Calibration method, device, aircraft, and storage medium for navigation equipment

Abstract

An embodiment of the present invention provides a calibration method, apparatus, aircraft, and storage medium for a navigation device. The method is applied to an aircraft, wherein a master navigation device and at least one slave navigation device are provided in the aircraft. The method comprises: after the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, detecting initial navigation parameter values ​​of the master navigation device and the slave navigation device; when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold, controlling the aircraft to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device; the present invention calibrates the IMU device in the slave navigation device by using the value measured by the IMU device of the master navigation device as the effective true value, thereby reducing the algorithm convergence time of the navigation device and improving the navigation accuracy and stability of the navigation device.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to a calibration method, device, aircraft, and storage medium for navigation equipment. Background Art

[0002] With the continuous development of inertial navigation systems, they have been widely used in aircraft equipment. During the application process, the navigation accuracy of inertial navigation equipment has become increasingly important. In the existing technology, the IMU (Inertial Measurement Unit) of the navigation equipment is generally installed in the aircraft equipment after offline calibration on a turntable. No secondary calibration is performed during use. Due to the physical characteristics of the IMU, the zero bias of the accelerometer and gyroscope of the navigation equipment will change slowly or even undergo large mutations during use, which will reduce the navigation accuracy of the navigation equipment. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a calibration method, apparatus, aircraft, and storage medium for a navigation device that overcomes the above problems or at least partially solves the above problems.

[0004] To solve the above problem, an embodiment of the present invention discloses a navigation device calibration method, which is applied to an aircraft, wherein the aircraft is provided with a master navigation device and at least one slave navigation device. The method includes:

[0005] Powering on the aircraft, and detecting initial navigation parameter values ​​of the master navigation device and the slave navigation device when the master navigation device and the slave navigation device start working and the aircraft is stationary;

[0006] When the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device.

[0007] Optionally, controlling the aircraft to perform a constant speed maneuver to calibrate the navigation parameter value of the slave navigation device includes:

[0008] Controlling the aircraft to perform a uniform speed maneuver in a preset direction, and detecting navigation parameter measurement values ​​of the master navigation device and the slave navigation device in the preset direction; the preset directions include: forward, backward, left, right, up, and down;

[0009] determining a true value of the navigation parameter of the slave navigation device in the preset direction according to a measurement value of the navigation parameter of the slave navigation device in the preset direction;

[0010] When the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold, the calibration is ended.

[0011] Optionally, determining the true value of the navigation parameter of the slave navigation device in the preset direction according to the navigation parameter measurement value of the slave navigation device in the preset direction includes:

[0012] determining a navigation parameter error coefficient matrix value of the slave navigation device according to the navigation parameter measurement value of the slave navigation device in the preset direction;

[0013] The true value of the navigation parameter of the slave navigation device in the preset direction is determined according to the navigation parameter error coefficient matrix value of the slave navigation device.

[0014] Optionally, determining the navigation parameter error coefficient matrix value of the slave navigation device includes:

[0015] According to the preset formula D=K*M, the navigation parameter error coefficient matrix value of the slave navigation device is calculated, where D is the navigation parameter measurement value of the master navigation device in the preset direction, K is the navigation parameter error coefficient matrix value, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

[0016] Optionally, the true value of the navigation parameter includes a true value of acceleration and a true value of a gyroscope, and determining the true value of the navigation parameter of the slave navigation device in the preset direction includes:

[0017] According to the preset formula Calculating a true value of the acceleration of the slave navigation device in the preset direction;

[0018] According to the preset formula Calculating a true gyroscope value of the slave navigation device in the preset direction;

[0019] Among them, ACC represents the true value of the acceleration of the slave navigation device in the preset direction, GYR represents the true value of the gyroscope of the slave navigation device in the preset direction, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of the acceleration, and B_acc represents the zero bias of the accelerometer; K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

[0020] Optionally, calculating the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula D=K*M includes:

[0021] Substitute the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K*M, and calculate the navigation parameter error coefficient matrix value of the slave navigation device by the least squares method.

[0022] Optionally, the method further includes:

[0023] The navigation parameter error coefficient matrix values ​​calibrated by the slave navigation device are stored in the memory of the slave navigation device.

[0024] The present invention also discloses a calibration device for a navigation device, which is applied to an aircraft, wherein the aircraft is provided with a master navigation device and at least one slave navigation device, and the device comprises:

[0025] a detection module, configured to power on the aircraft and detect initial navigation parameter values ​​of the master navigation device and the slave navigation device when the master navigation device and the slave navigation device start working and the aircraft is stationary;

[0026] The control module is configured to control the aircraft to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold.

[0027] Optionally, the control module includes:

[0028] a control submodule, configured to control the aircraft to perform a uniform speed maneuver in a preset direction and detect navigation parameter measurements of the master navigation device and the slave navigation device in the preset direction; the preset directions include: forward, backward, left, right, up, and down;

[0029] a determination submodule, configured to determine a true value of the navigation parameter of the slave navigation device in the preset direction based on a measured value of the navigation parameter of the slave navigation device in the preset direction;

[0030] The ending submodule is configured to end the calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold.

[0031] Optionally, the determining submodule includes:

[0032] an error coefficient matrix value determining unit, configured to determine a navigation parameter error coefficient matrix value of the slave navigation device according to the navigation parameter measurement value of the slave navigation device in the preset direction;

[0033] The navigation parameter true value determining unit is configured to determine the true value of the navigation parameter of the slave navigation device in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation device.

[0034] Optionally, the error coefficient matrix value determining unit includes:

[0035] The first calculation subunit is used to calculate the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula D=K*M, where D is the navigation parameter measurement value of the master navigation device in the preset direction, K is the navigation parameter error coefficient matrix value, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

[0036] Optionally, the true value of the navigation parameter includes a true value of acceleration and a true value of a gyroscope, and the true value determination unit of the navigation parameter includes:

[0037] The second calculation subunit is used to calculate according to the preset formula Calculating a true value of the acceleration of the slave navigation device in the preset direction;

[0038] The third calculation subunit is used to calculate according to the preset formula Calculating a true gyroscope value of the slave navigation device in the preset direction;

[0039] Among them, ACC represents the true value of the acceleration of the slave navigation device in the preset direction, GYR represents the true value of the gyroscope of the slave navigation device in the preset direction, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of the acceleration, and B_acc represents the zero bias of the accelerometer; K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

[0040] Optionally, the first computing subunit includes:

[0041] Substitute the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K*M, and calculate the navigation parameter error coefficient matrix value of the slave navigation device by the least squares method.

[0042] Optionally, the device further comprises:

[0043] The storage submodule is used to store the navigation parameter error coefficient matrix value after the calibration of the slave navigation device into the memory of the slave navigation device.

[0044] The present invention also discloses an aircraft, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the online calibration method for the navigation device as described above are implemented.

[0045] The present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the online calibration method for a navigation device as described above are implemented.

[0046] The embodiments of the present invention include the following advantages:

[0047] The present invention arranges a master navigation device and at least one slave navigation device in an aircraft. After the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device and the slave navigation device are detected. When the difference between the initial navigation parameter value of the slave navigation device and that of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device. The present invention uses the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, thereby reducing the algorithm convergence time of the navigation device and improving the navigation accuracy and stability of the navigation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flowchart of the steps of a calibration method for a navigation device provided by an embodiment of the present invention;

[0049] Figure 2 is a flowchart of the steps of another calibration method for a navigation device provided by an embodiment of the present invention;

[0050] Figure 3 This is a system flow chart of a navigation device calibration method provided by an embodiment of the present invention;

[0051] Figure 4 This is a structural block diagram of a calibration device for a navigation device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] In the existing technology, the IMU of the navigation equipment is generally installed in the aircraft equipment after being calibrated offline on a turntable, and no secondary calibration is performed during use. Due to the physical characteristics of the IMU, the zero bias of the accelerometer and gyroscope will change slowly during the use of the navigation equipment, and even a large mutation may occur, which will have an adverse effect on the self-test and algorithm convergence time of the navigation equipment. The existing turntable offline calibration method generally requires a high-precision turntable and cannot be calibrated during the use of the aircraft.

[0054] Based on this, one of the core concepts of an embodiment of the present invention is to set a master navigation device and at least one slave navigation device in an aircraft. After the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device and the slave navigation device are detected. When the difference between the initial navigation parameter value of the slave navigation device and that of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device. The present invention uses the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, which can reduce the algorithm convergence time of the navigation device and improve the navigation accuracy and stability of the navigation device.

[0055] Reference Figure 1 , shows a flowchart of the steps of a navigation device calibration method provided by an embodiment of the present invention. The method is applied to an aircraft, in which a master navigation device and at least one slave navigation device are provided. The method may specifically include the following steps:

[0056] Step 101 : Power on the aircraft, and when the master navigation device and the slave navigation device start working and the aircraft is stationary, detect initial navigation parameter values ​​of the master navigation device and the slave navigation device.

[0057] In an embodiment of the present invention, the navigation device in the aircraft can calculate the aircraft's attitude, heading, position, speed and other parameter information. Its damage will bring serious safety hazards to the aircraft. Therefore, multiple navigation devices can be set in the aircraft to ensure the safe operation of the aircraft; specifically, a main navigation device and at least one slave navigation device can be set in the aircraft to ensure that when a problem occurs with one of the navigation devices in the aircraft, another navigation device can be used for navigation, thereby maximizing the safety of the aircraft's operation.

[0058] The present invention can set the IMU positioning accuracy of the master navigation device to be higher than the IMU positioning accuracy of the slave navigation device, and then install the master navigation device and the slave navigation device on the aircraft after initial calibration. After these settings are completed, the aircraft is powered on and the master navigation device and the slave navigation device in the aircraft are controlled to start working, that is, the master navigation device and the slave navigation device are controlled to start collecting navigation data. However, at this time, the aircraft is still in a stationary state, and the initial navigation parameter values ​​of the master navigation device and the slave navigation device can be detected. The navigation parameter values ​​can include acceleration and gyroscope values. In an example, the initial acceleration of the master navigation device can be detected as (acc_x_p, acc_y_p, acc_z_p), where acc_x_p represents the acceleration value in the x-axis direction measured by the main navigation device, acc_y_p represents the acceleration value in the y-axis direction measured by the main navigation device, and acc_z_p represents the acceleration value in the z-axis direction measured by the main navigation device. The initial gyroscope value of the main navigation device can be detected as (gry_x_p, gry_y_p, gry_z_p), where gry_x_p represents the gyroscope value in the x-axis direction measured by the main navigation device, gry_y_p represents the gyroscope value in the y-axis direction measured by the main navigation device, and gry_z_p represents the gyroscope value in the z-axis direction measured by the main navigation device.

[0059] Similarly, the initial acceleration of the navigation device can be measured as (acc_x_s, acc_y_s, acc_z_s), and the initial gyroscope value is (gry_x_s, gry_y_s, gry_z_s), which will not be described here.

[0060] Step 102 : When the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device.

[0061] In the embodiment of the present invention, the first threshold refers to the maximum difference between the initial navigation parameter values ​​of the slave navigation device and the master navigation device, and can be set according to user needs and is not limited here.

[0062] In one example, the difference in acceleration in the x-axis direction can be calculated: acc_x_p-acc_x_s, the difference in acceleration in the y-axis direction can be calculated: acc_y_p-acc_y_s, the difference in acceleration in the z-axis direction can be calculated: acc_z_p-acc_z_s, the difference in gyroscope value in the x-axis direction can be calculated: gry_x_p-gry_x_s, the difference in gyroscope value in the y-axis direction can be calculated: gry_y_p-gry_y_s, the difference in gyroscope value in the z-axis direction can be calculated: gry_z_p-gry_z_s, when acc_x_p-acc When the absolute value of any difference among _x_s, acc_y_p-acc_y_s, acc_z_p-acc_z_s, gry_x_p-gry_x_s, gry_y_p-gry_y_s, and gry_z_p-gry_z_s is greater than the first threshold, it indicates that the slave navigation device needs to be calibrated. At this time, an indication message indicating that the slave navigation device needs to be calibrated can be sent to the user. After receiving the indication message, the user can control the aircraft to perform a uniform speed maneuver to calibrate the navigation parameter values ​​of the slave navigation device.

[0063] The present invention can use the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, which can reduce the algorithm convergence time of the navigation device and improve the navigation accuracy and stability of the navigation device.

[0064] Reference Figure 2 , shows a flowchart of the steps of another navigation device calibration method provided by an embodiment of the present invention. The method is applied to an aircraft, in which a master navigation device and at least one slave navigation device are provided. The method may specifically include the following steps:

[0065] Step 201 : Power on the aircraft, and when the master navigation device and the slave navigation device start working and the aircraft is stationary, detect initial navigation parameter values ​​of the master navigation device and the slave navigation device.

[0066] In an embodiment of the present invention, at least one slave navigation device includes a secondary navigation device and a heading attitude navigation device, wherein the IMU positioning accuracy of the master navigation device is higher than the IMU positioning accuracy of the secondary navigation device, and the IMU positioning accuracy of the secondary navigation device is higher than the IMU positioning accuracy of the heading attitude navigation device. After the aircraft is powered on, when the master navigation device, the secondary navigation device, and the heading attitude navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device, the secondary navigation device, and the heading attitude navigation device can be detected, wherein the initial navigation parameter values ​​include initial acceleration and initial gyroscope values.

[0067] Step 202: When the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver in a preset direction, and the navigation parameter measurement values ​​of the master navigation device and the slave navigation device in the preset direction are detected; the preset directions include: forward, backward, left, right, up, and down.

[0068] In an embodiment of the present invention, when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold value, that is, the absolute value of any one of the difference between the initial acceleration of the secondary navigation device and the initial acceleration of the master navigation device, the difference between the initial gyroscope value of the secondary navigation device and the initial gyroscope value of the master navigation device, the difference between the initial acceleration of the attitude navigation device and the initial acceleration of the master navigation device, and the difference between the initial gyroscope value of the attitude navigation device and the initial gyroscope value of the master navigation device is greater than the first threshold value, it indicates that the secondary navigation device and the attitude navigation device need to be calibrated.

[0069] After determining that the secondary navigation device and the heading attitude navigation device need to be calibrated, the aircraft can be controlled to perform a uniform speed maneuver in a preset direction, where the preset direction may include forward, backward, left, right, up, and down. In one example, the aircraft can be controlled to fly forward, backward, left, right, up, and down, and then the navigation parameter measurement values ​​of the primary navigation device, the secondary navigation device, and the heading attitude navigation device in the forward, backward, left, right, up, and down directions can be measured respectively. The acceleration measurement value acc_p of the primary navigation device in the forward, backward, left, right, up, and down directions is:

[0070]

[0071] The gyroscope measurement values ​​gyr_p of the main navigation device in the forward, backward, left, right, up and down directions are:

[0072]

[0073] The acceleration measurement values ​​acc_s of the secondary navigation device in the forward, backward, left, right, up and down directions are:

[0074]

[0075] The gyroscope measurement values ​​gyr_s of the secondary navigation device in the forward, backward, left, right, up, and down directions are:

[0076]

[0077] The acceleration measurement values ​​acc_ahrs of the heading navigation device in the forward, backward, left, right, up and down directions are:

[0078]

[0079] The gyroscope measurement values ​​gyr_ahrs of the attitude navigation device in the forward, backward, left, right, up, and down directions are:

[0080]

[0081] Step 203: Determine a true value of the navigation parameter of the slave navigation device in the preset direction based on the measured value of the navigation parameter of the slave navigation device in the preset direction.

[0082] In the embodiment of the present invention, since there are errors in the navigation parameter measurement values ​​of the slave navigation device in the preset direction, the errors in the navigation measurement values ​​of the slave navigation device in the preset direction can be eliminated to obtain the true values ​​of the navigation parameters of the slave navigation device in the preset direction.

[0083] In one embodiment of the present invention, step 203 may include the following sub-steps S21-S22:

[0084] Step S21 : determining a navigation parameter error coefficient matrix value of the slave navigation device according to the navigation parameter measurement value of the slave navigation device in a preset direction.

[0085] In an embodiment of the present invention, the navigation parameter measurement values ​​of the high-precision IMU device in the main navigation can be used as the current effective navigation parameter true values, and then the navigation parameter error coefficient matrix values ​​of the slave navigation device can be determined based on the navigation parameter measurement values ​​of the high-precision IMU device in the main navigation and the navigation parameter measurement values ​​of the slave navigation device in the preset direction.

[0086] In one embodiment of the present invention, determining the navigation parameter error coefficient matrix value of the slave navigation device includes:

[0087] According to the preset formula D=K*M, the navigation parameter error coefficient matrix value of the slave navigation device is calculated, where D is the navigation parameter measurement value of the main navigation device in the preset direction, K is the navigation parameter error coefficient matrix value, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

[0088] In the embodiment of the present invention, the true value of the acceleration of the navigation device can be calculated using formula (1):

[0089] Formula (1)

[0090] Where ACC is the true value of the acceleration of the slave device, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of the acceleration, and B_acc represents the zero bias of the accelerometer.

[0091] The true value of the gyroscope from the navigation device can be calculated using formula (2):

[0092] Formula (2)

[0093] Where GYR is the true value of the gyroscope of the slave device, K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

[0094] It should be noted that the accelerometer bias refers to the output signal of the accelerometer when there is no acceleration input, and the gyroscope bias refers to the output signal of the gyroscope when there is no gyroscope value input. B_acc in the above formula (1) and B_gyr in the above formula (2) are set by the manufacturer through multiple bias measurement experiments before shipment and taking the average value of the bias in multiple experiments.

[0095] According to formula (1) and formula (2), equivalent transformation can be performed to derive the calculation formula (3) of the error coefficient matrix of the navigation device:

[0096] D=K*M formula (3)

[0097] Wherein, D is the navigation parameter measurement value of the master navigation device in the preset direction, K is the navigation parameter error coefficient matrix value of the slave navigation device, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

[0098] In one example, when the slave navigation device includes a secondary navigation device and a heading navigation device, the acceleration measurement values ​​acc_p of the master navigation device in the front, back, left, right, up, and down directions and the acceleration measurement values ​​acc_s of the secondary navigation device in the front, back, left, right, up, and down directions can be substituted into formula (3) to calculate the acceleration error coefficient matrix value K1=acc_p / acc_s of the secondary navigation device.

[0099] Similarly, the gyroscope measurement values ​​gyr_p of the primary navigation device in the front, back, left, right, up, and down directions and the gyroscope measurement values ​​gyr_s of the secondary navigation device in the front, back, left, right, up, and down directions can be substituted into formula (3), and then the gyroscope error coefficient matrix value K2=gyr_p / gyr_s of the secondary navigation device can be calculated according to formula (3).

[0100] The acceleration measurement values ​​acc_p of the main navigation device in the front, back, left, right, up and down directions and the acceleration measurement values ​​acc_ahrs of the heading attitude navigation device in the front, back, left, right, up and down directions can be substituted into formula (3), and then the acceleration error coefficient matrix value K3=acc_p / acc_ahrs of the heading attitude navigation device can be calculated according to formula (3).

[0101] The gyroscope measurement values ​​gyr_p of the main navigation device in the front, back, left, right, up and down directions and the gyroscope measurement values ​​gyr_ahrs of the attitude navigation device in the front, back, left, right, up and down directions can be substituted into formula (3), and then the gyroscope error coefficient matrix value K4=gyr_p / gyr_ahrs of the attitude navigation device can be calculated according to formula (3).

[0102] In one embodiment of the present invention, the calculation of the navigation parameter error coefficient matrix value of the slave navigation device according to the preset formula D=K*M includes:

[0103] Substitute the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K*M, and calculate the navigation parameter error coefficient matrix value of the slave navigation device by the least squares method.

[0104] In the embodiment of the present invention, formula (3) can be expanded to obtain formula (4):

[0105] Formula (4)

[0106] Then, by solving formula (4) using the least squares method, the navigation parameter error coefficient matrix value can be calculated:

[0107]

[0108] Step S22: determining the true value of the navigation parameter of the slave navigation device in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation device.

[0109] In an embodiment of the present invention, after determining the navigation parameter error coefficient matrix value, the navigation parameter measurement value of the calibrated slave navigation device can be detected, and then the navigation parameter measurement value of the slave navigation device and the navigation parameter error coefficient matrix can be substituted into the error coefficient formula to solve the true value of the navigation parameter of the slave navigation device in the preset direction.

[0110] In one embodiment of the present invention, the true value of the navigation parameter includes the true value of the acceleration and the true value of the gyroscope, and determining the true value of the navigation parameter of the slave navigation device in the preset direction includes:

[0111] According to the preset formula Calculate the true value of acceleration from the navigation device in the preset direction; according to the preset formula Calculate the true value of the gyroscope from the navigation device in a preset direction; where ACC represents the true value of the acceleration from the navigation device in the preset direction, GYR represents the true value of the gyroscope from the navigation device in the preset direction, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of the acceleration, and B_acc represents the zero bias of the accelerometer; K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

[0112] Specifically, the acceleration error coefficient matrix value K1 of the secondary navigation device and the acceleration measurement value acc_s of the secondary navigation device in the front, back, left, right, up, and down directions can be substituted into formula (1) to calculate the true acceleration value ACC_s of the secondary navigation device in the front, back, left, right, up, and down directions.

[0113] ACC_s=K1*acc_s+B_acc_s

[0114] The gyroscope error coefficient matrix value K2 of the secondary navigation device and the gyroscope measurement value gyr_s of the secondary navigation device in the front, back, left, right, up and down directions can be substituted into formula (2) to calculate the true gyroscope value GYR_s of the secondary navigation device in the front, back, left, right, up and down directions.

[0115] GYR_s=K2*gyr_s+B_gyr_s

[0116] The acceleration error coefficient matrix value K3 of the attitude navigation device and the acceleration measurement value acc_ahrs of the attitude navigation device in the front, back, left, right, up and down directions can be substituted into formula (1) to calculate the true acceleration value ACC_ahrs of the attitude navigation device in the front, back, left, right, up and down directions.

[0117] ACC_ahrs=K3*acc_ahrs+B_acc_ahrs

[0118] The gyroscope error coefficient matrix value K4 of the attitude navigation device and the gyroscope measurement value gyr_ahrs of the attitude navigation device in the front, back, left, right, up and down directions can be substituted into formula (2) to calculate the gyroscope true value GYR_ahrs of the attitude navigation device in the front, back, left, right, up and down directions.

[0119] GYR_ahrs=K4*gyr_ahrs+B_gyr_ahrs.

[0120] Step 204: When the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold, the calibration is ended.

[0121] In an embodiment of the present invention, when ACC_s-acc_p, GYR_s-gyr_p, ACC_ahrs-acc_p, and GYR_ahrs-gyr_p are all less than the second threshold, it indicates that the navigation accuracy calibration of the secondary navigation device and the heading attitude navigation device is completed. At this time, the calibration can be ended, that is, the aircraft is controlled to stop the uniform speed maneuver in the preset direction.

[0122] In one embodiment of the present invention, the method further includes:

[0123] The navigation parameter error coefficient matrix values ​​calibrated by the slave navigation device are stored in the memory of the slave navigation device.

[0124] In an embodiment of the present invention, after the calibration is completed, the acceleration error coefficient matrix value K1 of the secondary navigation device and the gyroscope error coefficient matrix value K2 of the secondary navigation device can be stored in the memory of the secondary navigation device, and the acceleration error coefficient matrix value K3 of the heading attitude navigation device and the gyroscope error coefficient matrix value K4 of the heading attitude navigation device can be stored in the memory of the heading attitude navigation device, so that the secondary navigation device and the heading attitude navigation device can be calibrated according to the stored error coefficient matrix values ​​when they are operated next time, providing convenience for users and improving the calibration efficiency of navigation accuracy.

[0125] Reference Figure 3 , showing a system flow chart of a navigation device calibration method provided by an embodiment of the present invention. After the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device and the slave navigation device are detected, and then it is determined whether the difference d1 between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold value1. When the difference d1 between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is less than the first threshold value1, it indicates that the slave navigation device does not need to be calibrated and the calibration is directly completed; when the difference d1 between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than the first threshold value1, it indicates that the slave navigation device needs to be calibrated and the aircraft can be controlled. Perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device, then collect the calibrated navigation parameter measurement values ​​of the master navigation device and the slave navigation device, then calculate the calibrated navigation parameter true value of the slave navigation device based on the calibrated navigation parameter measurement value of the slave navigation device, and then calculate the difference between the calibrated true value of the navigation parameter of the slave navigation device and the calibrated navigation parameter measurement value of the master navigation device. When the difference d2 between the calibrated true value of the navigation parameter of the slave navigation device and the calibrated navigation parameter measurement value of the master navigation device is less than the second threshold value2, it means that the calibration is successful and the calibration is ended at this time. When d2> the second threshold value2, it means that the calibration is unsuccessful and it is necessary to recalibrate, that is, return to the step at the beginning of the calibration.

[0126] The present invention arranges a master navigation device and at least one slave navigation device in an aircraft. After the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device and the slave navigation device are detected. When the difference between the initial navigation parameter value of the slave navigation device and that of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device. The present invention uses the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, thereby reducing the algorithm convergence time of the navigation device and improving the navigation accuracy and stability of the navigation device.

[0127] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0128] Reference Figure 4 , shows a structural block diagram of a calibration device for a navigation device provided by an embodiment of the present invention, which is applied to an aircraft. The aircraft is provided with a master navigation device and at least one slave navigation device. The device may specifically include the following modules:

[0129] The detection module 301 is used to detect initial navigation parameter values ​​of the master navigation device and the slave navigation device when the aircraft is powered on and the master navigation device and the slave navigation device start working and the aircraft is stationary;

[0130] The control module 302 is configured to control the aircraft to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold.

[0131] The present invention uses the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, which can reduce the algorithm convergence time of the navigation device and improve the navigation accuracy and stability of the navigation device.

[0132] In one embodiment of the present invention, the control module 302 may include:

[0133] The control submodule is used to control the aircraft to perform uniform speed maneuvers in a preset direction and detect the navigation parameter measurement values ​​of the master navigation device and the slave navigation device in the preset direction; the preset directions include: forward, backward, left, right, up, and down;

[0134] a determination submodule, configured to determine a true value of the navigation parameter of the slave navigation device in the preset direction based on a measured value of the navigation parameter of the slave navigation device in the preset direction;

[0135] The ending submodule is configured to end the calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold.

[0136] In one embodiment of the present invention, the determining submodule may include:

[0137] an error coefficient matrix value determining unit, configured to determine a navigation parameter error coefficient matrix value of the slave navigation device based on the navigation parameter measurement value of the slave navigation device in a preset direction;

[0138] The navigation parameter true value determining unit is used to determine the true value of the navigation parameter of the slave navigation device in a preset direction according to the navigation parameter error coefficient matrix value of the slave navigation device.

[0139] In one embodiment of the present invention, the error coefficient matrix value determining unit includes:

[0140] The first calculation subunit is used to calculate the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula D=K*M, where D is the navigation parameter measurement value of the master navigation device in the preset direction, K is the navigation parameter error coefficient matrix value, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

[0141] In one embodiment of the present invention, the true value of the navigation parameter includes the true value of the acceleration and the true value of the gyroscope. The true value determination unit of the navigation parameter may include:

[0142] The second calculation subunit is used to calculate according to the preset formula Calculate the true value of acceleration from the navigation device in the preset direction;

[0143] The third calculation subunit is used to calculate according to the preset formula Calculate the true value of the gyroscope from the navigation device in the preset direction;

[0144] Among them, ACC represents the true value of acceleration from the navigation device in the preset direction, GYR represents the true value of the gyroscope from the navigation device in the preset direction, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of acceleration, and B_acc represents the zero bias of the accelerometer; K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

[0145] In one embodiment of the present invention, the first computing subunit may include:

[0146] Substitute the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K*M, and calculate the navigation parameter error coefficient matrix value of the slave navigation device by the least squares method.

[0147] The present invention discloses a calibration device for a navigation device. A master navigation device and at least one slave navigation device are arranged in an aircraft. After the aircraft is powered on, when the master navigation device and the slave navigation device start working and the aircraft is stationary, the initial navigation parameter values ​​of the master navigation device and the slave navigation device are detected. When the difference between the initial navigation parameter value of the slave navigation device and that of the master navigation device is greater than a first threshold, the aircraft is controlled to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device. The present invention uses the value measured by the IMU device of the master navigation device as the effective true value to calibrate the IMU device in the slave navigation device, which can reduce the algorithm convergence time of the navigation device and improve the navigation accuracy and stability of the navigation device.

[0148] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0149] An embodiment of the present invention further provides an aircraft, comprising:

[0150] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the calibration method embodiment of the above-mentioned navigation device and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0151] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the calibration method embodiment of the above-mentioned navigation device are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0152] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0153] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatuses, or computer program products. Thus, embodiments of the present invention may take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0154] The embodiments of the present invention are described with reference to flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0157] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0158] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0159] The above is a detailed introduction to the calibration method, device, equipment and storage medium of a navigation device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A navigation device calibration method, characterized in that: Applied to an aircraft, wherein the aircraft is provided with a master navigation device and at least one slave navigation device, the method comprises: Powering on the aircraft, and detecting initial navigation parameter values ​​of the master navigation device and the slave navigation device when the master navigation device and the slave navigation device start working and the aircraft is stationary; When the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold, controlling the aircraft to perform a constant speed maneuver to calibrate the navigation parameter value of the slave navigation device; The controlling the aircraft to perform a uniform speed maneuver to calibrate the navigation parameter value of the slave navigation device includes: Controlling the aircraft to perform a uniform speed maneuver in a preset direction, and detecting navigation parameter measurement values ​​of the master navigation device and the slave navigation device in the preset direction; the preset directions include: forward, backward, left, right, up, and down; determining a true value of the navigation parameter of the slave navigation device in the preset direction according to a measurement value of the navigation parameter of the slave navigation device in the preset direction; When the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold, the calibration is ended.

2. The method according to claim 1, characterized in that The determining, based on the navigation parameter measurement value of the slave navigation device in the preset direction, a true value of the navigation parameter of the slave navigation device in the preset direction includes: determining a navigation parameter error coefficient matrix value of the slave navigation device according to the navigation parameter measurement value of the slave navigation device in the preset direction; The true value of the navigation parameter of the slave navigation device in the preset direction is determined according to the navigation parameter error coefficient matrix value of the slave navigation device.

3. The method according to claim 2, characterized in that The determining of the navigation parameter error coefficient matrix value of the slave navigation device includes: According to the preset formula D=K*M, the navigation parameter error coefficient matrix value of the slave navigation device is calculated, where D is the navigation parameter measurement value of the master navigation device in the preset direction, K is the navigation parameter error coefficient matrix value, and M is the navigation parameter measurement value of the slave navigation device in the preset direction.

4. The method according to claim 3, characterized in that The true value of the navigation parameter includes a true value of acceleration and a true value of a gyroscope, and determining the true value of the navigation parameter of the slave navigation device in the preset direction includes: According to the preset formula Calculating a true value of the acceleration of the slave navigation device in the preset direction; According to the preset formula Calculating a true gyroscope value of the slave navigation device in the preset direction; Among them, ACC represents the true value of the acceleration of the slave navigation device in the preset direction, GYR represents the true value of the gyroscope of the slave navigation device in the preset direction, K_acc represents the acceleration error coefficient matrix value, acc represents the measured value of the acceleration, and B_acc represents the zero bias of the accelerometer; K_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and B_gyr represents the zero bias of the gyroscope.

5. The method according to claim 3, characterized in that Calculating the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula D=K*M includes: Substitute the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K*M, and calculate the navigation parameter error coefficient matrix value of the slave navigation device by the least squares method.

6. The method according to claim 2, characterized in that The method further comprises: The navigation parameter error coefficient matrix values ​​calibrated by the slave navigation device are stored in the memory of the slave navigation device.

7. A calibration device for a navigation device, characterized in that: Applied to an aircraft, wherein the aircraft is provided with a master navigation device and at least one slave navigation device, the apparatus comprises: a detection module, configured to power on the aircraft and detect initial navigation parameter values ​​of the master navigation device and the slave navigation device when the master navigation device and the slave navigation device start working and the aircraft is stationary; a control module, configured to control the aircraft to perform a constant-speed maneuver to calibrate the navigation parameter value of the slave navigation device when a difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than a first threshold; The control module includes: a control submodule, configured to control the aircraft to perform a uniform speed maneuver in a preset direction and detect navigation parameter measurements of the master navigation device and the slave navigation device in the preset direction; the preset directions include: forward, backward, left, right, up, and down; a determination submodule, configured to determine a true value of the navigation parameter of the slave navigation device in the preset direction based on a measured value of the navigation parameter of the slave navigation device in the preset direction; The ending submodule is configured to end the calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is less than a second threshold.

8. An aircraft, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the online calibration method for a navigation device according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the online calibration method for a navigation device according to any one of claims 1 to 6.

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