obtaining current posture data according to the second error compensation gyroscope;

[0188] The position and posture drift of the calibration object is calibrated according to the initial position data, the initial posture data, the current position data and the current posture data.

[0189] For the specific definition of the inertial measurement unit error calibration device, please refer to the definition of the inertial measurement unit error calibration method above, and will not be repeated here. The various modules in the above-mentioned inertial measurement unit error calibration device can be implemented in whole or in part by software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0190] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 6 shown.

[0191] The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data such as specific position data and position transformation data. For specific stored data, please refer to the definitions in the above-mentioned method embodiment. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements an inertial measurement unit error calibration method.

[0192] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0193] This embodiment also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the inertial measurement unit error calibration method provided in any of the above embodiments are implemented.

[0194] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the inertial measurement unit error calibration method provided in any of the above embodiments are implemented.

[0195] In one embodiment, an inertial measurement unit error calibration system is provided, comprising a dual-axis turntable and a control device. The dual-axis turntable is used to place a calibration object, i.e., an inertial measurement unit whose error is to be calibrated; the control device is used to perform the steps of any of the aforementioned method embodiments, wherein the control device controls the calibration object by controlling the dual-axis turntable.

[0196] Those skilled in the art will appreciate that all or part of the processes in the above method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus), direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0197] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0198] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for calibrating an inertial measurement unit error, characterized in that: The method comprises: Controlling a calibration object placed on a dual-axis turntable to undergo position transformation according to a preset position set; the calibration object refers to an inertial measurement unit whose error is to be calibrated; the preset position set includes a first specific position with an orientation of northeast celestial body, a second specific position with an orientation of east celestial south, a third specific position with an orientation of southeast terrestrial body, a fourth specific position with an orientation of north east terrestrial body, a fifth specific position with an orientation of southeast terrestrial body, a sixth specific position with an orientation of southwest celestial body, a seventh specific position with an orientation of south east celestial body, an eighth specific position with an orientation of northeast celestial body, and a ninth specific position with an orientation of east terrestrial north; Collecting multiple specific position data and multiple position transformation data; Calibrate a first error and a second error of the calibration object according to the multiple specific position data and the multiple position transformation data; the first error includes a bias, a scale factor, and a non-orthogonal error of an accelerometer; and the second error includes a bias, a scale factor, and a non-orthogonal error of a gyroscope; The control of the calibration object placed on the dual-axis turntable to perform position transformation according to the preset position set includes: Taking the first specific position as a starting point, controlling the calibration object to rotate so as to transform to the second specific position; Then controlling the calibration object to rotate to transform to the third specific position; Then controlling the calibration object to rotate to transform to the fourth specific position; Then controlling the calibration object to rotate to transform to the fifth specific position; Then controlling the calibration object to rotate to transform to the second specific position; Then controlling the calibration object to rotate to transform to the sixth specific position; Then controlling the calibration object to rotate to transform to the third specific position; Then controlling the calibration object to rotate to transform to the seventh specific position; Then controlling the calibration object to rotate to transform to the eighth specific position; The calibration object is then controlled to rotate to transform to the ninth specific position.

2. The method according to claim 1, wherein The control of the calibration object placed on the dual-axis turntable to perform position transformation according to the preset position set includes: Starting from the first specific position, the calibration object is controlled to rotate 90 degrees around the X-axis to transform to the second specific position; Then controlling the calibration object to rotate -90 degrees around the Z axis to transform to the third specific position; Then, controlling the calibration object to rotate 90 degrees around the Y axis to transform to the fourth specific position; Then controlling the calibration object to rotate 90 degrees around the Z axis to transform to the fifth specific position; Then controlling the calibration object to rotate -90 degrees around the X-axis to transform to the second specific position; Then controlling the calibration object to rotate 90 degrees around the Z axis to transform to the sixth specific position; Then controlling the calibration object to rotate -180 degrees around the Z axis to transform to the third specific position; Then, controlling the calibration object to rotate -90 degrees around the Y axis to transform to the seventh specific position; Then, controlling the calibration object to rotate -90 degrees around the Y axis to transform to the eighth specific position; The calibration object is then controlled to rotate 90 degrees around the Z axis to be transformed to the ninth specific position.

3. The method according to claim 1 or 2, wherein: Controlling a calibration object placed on a dual-axis turntable to perform position transformation according to a preset position set, including: sorting specific positions in the preset position set to obtain a position transformation sequence, and controlling the calibration object to perform position transformation according to the position transformation sequence; the specific positions in the position transformation sequence are sorted from earliest to latest according to a presentation order, and sequentially include: the first specific position, the second specific position, the third specific position, the fourth specific position, the fifth specific position, the second specific position, the sixth specific position, the third specific position, the seventh specific position, the eighth specific position, and the ninth specific position; The plurality of specific position data include first position data, second position data, third position data, fourth position data, fifth position data, seventh position data, ninth position data, and eleventh position data; the first position data represents position data of the first specific position, the second position data represents position data of the second specific position, the third position data represents position data of the third specific position, the fourth position data represents position data of the fourth specific position, the fifth position data represents position data of the fifth specific position, the seventh position data represents position data of the sixth specific position, the ninth position data represents position data of the seventh specific position, and the eleventh position data represents position data of the ninth specific position; The plurality of position transformation data include first transformation data, second transformation data, third transformation data, fifth transformation data, sixth transformation data, and eighth transformation data; The first transformation data represents the transformation data corresponding to the process of transforming the calibration object from the first specific position to the second specific position, the second transformation data represents the transformation data corresponding to the process of transforming the calibration object from the second specific position to the third specific position, the third transformation data represents the transformation data corresponding to the process of transforming the calibration object from the third specific position to the fourth specific position, the fifth transformation data represents the transformation data corresponding to the process of transforming the calibration object from the fifth specific position to the second specific position, the sixth transformation data represents the transformation data corresponding to the process of transforming the calibration object from the second specific position to the sixth specific position, or from the fourth specific position to the fifth specific position, and the eighth transformation data represents the transformation data corresponding to the process of transforming the calibration object from the third specific position to the seventh specific position, or from the seventh specific position to the eighth specific position.

4. The method according to claim 3, wherein Calibrating a first error and a second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data includes: calibrating a first error according to first static data; the first static data is obtained based on the first position data, the second position data, the third position data, the fifth position data, the seventh position data, and the eleventh position data; The second error is calibrated according to the second static data and the dynamic data; the second static data is obtained based on the first position data, the second position data, the third position data, the fourth position data, the fifth position data, the seventh position data, the ninth position data and the eleventh position data; the dynamic data is obtained based on the first transformation data, the second transformation data, the third transformation data, the fifth transformation data, the sixth transformation data and the eighth transformation data.

5. The method according to claim 4, wherein The calibrating the second error according to the second static data and the dynamic data includes: Calibrate the bias of the gyroscope according to the second stationary data, wherein the bias of the gyroscope includes an X-axis bias, a Y-axis bias, and a Z-axis bias; The scale factor and non-orthogonal error of the gyroscope are calibrated according to the dynamic data; the scale factor of the gyroscope includes an X-axis scale factor, a Y-axis scale factor and a Z-axis scale factor; the non-orthogonal error of the gyroscope includes a non-orthogonal error between any axis and any other axis.

6. The method according to claim 5, wherein The calibrating the bias of the gyroscope according to the second stationary data includes: calibrating an X-axis bias of the gyroscope according to the third position data, the fourth position data, the seventh position data, and the ninth position data; calibrating a Y-axis bias of the gyroscope according to the first position data, the second position data, the fifth position data, and the eleventh position data; The Z-axis bias of the gyroscope is calibrated according to the first position data, the third position data, the fourth position data, and the eleventh position data.

7. The method according to claim 5, wherein The calibrating the scale factor and non-orthogonal error of the gyroscope according to the dynamic data includes: Calibrate an X-axis scale factor of the gyroscope and a non-orthogonality error between the X-axis and any other axis of the gyroscope according to the first transformation data and the fifth transformation data; calibrating a Y-axis scale factor of the gyroscope and a non-orthogonality error between the Y-axis and any other axis of the gyroscope according to the second transformed data and the sixth transformed data; The Z-axis scale factor of the gyroscope and the non-orthogonality error between the Z-axis and any other axis of the gyroscope are calibrated according to the third transformation data and the eighth transformation data.

8. The method according to any one of claims 1, wherein After calibrating the first error and the second error of the calibration object according to the multiple specific position data and the multiple position transformation data, the method further includes: Obtain initial position data and initial posture data; compensating the accelerometer according to the first error to obtain current position data; Compensating the gyroscope according to the second error to obtain current posture data; The position and posture drift of the calibration object is calibrated according to the initial position data, the initial posture data, the current position data, and the current posture data.

9. An inertial measurement unit error calibration device, characterized in that: The device comprises: a control module for controlling a calibration object placed on a dual-axis turntable to change position according to a preset position set; the calibration object is an inertial measurement unit whose error is to be calibrated; the preset position set includes a first specific position with an orientation of northeast celestial azimuth, a second specific position with an orientation of east celestial south, a third specific position with an orientation of southeast celestial azimuth, a fourth specific position with an orientation of northeast celestial azimuth, a fifth specific position with an orientation of southeast celestial azimuth, a sixth specific position with an orientation of southwest celestial azimuth, a seventh specific position with an orientation of south celestial azimuth, an eighth specific position with an orientation of northeast celestial azimuth, and a ninth specific position with an orientation of east celestial north; An acquisition module, used for acquiring a plurality of specific position data and a plurality of position transformation data; a calibration module, configured to calibrate a first error and a second error of the calibration object according to the plurality of specific position data and the plurality of position transformation data; the first error comprising a bias, a scale factor, and a non-orthogonal error of an accelerometer; and the second error comprising a bias, a scale factor, and a non-orthogonal error of a gyroscope; The control of the calibration object placed on the dual-axis turntable to perform position transformation according to the preset position set includes: Taking the first specific position as a starting point, controlling the calibration object to rotate so as to transform to the second specific position; Then controlling the calibration object to rotate to transform to the third specific position; Then controlling the calibration object to rotate to transform to the fourth specific position; Then controlling the calibration object to rotate to transform to the fifth specific position; Then controlling the calibration object to rotate to transform to the second specific position; Then controlling the calibration object to rotate to transform to the sixth specific position; Then controlling the calibration object to rotate to transform to the third specific position; Then controlling the calibration object to rotate to transform to the seventh specific position; Then controlling the calibration object to rotate to transform to the eighth specific position; The calibration object is then controlled to rotate to transform to the ninth specific position.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. An inertial measurement unit error calibration system, characterized in that: include: A dual-axis turntable for placing a calibration object; the calibration object refers to the inertial measurement unit whose error is to be calibrated; A control device for executing the method according to any one of claims 1 to 8, wherein the control device controls the calibration object by controlling the dual-axis turntable.

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