A method, system, terminal device and storage medium for inertial measurement unit testing

Abstract

The present invention is applicable to the field of data processing technology, and provides an inertial measurement unit (IMU) testing method, system, terminal device, and storage medium, including: performing static detection based on the self-check data of the IMU to be tested in a static state; if the static detection of the IMU to be tested is qualified, obtaining the IMU data of the IMU to be tested in a moving state, performing navigation analysis on the IMU data to obtain IMU navigation data; obtaining the positioning data of the location where the IMU to be tested is located, and comparing the positioning data with the IMU navigation data; if the data comparison between the positioning data and the IMU navigation data is qualified, determining that the test of the IMU to be tested is qualified. In the present invention, it can effectively achieve the effect of dynamic testing on the IMU to be tested, perform data analysis on the IMU data, IMU navigation data, and positioning data obtained from the dynamic testing to detect the performance of the IMU to be tested, and improve the accuracy of IMU testing.

Description

Technical Field

[0001] The present invention belongs to the technical field of data processing, and particularly relates to an inertial unit testing method, system, terminal device, and storage medium. Background Art

[0002] With the development of the times and the progress of technology, China's aviation technology has developed rapidly. As an important single unit in a launch vehicle, before the overall assembly test of the rocket, it is usually necessary to test the inertial unit to verify its performance.

[0003] In the existing inertial unit testing process, limited by test equipment, it is often only possible to perform simple indoor calibration and static testing, while dynamic testing is often difficult to achieve. Summary of the Invention

[0004] An embodiment of the present invention provides an inertial unit testing method, aiming to solve the problem that existing inertial unit testing cannot perform dynamic testing.

[0005] An embodiment of the present invention is implemented as follows. An inertial unit testing method, the method includes:

[0006] Power on the inertial unit to be tested, and obtain the self-check data of the inertial unit to be tested in a stationary state;

[0007] Perform stationary detection on the inertial unit to be tested according to the self-check data, and the stationary detection is used to detect whether the inertial unit to be tested operates normally in a stationary state;

[0008] If the stationary detection of the inertial unit to be tested is qualified, obtain the inertial unit data of the inertial unit to be tested in a moving state, and perform navigation analysis on the inertial unit data to obtain inertial unit navigation data;

[0009] Obtain the positioning data of the location where the inertial unit to be tested is located, and perform data comparison between the positioning data and the inertial unit navigation data;

[0010] If the data comparison between the positioning data and the inertial unit navigation data is qualified, determine that the test of the inertial unit to be tested is qualified.

[0011] Further, the performing stationary detection on the inertial unit to be tested according to the self-check data includes:

[0012] Respectively obtain the acceleration data and gyro data of the inertial unit to be tested in different directions in the self-check data;

[0013] Perform vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculate the deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;

[0014] Perform a vector sum calculation on the gyro data in different directions to obtain a gyro resultant vector, and calculate the deviation value between the gyro resultant vector and a preset gyro vector to obtain a gyro deviation value;

[0015] If the acceleration deviation value is less than a first preset deviation value and the gyro deviation value is less than a second preset deviation value, it is determined that the static detection of the inertial unit to be tested is qualified.

[0016] Further, the navigation analysis of the inertial unit data to obtain inertial unit navigation data includes:

[0017] Input the inertial unit data into a preset navigation device for navigation analysis to obtain an inertial unit navigation speed and an inertial unit navigation position.

[0018] Further, the comparison of the positioning data with the inertial unit navigation data includes:

[0019] Perform coordinate system conversion on the positioning data to obtain positioning conversion data, and determine an inertial unit positioning speed and an inertial unit positioning position based on the positioning conversion data;

[0020] Compare the inertial unit positioning speed with the inertial unit navigation speed to obtain an inertial unit speed error, and compare the inertial unit positioning position with the inertial unit navigation position to obtain an inertial unit position error;

[0021] If the inertial unit speed error is less than a first error threshold and the inertial unit position error is less than a second error threshold, it is determined that the comparison of the positioning data with the inertial unit navigation data is qualified.

[0022] Further, after the static detection of the inertial unit to be tested is qualified, it further includes:

[0023] Obtain preset launch point position information, and determine initial azimuth angle data based on the preset launch point position information and the inertial unit data;

[0024] Perform leveling calculations based on the initial azimuth angle data and the inertial unit data to obtain a leveling pitch angle and a leveling yaw angle, and perform a leveling process on the preset navigation device based on the leveling pitch angle and the leveling yaw angle;

[0025] Obtain the speed information and attitude information of the inertial unit to be tested at the current moment, and send the speed information and attitude information of the inertial unit to be tested to the preset navigation device after leveling.

[0026] In the present invention, by obtaining the self-check data of the inertial measurement unit (IMU) to be tested in a static state, the static detection of the IMU to be tested can be effectively carried out based on the self-check data to detect the performance of the IMU to be tested in the static state. By performing navigation analysis on the IMU data of the IMU to be tested in a moving state, the IMU data can be effectively converted into IMU navigation data, and the IMU navigation data is used to intuitively represent the position and speed information of the IMU to be tested. By comparing the positioning data with the IMU navigation data, the stability of the performance of the IMU to be tested can be detected. In the present invention, the dynamic test effect on the IMU to be tested can be effectively achieved, and data analysis is performed on the IMU data, IMU navigation data, and positioning data obtained from the dynamic test to detect the performance of the IMU to be tested, improving the accuracy of the IMU test.

[0027] An embodiment of the present invention further provides an IMU test system, and the system includes:

[0028] A power supply device, an IMU to be tested, a controller, a bus analyzer, and a host computer. The power supply device, the IMU to be tested, the controller, and the bus analyzer communicate through a local area network;

[0029] The power supply device is used to supply power to the IMU to be tested and the controller;

[0030] The IMU to be tested is used to send self-check data and IMU data to the local area network after being powered on;

[0031] The controller is used to receive the IMU data, receive the instructions from the host computer, perform navigation analysis on the IMU data to obtain IMU navigation data, obtain the positioning data of the position where the IMU to be tested is located, and send the positioning data and the IMU navigation data to the local area network;

[0032] The bus analyzer is used to receive and store various types of data in the local area network and forward the test instructions from the host computer;

[0033] The host computer is used to obtain the self-check data, perform static detection on the IMU to be tested according to the self-check data, and is used to compare the positioning data with the IMU navigation data. If the data comparison between the positioning data and the IMU navigation data is qualified, it is determined that the test of the IMU to be tested is qualified.

[0034] In the present invention, a minimized and portable inertial measurement unit (IMU) test system is provided to test the dynamic characteristics of the IMU before the rocket system test. By minimizing the IMU test system, it is convenient to conduct on-road vehicle tests on the IMU to be tested, improving the accuracy of the test on the IMU to be tested. Through the integrated design of analysis, processing, and storage of various data in the host computer, it is convenient to analyze the test data of the IMU to be tested. By performing navigation analysis on the IMU data, IMU navigation data can be obtained, enabling the visualization of the dynamic characteristics of the IMU, which facilitates the display and comparison of IMU data.

[0035] An embodiment of the present invention further provides a terminal 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 above method are implemented.

[0036] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flowchart of the IMU test method provided by the first embodiment of the present invention;

[0038] Figure 2 is a flowchart of the IMU test method provided by the second embodiment of the present invention;

[0039] Figure 3 is a flowchart of the IMU test system provided by the third embodiment of the present invention;

[0040] Figure 4 is a schematic structural diagram of the IMU test system provided by the fourth embodiment of the present invention;

[0041] Figure 5 is a flowchart of the specific implementation steps of the IMU test system provided by the fourth embodiment of the present invention;

[0042] Figure 6 is a schematic structural diagram of the IMU test system provided by the fifth embodiment of the present invention;

[0043] Figure 7 is a schematic structural diagram of the terminal device provided by the sixth embodiment of the present invention; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] Example 1

[0046] Please refer to Figure 1 , which is a flowchart of the inertial measurement unit (IMU) testing method provided by the first embodiment of the present invention. This IMU testing method can be applied to any terminal device or system. The IMU testing method includes the following steps:

[0047] Step S10: Power on the IMU to be tested and obtain the self-check data of the IMU to be tested in the static state;

[0048] Among them, the IMU to be tested is electrically connected to a power supply device through a power supply cable, and the power supply device supplies power to the IMU to be tested. After the IMU to be tested is powered on, the accelerometer information and gyroscope information output by the IMU to be tested within a first preset duration are obtained to obtain the self-check data. The IMU to be tested is in a static state within the first preset duration. Both the first preset duration and the data acquisition period of the self-check data can be set according to requirements. For example, the first preset duration can be set to 1 minute, 2 minutes, 10 minutes, etc., and the data acquisition period can be set to 5 ms, 10 ms, 15 ms, etc.;

[0049] Optionally, in this step, the self-check data can be collected based on a controller. The controller communicates with the IMU to be tested through a local area network, and the local area network can be set according to requirements. For example, the local area network can be set to a Controller Area Network (CAN bus).

[0050] Step S20: Perform a static test on the IMU to be tested according to the self-check data;

[0051] Among them, the static test is used to detect whether the operation of the IMU to be tested in the static state is normal, and the performance of the IMU to be tested in the static state is determined by detecting whether the self-check data of the IMU to be tested in the static state is normal;

[0052] In this step, if the static test of the IMU to be tested fails, it is determined that there is an abnormality in the IMU to be tested in the static state, and an IMU test error prompt is sent according to the self-check data and the identifier of the IMU to be tested. The IMU test error prompt is used to prompt the user that there is an error in the self-check process of the IMU to be tested.

[0053] Step S30: If the static test of the IMU to be tested is qualified, obtain the IMU data of the IMU to be tested in the moving state and perform navigation analysis on the IMU data to obtain IMU navigation data;

[0054] Among them, the inertial measurement unit to be tested is set on a mobile device. If the static test of the inertial measurement unit to be tested is qualified, the mobile device is driven to drive the inertial measurement unit to move in position, and the inertial measurement unit data of the inertial measurement unit to be tested in the moving state is obtained in real time. The inertial measurement unit data includes accelerometer information and gyroscope information. The accelerometer information includes the acceleration information of the inertial measurement unit to be tested in the front-back direction, left-right direction, and up-down direction. The gyroscope information includes the gyroscope information of the inertial measurement unit to be tested in the front-back direction, left-right direction, and up-down direction;

[0055] In this step, by performing navigation analysis on the inertial measurement unit data of the inertial measurement unit to be tested in the moving state, the inertial measurement unit data can be effectively converted into inertial measurement unit navigation data, and the inertial measurement unit navigation data is used to intuitively represent the position and speed information of the inertial measurement unit to be tested.

[0056] Optionally, in this step, the performing navigation analysis on the inertial measurement unit data to obtain inertial measurement unit navigation data includes:

[0057] Inputting the inertial measurement unit data into a preset navigation device for navigation analysis to obtain an inertial measurement unit navigation speed and an inertial measurement unit navigation position. Among them, the preset navigation device can be set according to requirements. The preset navigation device can be a general navigation module. The preset navigation device is used to perform navigation analysis with the inertial measurement unit data as input information to obtain the inertial measurement unit navigation data, and the inertial measurement unit navigation data can intuitively display the corresponding relationship between the inertial measurement unit to be tested at different positions and the corresponding speed information.

[0058] Furthermore, in this step, after the static test of the inertial measurement unit to be tested is qualified, it further includes:

[0059] Obtaining preset launch point position information, and determining initial azimuth angle data according to the preset launch point position information and the inertial measurement unit data;

[0060] Among them, the preset launch point position information can be set according to requirements. In this step, by obtaining the position information of the inertial measurement unit to be tested in the static state and determining the obtained position information as the preset launch point position information, the preset launch point position information includes launch point longitude, latitude, and altitude information;

[0061] Specifically, in this step, if the static test of the inertial measurement unit to be tested is qualified, the launch point longitude, latitude, and altitude information is obtained, the inertial measurement unit data of the inertial measurement unit to be tested within a second preset duration is collected, and self-alignment calculation is performed according to the collected inertial measurement unit data and the launch point longitude, latitude, and altitude information to obtain initial azimuth angle data. The second preset duration can be set according to requirements. For example, the second preset duration can be set to any time value within 5 - 10 minutes;

[0062] Perform leveling calculations based on the initial azimuth data and the inertial unit data to obtain the leveling pitch angle and the leveling yaw angle, and perform leveling processing on the preset navigation device according to the leveling pitch angle and the leveling yaw angle; wherein, by performing leveling processing on the preset navigation device according to the leveling pitch angle and the leveling yaw angle, the accuracy of the preset navigation device for performing navigation analysis on the inertial unit data is improved;

[0063] Obtain the speed information and attitude information of the to-be-tested inertial unit at the current moment, and send the speed information and attitude information of the to-be-tested inertial unit to the preset navigation device after leveling. Among them, by sending the speed information and attitude information of the to-be-tested inertial unit to the preset navigation device after leveling, the navigation analysis of the inertial unit data by the preset navigation device is further ensured.

[0064] Step S40, obtain the positioning data of the location where the to-be-tested inertial unit is located, and perform data comparison between the positioning data and the inertial unit navigation data;

[0065] Among them, a positioning module is set on the mobile device, and the positioning module can be set according to requirements. The positioning module in this step is a GPS / BD-2 receiving board, and the positioning module is used to obtain the positioning data of the to-be-tested inertial unit in real time. In this step, by performing data comparison between the positioning data and the inertial unit navigation data to detect the stability of the performance of the to-be-tested inertial unit in the moving state, the accuracy of the test of the to-be-tested inertial unit is improved;

[0066] Step S50, if the data comparison between the positioning data and the inertial unit navigation data is qualified, it is determined that the test of the to-be-tested inertial unit is qualified;

[0067] Among them, by performing data comparison between the positioning data and the inertial unit navigation data to obtain the data error between the positioning data and the inertial unit navigation data. When the data error between the positioning data and the inertial unit navigation data is greater than or equal to the preset error value, it is determined that the data comparison between the positioning data and the inertial unit navigation data is unqualified, that is, the performance stability of the to-be-tested inertial unit in the moving state is poor. When the data error between the positioning data and the inertial unit navigation data is less than the preset error value, it is determined that the data comparison between the positioning data and the inertial unit navigation data is qualified, that is, the performance stability of the to-be-tested inertial unit in the moving state is high.

[0068] In this embodiment, by obtaining the self-check data of the inertial unit to be measured in a static state, the static detection of the inertial unit to be measured can be effectively performed based on the self-check data to detect the performance of the inertial unit to be measured in the static state. By performing navigation analysis on the inertial unit data of the inertial unit to be measured in a moving state, the inertial unit data can be effectively converted into inertial unit navigation data, and the inertial unit navigation data is used to intuitively represent the position and speed information of the inertial unit to be measured. By comparing the positioning data with the inertial unit navigation data, the stability of the performance of the inertial unit to be measured can be detected. In the present invention, the dynamic test effect on the inertial unit to be measured can be effectively achieved, and the inertial unit data, inertial unit navigation data, and positioning data obtained from the dynamic test are analyzed to detect the performance of the inertial unit to be measured, improving the accuracy of the inertial unit test.

[0069] Example 2

[0070] Please refer to Figure 2 , which is the flowchart of the inertial unit test method provided by the second embodiment of the present invention. This embodiment is used to further refine the steps of step S20, including the steps:

[0071] Step S21, respectively obtain the acceleration data and gyro data of the inertial unit to be measured in different directions in the self-check data;

[0072] Among them, the acceleration data and gyro data of the inertial unit to be measured in the front-back direction, left-right direction, and up-down direction are respectively obtained from the self-check data to obtain front-back acceleration data, left-right acceleration data, up-down acceleration data, front-back gyro data, left-right gyro data, and up-down gyro data;

[0073] Step S22, perform vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculate the deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;

[0074] Among them, the preset acceleration vector can be set according to requirements, and this preset acceleration vector can be set to 9.8 m / s 2 ;

[0075] Step S23, perform vector sum calculation on the gyro data in different directions to obtain a gyro resultant vector, and calculate the deviation value between the gyro resultant vector and a preset gyro vector to obtain a gyro deviation value;

[0076] Among them, this preset gyro vector can be set according to requirements. For example, this preset gyro vector can be set to 15° / hour. In this step, the formulas used for performing vector sum calculation on the acceleration data in different directions and for performing vector sum calculation on the gyro data in different directions include:

[0077] Vector3_ADD1(imu.a_1s, Input_ag.a, 1.0, &imu.a_1s);

[0078] Vector3_ADD2(imu.g_1s, Input_ag.g, 1.0, &imu.g_1s);

[0079] Among them, Input_ag.a and Input_ag.g are the accelerometer data and gyroscope data in the self-check data, and imu.a_1s and imu.g_1s are the accumulated sums for 1 second;

[0080] Vector3_get_Norm1(a_sum, (f64*)&d_Val), the acceleration deviation value a = abs(a - G0) / G0

[0081] Vector3_get_Norm2(g_sum, (f64*)&d_Val), the gyroscope deviation value;

[0082] Step S24, if the acceleration deviation value is less than the first preset deviation value and the gyroscope deviation value is less than the second preset deviation value, it is determined that the static detection of the to-be-tested inertial unit is qualified;

[0083] Among them, both the first preset deviation value and the second preset deviation value can be set according to user requirements. In this step, the first preset deviation value is set to 1.0e-3 and the second preset deviation value is set to 1.0. Optionally, if the acceleration deviation value is less than or equal to the first preset deviation value and the gyroscope deviation value is less than or equal to the second preset deviation value, it is determined that the static detection of the to-be-tested inertial unit is qualified. Specifically:

[0084] imu_val->a_res = fabs(d_Val - 9.8) / 9.8, deviation judgment criterion: acceleration deviation value <= 1.0e-3

[0085] imu_val->g_res = fabs(d_Val * 57.3 * 3600 - 15), deviation judgment criterion: gyroscope deviation value <= 1.0.

[0086] In this embodiment, by separately obtaining the acceleration data and gyro data of the inertial unit under test in different directions in the self-test data, the accuracy of the vector sum calculation of the acceleration data and gyro data is improved. By performing a vector sum calculation on the acceleration data in different directions, an acceleration resultant vector is obtained. Based on the acceleration resultant vector, the deviation value from the preset acceleration vector can be effectively calculated to obtain an acceleration deviation value. Based on this acceleration deviation value, the accuracy of the acceleration data of the inertial unit under test in the stationary state can be effectively characterized. By performing a vector sum calculation on the gyro data in different directions, a gyro resultant vector is obtained. Based on the gyro resultant vector, the deviation value from the preset gyro vector can be effectively calculated to obtain a gyro deviation value. Based on this gyro deviation value, the accuracy of the gyro data of the inertial unit under test in the stationary state can be effectively characterized.

[0087] Example 3

[0088] Please refer to Figure 3 , which is a flowchart of the inertial unit test method provided in the third embodiment of the present invention. This embodiment is used to further refine the steps of step S40, including the steps:

[0089] Step S41: Perform coordinate system conversion on the positioning data to obtain positioning conversion data, and determine the inertial unit positioning speed and inertial unit positioning position according to the positioning conversion data;

[0090] Among them, by performing coordinate system conversion on the positioning data, the positioning data and inertial unit data can be effectively converted into data in the same coordinate system. Based on the positioning conversion data obtained after coordinate system conversion, the accuracy of the inertial unit data can be effectively detected, thereby improving the accuracy of the inertial unit test;

[0091] Optionally, in this step, the formulas used for performing coordinate system conversion on the positioning data to obtain positioning conversion data include:

[0092]

[0093] Among them, I is a 4×4 identity matrix,

[0094]

[0095] Among them, Δθ x , Δθ y , Δθ z are the angular increments output by each gyro within a unit period.

[0096] The formulas used for determining the inertial unit positioning speed and inertial unit positioning position according to the positioning conversion data include:

[0097] Inertial unit positioning speed calculation:

[0098]

[0099]

[0100]

[0101] Among them, V x n , V y n , V z n is the velocity information in the geodetic coordinate system, is the projection of the acceleration output value in the geodetic system;

[0102] is the latitude where the inertial unit to be measured is located, with the unit of rad, Ω is the angular velocity of the earth's rotation, and the value is 7.2915×10 -5 , with the unit of 1 / s, g is the acceleration due to gravity, and the value is 9.801, with the unit of m / s 2 , R is the radius of the earth, and the value is 6371004.0, with the unit of m, h is the height, with the unit of m, T n is the navigation calculation period, which can be set to 10 ms or 5 ms, and the unit of the calculation formula is s;

[0103] Inertial unit positioning position calculation:

[0104] a. Longitude and latitude calculation:

[0105]

[0106]

[0107] b. Target system azimuth angle calculation:

[0108]

[0109] c. Position calculation:

[0110]

[0111]

[0112]

[0113] Among them, X m , Y m , Z m is the position information in the target coordinate system, and α is the angle between the target azimuth and the north direction, with the unit of rad;

[0114] Step S42: Compare the inertial measurement unit (IMU) positioning speed with the IMU navigation speed to obtain the IMU speed error, and compare the IMU positioning position with the IMU navigation position to obtain the IMU position error;

[0115] Among them, by comparing the IMU positioning speed with the IMU navigation speed, the IMU speed error is obtained. Based on the IMU speed error, the accuracy of the accelerometer data of the IMU to be measured in the moving state can be effectively characterized. By comparing the IMU positioning position with the IMU navigation position, the IMU position error is obtained. Based on the IMU position error, the accuracy of the gyroscope data of the IMU to be measured in the moving state can be effectively characterized;

[0116] Step S43: If the IMU speed error is less than the first error threshold and the IMU position error is less than the second error threshold, it is determined that the data comparison between the positioning data and the IMU navigation data is qualified;

[0117] Among them, both the first error threshold and the second error threshold can be set according to requirements.

[0118] In this embodiment, by performing coordinate system conversion on the positioning data, the positioning data and the IMU data can be effectively converted into data in the same coordinate system. Based on the positioning conversion data obtained after the coordinate system conversion, the accuracy of the IMU data can be effectively detected, thereby improving the accuracy of the IMU test. By comparing the IMU positioning speed with the IMU navigation speed, the IMU speed error is obtained. Based on the IMU speed error, the accuracy of the accelerometer data of the IMU to be measured in the moving state can be effectively characterized. By comparing the IMU positioning position with the IMU navigation position, the IMU position error is obtained. Based on the IMU position error, the accuracy of the gyroscope data of the IMU to be measured in the moving state can be effectively characterized.

[0119] Example 4

[0120] Please refer to Figure 4 , which is a schematic structural diagram of an IMU test system provided by the fourth embodiment of the present invention, including: a power supply device 10, an IMU to be measured 11, a controller 12, a bus analyzer 13, and a host computer 14. The power supply device 10, the IMU to be measured 11, the controller 12, and the bus analyzer 13 communicate through a local area network 15, where:

[0121] The power supply device 10 is used to supply power to the inertial measurement unit 11 to be tested and the controller 12; the inertial measurement unit 11 to be tested is used to send self-check data and inertial measurement unit data to the local area network 15 after being powered on; the controller 12 is used to receive the inertial measurement unit data, receive the instructions from the host computer 14, perform navigation analysis on the inertial measurement unit data to obtain inertial measurement unit navigation data, acquire the positioning data of the location where the inertial measurement unit 11 to be tested is located, and send the positioning data and the inertial measurement unit navigation data to the local area network 15; the bus analyzer 13 is used to receive and store various types of data in the local area network 15 and forward the test instructions from the host computer 14; the host computer 14 is used to obtain the self-check data, perform a static test on the inertial measurement unit 11 to be tested according to the self-check data, and is used to compare the positioning data with the inertial measurement unit navigation data. If the comparison between the positioning data and the inertial measurement unit navigation data is qualified, it is determined that the test of the inertial measurement unit 11 to be tested is qualified. Preferably, in this embodiment, the bus analyzer 13 uses a CAN analyzer, and the local area network 15 uses a CAN bus.

[0122] The application scenario of this inertial measurement unit test system is as follows: The power supply device 10, the inertial measurement unit 11 to be tested, and the controller 12 are placed in a test vehicle (mobile device) through a designed tooling, the power supply and communication cables are connected, and the bus analyzer 13 (CAN analyzer) is connected. The host computer 14 can use a general notebook computer and be connected to the CAN analyzer through a USB. Through the upper computer, functions such as instruction control, data communication, data parsing and display, and test data storage are realized to complete the inertial measurement unit road test.

[0123] Please refer to Figure 5 , the specific implementation steps of the inertial measurement unit test system provided in this embodiment include: The inertial measurement unit 11 to be tested and the controller 12 are powered on, the inertial measurement unit 11 to be tested performs parameter initialization, feeds back self-check data, the positioning device in the controller 12 collects the longitude, latitude, and altitude of the launch point, and writes the longitude, latitude, and altitude of the launch point into the controller 12 and the host computer 14 respectively. The host computer 14 sends an ignition permission command to control the mobile device to drive the inertial measurement unit 11 to be tested to move. The controller 12 receives the inertial measurement unit data, performs navigation analysis on the inertial measurement unit data according to the navigation calculation module to obtain inertial measurement unit navigation data. The controller 12 forwards the positioning data collected by the positioning module. The host computer 14 saves all the data received by the bus analyzer 13, and compares the positioning data with the inertial measurement unit navigation data. If the comparison between the positioning data and the inertial measurement unit navigation data is qualified, it is determined that the test of the inertial measurement unit 11 to be tested is qualified.

[0124] In this embodiment, the inertial measurement unit (IMU) data is collected by the controller 12. Using a general navigation calculation module, the accelerometer data and gyroscope data in the IMU data are converted into relatively intuitive position and velocity information. At the same time, data comparison can be performed with the positioning data to test the stability of the IMU data of the IMU under test 11 during the vehicle running process. In this embodiment, CAN bus is used for communication. Through the general bus protocol, it is convenient for data processing and can simplify the test system. This IMU test system has the advantages of miniaturization and portability. In this embodiment, an ordinary laptop computer is used as the test host computer 14, and the CANalyst analyzer is simply connected through USB to simulate the ground software for command control, which can greatly simplify the ground test equipment and optimize the test system. By secondary development of the CANalyst analyzer software, the software of the host computer 14 is designed to realize functions such as data monitoring, data storage and analysis of the test system. By adding the controller 12, the IMU data is converted into navigation information. Through data comparison with the general GPS / BD-2 receiver (integrated into the controller single machine), the IMU data can be intuitively checked and the dynamic characteristics can be judged.

[0125] In this embodiment, a minimized and portable IMU test system is provided to test the dynamic characteristics of the IMU before the rocket system test. Through the minimization of the IMU test system, it is convenient to conduct the field vehicle running test on the IMU under test, improving the accuracy of the test on the IMU under test. Through the integrated design of analysis, processing and storage of each data in the host computer, it is convenient to analyze the test data of the IMU under test. By performing navigation analysis on the IMU data to obtain the IMU navigation data, the dynamic characteristics of the IMU can be visualized, facilitating the display and comparison of the IMU data.

[0126] Example 5

[0127] Please refer to Figure 6 , which is a schematic structural diagram of the IMU test system 100 provided by the fifth embodiment of the present invention, including: a self-check unit 16, a navigation analysis unit 17, and a data comparison unit 18, where:

[0128] The self-check unit 16 is used to power on the IMU under test, obtain the self-check data of the IMU under test in the static state, and perform static detection on the IMU under test according to the self-check data. The static detection is used to detect whether the operation of the IMU under test is normal in the static state.

[0129] Optionally, the self-check unit 16 is further used to: respectively obtain the acceleration data and gyroscope data of the IMU under test in different directions in the self-check data;

[0130] Perform a vector sum calculation on the acceleration data in different directions to obtain a resultant acceleration vector, and calculate the deviation value between the resultant acceleration vector and a preset acceleration vector to obtain an acceleration deviation value;

[0131] Perform a vector sum calculation on the gyro data in different directions to obtain a resultant gyro vector, and calculate the deviation value between the resultant gyro vector and a preset gyro vector to obtain a gyro deviation value;

[0132] If the acceleration deviation value is less than a first preset deviation value and the gyro deviation value is less than a second preset deviation value, it is determined that the static detection of the inertial assembly to be tested is qualified.

[0133] Further, the self-check unit 16 is further configured to: obtain preset launch point position information, and determine initial azimuth angle data according to the preset launch point position information and the inertial assembly data;

[0134] Perform leveling calculation according to the initial azimuth angle data and the inertial assembly data to obtain a leveling pitch angle and a leveling yaw angle, and perform a leveling process on the preset navigation device according to the leveling pitch angle and the leveling yaw angle;

[0135] Obtain the speed information and attitude information of the inertial assembly to be tested at the current moment, and send the speed information and attitude information of the inertial assembly to be tested to the preset navigation device after leveling.

[0136] The navigation analysis unit 17 is configured to, if the static detection of the inertial assembly to be tested is qualified, obtain the inertial assembly data of the inertial assembly to be tested in a moving state, and perform navigation analysis on the inertial assembly data to obtain inertial assembly navigation data.

[0137] Optionally, the navigation analysis unit 17 is further configured to: input the inertial assembly data into a preset navigation device for navigation analysis to obtain an inertial assembly navigation speed and an inertial assembly navigation position.

[0138] The data comparison unit 18 is configured to obtain the positioning data of the position where the inertial assembly to be tested is located, and compare the positioning data with the inertial assembly navigation data; if the data comparison between the positioning data and the inertial assembly navigation data is qualified, it is determined that the test of the inertial assembly to be tested is qualified.

[0139] Optionally, the data comparison unit 18 is further configured to: perform coordinate system conversion on the positioning data to obtain positioning conversion data, and determine an inertial assembly positioning speed and an inertial assembly positioning position according to the positioning conversion data;

[0140] Perform a speed comparison between the inertial assembly positioning speed and the inertial assembly navigation speed to obtain an inertial assembly speed error, and perform a position comparison between the inertial assembly positioning position and the inertial assembly navigation position to obtain an inertial assembly position error;

[0141] If the inertial measurement unit (IMU) velocity error is less than the first error threshold and the IMU position error is less than the second error threshold, it is determined that the data comparison between the positioning data and the IMU navigation data is qualified.

[0142] In this embodiment, by obtaining the self-check data of the IMU to be measured in a stationary state, the self-check data can be effectively used to perform a stationary detection on the IMU to be measured, so as to detect the performance of the IMU to be measured in the stationary state. By performing navigation analysis on the IMU data of the IMU to be measured in a moving state, the IMU data can be effectively converted into IMU navigation data, and the IMU navigation data is used to intuitively represent the position and speed information of the IMU to be measured. By comparing the positioning data with the IMU navigation data to detect the stability of the performance of the IMU to be measured, in the present invention, the IMU to be measured can be effectively dynamically tested, and data analysis is performed on the IMU data, IMU navigation data, and positioning data obtained from the dynamic test to detect the performance of the IMU to be measured, improving the accuracy of the IMU test.

[0143] Example 6

[0144] Figure 7 It is a structural block diagram of a terminal device 2 provided in the sixth embodiment of the present application. As Figure 7 shown, the terminal device 2 of this embodiment includes: a processor 20, a memory 21, and a computer program 22 stored in the memory 21 and executable on the processor 20, such as a program for the IMU test method. When the processor 20 executes the computer program 22, the steps in each embodiment of the above-mentioned various IMU test methods are implemented, such as Figure 1 S10 to S50 shown, or Figure 2 S21 to S24 shown, or Figure 3 S41 to S43 shown. Or, when the processor 20 executes the computer program 22, the functions of each unit in the corresponding above Figure 6 embodiment are implemented. For specific details, please refer to the relevant descriptions in the Figure 6 corresponding embodiment, which will not be elaborated here.

[0145] Exemplarily, the computer program 22 can be divided into one or more units, and the one or more units are stored in the memory 21 and executed by the processor 20 to complete the present application. The one or more units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 22 in the terminal device 2. For example, the computer program 22 can be divided into a self-check unit 16, a navigation analysis unit 17, and a data comparison unit 18, and the specific functions of each unit are as described above.

[0146] The terminal device may include, but is not limited to, a processor 20 and a memory 21. Those skilled in the art can understand that Figure 6 These are merely examples of the terminal device 2 and do not constitute a limitation on the terminal device 2. It may include more or fewer components than those shown in the figure, or combine certain components, or have different components. For example, the terminal device may also include input / output devices, network access devices, a bus, etc.

[0147] The so-called processor 20 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0148] The memory 21 may be an internal storage unit of the terminal device 2, such as the hard disk or memory of the terminal device 2. The memory 21 may also be an external storage device of the terminal device 2, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the terminal device 2. Further, the memory 21 may also include both the internal storage unit and the external storage device of the terminal device 2. The memory 21 is used to store the computer program and other programs and data required by the terminal device. The memory 21 may also be used to temporarily store data that has been output or is to be output.

[0149] In addition, in each embodiment of the present application, the functional units may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0150] When an integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium can be non-volatile or volatile. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0151] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An inertial measurement unit testing method, characterized in that The method includes: Power on the inertial unit to be tested and obtain the self-check data of the inertial unit to be tested in the static state; Perform a static test on the inertial unit to be tested according to the self-check data, and the static test is used to detect whether the inertial unit to be tested operates normally in the static state; If the static test of the inertial unit to be tested is qualified, obtain the inertial unit data of the inertial unit to be tested in the moving state, and perform navigation analysis on the inertial unit data to obtain inertial unit navigation data; Obtain the positioning data of the position where the inertial unit to be tested is located, and compare the positioning data with the inertial unit navigation data; If the comparison between the positioning data and the inertial unit navigation data is qualified, determine that the test of the inertial unit to be tested is qualified; The performing navigation analysis on the inertial unit data to obtain inertial unit navigation data includes: Input the inertial unit data into a preset navigation device for navigation analysis to obtain inertial unit navigation speed and inertial unit navigation position; The comparing the positioning data with the inertial unit navigation data includes: Perform coordinate system conversion on the positioning data to obtain positioning conversion data, and determine inertial unit positioning speed and inertial unit positioning position according to the positioning conversion data; Compare the inertial unit positioning speed with the inertial unit navigation speed to obtain an inertial unit speed error, and compare the inertial unit positioning position with the inertial unit navigation position to obtain an inertial unit position error; If the inertial unit speed error is less than a first error threshold and the inertial unit position error is less than a second error threshold, determine that the comparison between the positioning data and the inertial unit navigation data is qualified; The formula for performing coordinate system conversion on the positioning data to obtain positioning conversion data includes: Position conversion data where I is a 4×4 identity matrix, where, Δθ x , Δθ y , Δθ z are respectively the angular increments output by the gyroscope in the axial direction of each coordinate system within a unit period, Q j represents the positioning conversion data at the j-th moment, Q j+1 represents the positioning conversion data at the (j + 1)-th moment.

2. The inertial measurement unit testing method according to claim 1, wherein The performing a static test on the inertial unit to be tested according to the self-check data includes: Respectively obtain the acceleration data and gyro data of the inertial unit to be tested in different directions in the self-check data; Perform vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculate the deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value; Perform vector sum calculation on the gyro data in different directions to obtain a gyro resultant vector, and calculate the deviation value between the gyro resultant vector and a preset gyro vector to obtain a gyro deviation value; If the acceleration deviation value is less than a first preset deviation value and the gyro deviation value is less than a second preset deviation value, determine that the static test of the inertial unit to be tested is qualified.

3. The inertial measurement unit (IMU) testing method according to claim 1, wherein The formula for determining inertial unit positioning speed and inertial unit positioning position according to the positioning conversion data includes: Inertial unit positioning speed calculation: Among them, V x n , V y n , V z n is the velocity information in the geographic coordinate system. V x n (j + 1) is the velocity information of the x-axis at the (j + 1)-th moment in the geographic coordinate system. V y n (j + 1) is the velocity information of the y-axis at the (j + 1)-th moment in the geographic coordinate system. V z n (j + 1) is the velocity information of the z-axis at the (j + 1)-th moment in the geographic coordinate system. V x n (j) is the velocity information of the x-axis at the j-th moment in the geographic coordinate system. V y n (j) is the velocity information of the y-axis at the j-th moment in the geographic coordinate system. V z n (j) is the velocity information of the z-axis at the j-th moment in the geographic coordinate system, is the projection of the acceleration output value in the geographic system; is the latitude of the inertial measurement unit (IMU) to be measured, with the unit of rad, Ω is the angular velocity of the Earth's rotation, and its value is 7.2915×10 -5 , g is the acceleration due to gravity, with a value of 9.801, R is the radius of the Earth, with a value of 6371004.0, h is the altitude, with the unit of m, and T n is the navigation calculation period; Inertial unit positioning position calculation: a. Longitude and latitude calculation: Among them, is the latitude of the inertial measurement unit to be measured at the j-th moment, is the latitude of the inertial measurement unit to be measured at the (j + 1)-th moment, λ(j + 1) is the longitude of the inertial measurement unit to be measured at the (j + 1)-th moment, and λ(j) is the longitude of the inertial measurement unit to be measured at the j-th moment; b. Target system azimuth angle calculation: c. Position calculation: Among them, X m , Y m , Z m are the position information in the target coordinate system, α is the angle between the target azimuth and the north direction, α(j + 1) is the angle between the target azimuth and the north direction at the (j + 1)-th moment, α(j) is the angle between the target azimuth and the north direction at the j-th moment, X m (j + 1) is the x-axis position information in the target coordinate system at the (j + 1)-th moment, Y m (j + 1) is the y-axis position information in the target coordinate system at the (j + 1)-th moment, Z m (j + 1) is the z-axis position information in the target coordinate system at the (j + 1)-th moment, X m (j) is the x-axis position information in the target coordinate system at the j-th moment, Z m (j) is the z-axis position information in the target coordinate system at the j-th moment, h(j + 1) is the height at the (j + 1)-th moment, and h(j) is the height at the j-th moment.

4. The inertial measurement unit testing method according to claim 1, characterized in that, After the static test of the inertial unit to be tested is qualified, it further includes: Obtain the preset launch point position information, and determine the initial azimuth angle data according to the preset launch point position information and the inertial unit data; Perform leveling calculation according to the initial azimuth angle data and the inertial unit data to obtain a leveling pitch angle and a leveling yaw angle, and perform leveling processing on the preset navigation device according to the leveling pitch angle and the leveling yaw angle; Obtain the speed information and attitude information of the to-be-tested inertial unit at the current moment, and send the speed information and attitude information of the to-be-tested inertial unit to the preset navigation device after leveling.

5. An inertial measurement unit test system, characterized in that, The system includes: A power supply device, a to-be-tested inertial unit, a controller, a bus analyzer, and a host computer. The power supply device, the to-be-tested inertial unit, the controller, and the bus analyzer communicate through a local area network; The power supply device is used to supply power to the to-be-tested inertial unit and the controller; The to-be-tested inertial unit is used to send self-check data and inertial unit data to the local area network after being powered on; The controller is used to receive inertial unit data, receive instructions from the host computer, perform navigation analysis on the inertial unit data to obtain inertial unit navigation data, obtain positioning data of the location where the to-be-tested inertial unit is located, and send the positioning data and the inertial unit navigation data to the local area network; The bus analyzer is used to receive and store various types of data in the local area network and forward the test instructions of the host computer; The host computer is used to obtain the self-check data, perform static detection on the to-be-tested inertial unit according to the self-check data, and is used to compare the positioning data with the inertial unit navigation data. If the comparison of the positioning data and the inertial unit navigation data is qualified, it is determined that the test of the to-be-tested inertial unit is qualified; The controller is used to perform navigation analysis on the inertial unit data to obtain inertial unit navigation data, including: Input the inertial unit data into a preset navigation device for navigation analysis to obtain inertial unit navigation speed and inertial unit navigation position; The host computer is used to compare the positioning data with the inertial unit navigation data, including: Perform coordinate system conversion on the positioning data to obtain positioning conversion data, and determine inertial unit positioning speed and inertial unit positioning position according to the positioning conversion data; Compare the inertial unit positioning speed with the inertial unit navigation speed to obtain an inertial unit speed error, and compare the inertial unit positioning position with the inertial unit navigation position to obtain an inertial unit position error; If the inertial unit speed error is less than the first error threshold and the inertial unit position error is less than the second error threshold, it is determined that the comparison of the positioning data and the inertial unit navigation data is qualified; The formula used by the host computer to perform coordinate system conversion on the positioning data to obtain positioning conversion data includes: Position conversion data where I is a 4×4 identity matrix, Among them, Δθ x , Δθ y , Δθ z are respectively the angular increments output by the gyroscope in the axial direction of each coordinate system within a unit period, Q j represents the positioning conversion data at the j-th moment, Q j+1 represents the positioning conversion data at the (j + 1)-th moment.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 4.

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