A calibration correction method for a gyro inclinometer and a gyro inclinometer

Abstract

The present invention relates to the field of inclinometer trajectory measurement, and more particularly to a calibration and correction method for a gyro inclinometer and a gyro inclinometer. The method includes establishing a gyro inclinometer zero bias calibration model to calculate the sensor output value after eliminating the zero bias; establishing a gyro inclinometer scale calibration model to calculate the sensor output value after eliminating the sensitivity error; establishing a gyro inclinometer orthogonal model to perform orthogonal error compensation; establishing a gyro inclinometer non-coaxial model to perform sensor attitude calibration; establishing a comprehensive calibration and correction model based on the above models; and based on the comprehensive calibration and correction model, sequentially assuming the attitudes required for gyro inclinometer calibration according to a calibration and correction algorithm, obtaining sensor values ​​under multiple attitudes, calculating calibration and compensation parameters, and performing calibration and correction of the gyro inclinometer. The present invention has the effect of reducing gyro inclinometer measurement errors.

Description

Technical Field

[0001] The present invention relates to the field of inclinometer trajectory measurement, in particular to a calibration correction method of a gyro inclinometer and the gyro inclinometer. Background Art

[0002] Inclinometers, as key components of trajectory measurement, are widely used in various drilling-related industries. Inclinometers include gyroscopic inclinometers and magnetic inclinometers. A gyroscopic inclinometer uses a gyroscopic sensor to measure the angle and position of an object in space. It utilizes the gyroscopic effect to measure azimuth, such as angular velocity and angular change. A gyroscopic sensor typically consists of a rotor, a shaft, and a drive section that applies and measures force. When a force is applied to the gyroscopic shaft, the rotor rotates due to the gyroscopic effect. The orientation of the shaft is unaffected by external forces and always points in a fixed direction in space, thereby determining the angle and direction of the object being measured. A magnetic inclinometer uses the Earth's magnetic field to measure direction.

[0003] Compared to magnetic inclinometers, gyro inclinometers are inherently immune to magnetic interference, making them more suitable for high-precision well logging. As the sensor in a gyro inclinometer is a key measurement component, accurate calibration and correction of the sensor is particularly important.

[0004] A gyro inclinometer consists of a triaxial accelerometer and a triaxial gyro sensor. Measurement errors primarily arise from sensor electronic bias errors, nonorthogonality between the sensor's three axes, and installation errors between the sensor and the inclinometer's three axes. These two errors can be addressed in hardware through circuit adjustments and improved processing. However, due to factors such as the difficulty in ensuring consistent circuit component quality, hardware adjustments also struggle to ensure consistent bias. Furthermore, due to installation errors and visual errors during measurement, these errors cannot be completely eliminated. Summary of the Invention

[0005] In order to reduce the measurement error of a gyro inclinometer, the present application provides a gyro inclinometer calibration and correction method.

[0006] In the first aspect, the present application provides a gyro inclinometer calibration and correction method using the following technical solutions:

[0007] A gyro inclinometer calibration and correction method is provided for calibrating and correcting a gyro inclinometer. The inclinometer is equipped with a sensor, and the method comprises the following steps: establishing a gyro inclinometer zero bias calibration model to calculate a sensor output value after eliminating the zero bias; establishing a gyro inclinometer scale calibration model to calculate a sensor output value after eliminating the sensitivity error; establishing a gyro inclinometer orthogonal model to perform orthogonal error compensation; establishing a gyro inclinometer non-coaxial model to perform sensor attitude calibration; and establishing a comprehensive calibration and correction model based on the gyro inclinometer zero bias calibration model, the gyro inclinometer scale calibration model, the gyro inclinometer orthogonal model, and the gyro inclinometer non-coaxial model.

[0008] Based on the comprehensive calibration and correction model and according to the calibration and correction algorithm, the postures required for gyro inclinometer calibration are sequentially assumed, sensor values ​​under multiple postures are obtained, calibration and compensation parameters are calculated, and calibration and correction of the gyro inclinometer are performed.

[0009] By adopting the above technical solution, the data value of the sensor output after eliminating the zero bias and the value of the sensor output after eliminating the sensitivity error are calculated, orthogonality correction and misalignment correction are performed, and calibration and compensation parameters are calculated by solving a comprehensive calibration correction model to calibrate and correct the gyro inclinometer. This eliminates problems caused by circuit deviations of the acceleration sensor and the gyro sensor and non-orthogonal and misaligned installation, thereby reducing the zero bias error and installation error of the gyro inclinometer and improving the measurement accuracy and efficiency of the gyro inclinometer.

[0010] Preferably, the gyro inclinometer zero bias calibration model is:

[0011] Among them, A x , A y , A z is the output value of the sensor, a x , a y , a z is the zero bias value of the corresponding sensor, A x1 , A y1 , A z1 The sensor output value is the value after eliminating the zero bias.

[0012] Preferably, the gyro inclinometer calibration model is:

[0013] Among them, A x2 , A y2 , A z2 k is the value of the sensor output after eliminating the sensitivity error, x , k y , k z is the sensitivity compensation factor of the sensor, A x1, A y1 , A z1 The sensor outputs the value after eliminating the zero bias error.

[0014] Preferably, the orthogonal model of the gyro inclinometer is:

[0015]

[0016] Assume that the three coordinate axes of the instrument are OX, OY and OZ respectively. The three coordinate axes of the ideal orthogonal instrument are OX1, OY1 and OZ1. The OZ1 axis coincides with the OZ axis, and the coordinate plane Y1OZ1 is coplanar with YOZ.

[0017] Assume that the angle between OY and OY1 is β, OY1 and OZ1 rotate around the coordinate origin O, and counterclockwise rotation is positive; the angle between the projection of OX on the Z1OX1 plane and the OX1 axis is a, and counterclockwise rotation of OX toward OZ1 is positive; the angle between OX and the Z1OX1 plane is Y, and counterclockwise rotation toward the OX axis is positive;

[0018] Among them, A x3 , A y3 , A z3 A is the value of the sensor output after eliminating the orthogonality error. x2 , A y2 , A z2 This is the value of the sensor output after eliminating the sensitivity error.

[0019] Preferably, the establishing of the gyro inclinometer orthogonal model and the orthogonal error compensation further includes simplifying the gyro inclinometer orthogonal model, including the following steps:

[0020] The process of orthogonal error compensation makes the angles α, β, and γ gradually decrease to 0.

[0021] From α→0, β→0, γ→0, we can get:

[0022] sinα→α, sinβ→β, sinγ→γ,

[0023] cosα→1, cosβ→1, cosγ→1,

[0024] The orthogonality error compensation model is simplified as:

[0025]

[0026] Preferably, the non-coaxial model of the gyro inclinometer is:

[0027]

[0028] Among them, G x , G y , Gz is the value of the sensor output after eliminating the error, θ, δ is the dihedral angle,

[0029] A x3 , A y3 , A z3 The value of the sensor output after eliminating the orthogonality error;

[0030] according to have:

[0031]

[0032]

[0033] The simplified model is:

[0034]

[0035] Preferably, the comprehensive calibration correction model is:

[0036]

[0037] Simplified to:

[0038]

[0039] In a second aspect, the present application discloses a gyro inclinometer that adopts the above-mentioned gyro inclinometer calibration and correction method, including: a gyro inclinometer body, an acceleration sensor and a gyro sensor mounted on the gyro inclinometer body, wherein the sensitive axis of the acceleration sensor and the sensitive axis of the gyro sensor are coaxial with the gyro inclinometer.

[0040] By adopting the above technical solution, the accelerometer can detect the acceleration applied to an object, thereby determining whether the object is in a stable state; the gyroscope sensor can detect the rotation speed and direction of the object, thereby determining the object's posture. The sensitive axis of the accelerometer and the sensitive axis of the gyroscope sensor are coaxial with the gyro inclinometer, which can provide more accurate and stable data when detecting the tilt and posture changes of the object, reduce measurement errors, and improve measurement accuracy.

[0041] In a third aspect, the present application discloses a terminal device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor loads and executes the computer program, the above-mentioned gyro inclinometer calibration and correction method is adopted.

[0042] By adopting the above technical solution, a computer program is generated by the above gyro inclinometer calibration and correction method and stored in a memory to be loaded and executed by a processor. Thus, a terminal device is manufactured based on the memory and the processor, which is convenient for users to use.

[0043] In a fourth aspect, the present application discloses a computer-readable storage medium, which adopts the following technical solution: a computer-readable storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the above-mentioned gyro inclinometer calibration and correction method is adopted.

[0044] By adopting the above technical solution, a computer program is generated by the above gyro inclinometer calibration and correction method, and is stored in a computer-readable storage medium so as to be loaded and executed by a processor. The computer-readable storage medium facilitates the readability and storage of the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural diagram of the skeleton in the gyro inclinometer of the present application.

[0046] Figure 2 This is a method flow chart of steps S1-S6 of a gyro inclinometer calibration and correction method of the present application.

[0047] Figure 3 It is a schematic diagram of the relationship between orthogonality error vectors.

[0048] Figure 4 This is an example diagram of misaligned coordinate systems.

[0049] Description of the accompanying drawings: 1. frame; 2. mounting groove. DETAILED DESCRIPTION

[0050] The following is combined with Figure 1-4 This application is described in further detail.

[0051] The present invention discloses a calibration and correction method for a gyro inclinometer, which can be used for calibration and correction of a gyro inclinometer. The gyro inclinometer includes: a gyro inclinometer body, an acceleration sensor, and a gyro sensor. The number of the acceleration sensor and the gyro sensor is set to three.

[0052] Reference Figure 1 The gyro inclinometer includes a housing and a frame 1. The housing is a cylindrical hollow tubular structure, and the frame 1 is cylindrical. The frame 1 is provided with multiple mounting slots 2 for mounting an accelerometer and a gyro sensor. The sensitive axes of the accelerometer and the gyro sensor are coaxial with the gyro inclinometer frame 1. The shape and position of the mounting slots 2 can be set based on the shape and installation position of the accelerometer and gyro sensor to achieve coaxiality.

[0053] In this application, an acceleration sensor with a noise error less than 0.1 mg and a gyro sensor with a zero bias stability less than 0.01° / h can be selected.

[0054] Reference Figure 2 , the calibration correction method of the gyro inclinometer includes:

[0055] S1: Establish a gyro inclinometer zero bias calibration model. In the following models, the models of the accelerometer and the gyro sensor are similar. Taking the accelerometer model as an example, no separate distinction is made. The gyro inclinometer zero bias calibration model is:

[0056] Among them, A x , A y , A z is the output value of the accelerometer, a x , a y , a z is the zero bias value of the corresponding accelerometer, A x1 , A y1 , A z1 The output value of the accelerometer is the value after eliminating the zero bias;

[0057] S2: Establish a gyro inclinometer calibration model.

[0058] The calibration model of the gyro inclinometer is:

[0059] Among them, A x2 , A y2 , A z2 k is the value of the accelerometer output after eliminating the sensitivity error, x , k y , k z is the sensitivity compensation factor of the accelerometer, A x1 , A y1 , A z1 The accelerometer outputs the value after eliminating the zero bias error;

[0060] S3: Establish the orthogonal model of the gyro inclinometer, according to Figure 3 As shown, the orthogonal model of the gyro inclinometer is established as:

[0061]

[0062] Assume that the three coordinate axes of the instrument are OX, OY and OZ respectively. The three coordinate axes of the ideal orthogonal instrument are OX1, OY1 and OZ1. The OZ1 axis coincides with the OZ axis, and the coordinate plane Y1OZ1 is coplanar with YOZ.

[0063] Assume that the angle between OY and OY1 is β, OY1 and OZ1 rotate around the coordinate origin O, and counterclockwise rotation is positive; the angle between the projection of OX on the Z1OX1 plane and the OX1 axis is a, and counterclockwise rotation of OX toward OZ1 is positive; the angle between OX and the Z1OX1 plane is Y, and counterclockwise rotation toward the OX axis is positive;

[0064] Among them, A x3 , A y3 , A z3 A is the value of the sensor output after eliminating the orthogonality error. x2 , A y2 , A z2 It is the value of the sensor output after eliminating the sensitivity error;

[0065] The process of orthogonal error compensation makes the angles α, β, and γ gradually decrease to 0. From α→0, β→0, and γ→0, we can get: sinα→α, sinβ→β, sinγ→γ,

[0066] cosα→1, cosβ→1, cosγ→1,

[0067] The orthogonality error compensation model is simplified as:

[0068]

[0069] S4: Establish different axis models of gyro inclinometer and perform sensor attitude calibration;

[0070] according to Figure 4 As described above, the gyro inclinometer non-coaxial model is established as follows:

[0071]

[0072] Among them, G x , G y , G z is the value of the sensor output after eliminating the above four errors, θ, δ is the dihedral angle; A x3 , A y3 , A z3 The value of the accelerometer output after eliminating the orthogonality error;

[0073] Since the sensor is installed in a posture that can ensure θ, δ are all small angles. During the calibration process, the three angles are continuously reduced until they are equal to zero to complete the error compensation.

[0074] according to have:

[0075]

[0076]

[0077] The simplified model is:

[0078]

[0079] S5: Based on the gyro inclinometer zero bias calibration model, the gyro inclinometer scale calibration model, the gyro inclinometer orthogonal model, and the gyro inclinometer different axis model, a comprehensive calibration correction model is established, which is:

[0080]

[0081] In order to simply express the parameters that are finally involved in the calculation, they can be organized as follows:

[0082]

[0083] S6: Based on the comprehensive calibration correction model and the calibration correction algorithm, the postures required for gyro inclinometer calibration are sequentially set, the sensor values ​​are recorded in each posture, the calibration and compensation parameters are calculated, and the gyro inclinometer is calibrated and corrected.

[0084] According to the calibration correction algorithm, the special postures required for the calibration of the gyro inclinometer are put into place in sequence, and the postures are as follows: (1) well inclination 0°, (2) well inclination 180°, (3) well inclination 90°, azimuth 0°, tool face 0°, (4) well inclination 90°, azimuth 0°, tool face 90°, (5) well inclination 90°, azimuth 0°, tool face 180°, (6) well inclination 90°, azimuth 0°, tool face 270°, (7) well inclination 90°, azimuth 90°, tool face 0°, (8) well inclination 90°, azimuth 90°, tool face 90°, (9) well inclination 90°, azimuth 90°, tool face 180°, (10) Well inclination 90°, azimuth 90°, tool face 270°, (11) Well inclination 90°, azimuth 180°, tool face 0°, (12) Well inclination 90°, azimuth 180°, tool face 90°, (13) Well inclination 90°, azimuth 180°, tool face 180°, (14) Well inclination 90°, azimuth 180°, tool face 270°, (15) Well inclination 90°, azimuth 270°, tool face 0°, (16) Well inclination 90°, azimuth 270°, tool face 90°, (17) Well inclination 90°, azimuth 270°, tool face 180°, ( 18) Well inclination 90°, azimuth 270°, tool face 270°, (19) Well inclination 45°, azimuth 0°, tool face 0°, (20) Well inclination 45°, azimuth 0°, tool face 90°, (21) Well inclination 45°, azimuth 0°, tool face 180°, (22) Well inclination 45°, azimuth 0°, tool face 270°, (23) Well inclination 45°, azimuth 90°, tool face 0°, (24) Well inclination 45°, azimuth 90°, tool face 90°, (25) Well inclination 45°, azimuth 90°, tool face 180°, (26) Well inclination 45°, azimuth 90°, tool face 270°, (27) Well inclination 45°, azimuth 180°, tool face 0°, (28) Well inclination 45°, azimuth 180°, tool face 90°, (29) Well inclination 45°, azimuth 180°, tool face 180°, (30) Well inclination 45°, azimuth 180°, tool face 270°, (31) Well inclination 45°, azimuth 270°, tool face 0°, (32) Well inclination 45°, azimuth 270°, tool face 90°, (33) Well inclination 45°, azimuth 270°, tool face 180°, (34) Well inclination 45°, azimuth 270°, tool face 270°.

[0085] The sensor voltage reading is recorded at each posture, and the calibration and compensation parameters of step S4 are calculated.

[0086] The zero bias of the accelerometer's X and Y axes is obtained through the (1st) and (2nd) postures, i.e., the X and Y zero values ​​are the average of the two sensor readings. The zero bias of the accelerometer's Z axis is obtained through the (3rd) to (6th) postures, i.e., the Z zero value is the average of the above Z sensor readings. The zero bias of the gyro sensor's Z axis is obtained through the (7th) to (10th) postures, i.e., the Z zero value is the average of the above Z sensor readings. The zero bias of the gyro sensor's X axis is obtained through the (12th) and (14th) postures, i.e., the average of the two postures. The zero bias of the gyro sensor's Y axis is obtained through the (11th) and (13th) postures, i.e., the average of the two postures.

[0087] The Z-axis scale factor of the accelerometer is obtained from the (1st) and (2nd) postures, and the difference between the Z-axis readings of the two postures is the scale; the X-axis scale factor of the accelerometer is obtained from the (3rd) and (5th) postures, and the difference between the X-axis readings of the two postures is the scale; the Y-axis scale factor of the accelerometer is obtained from the (4th) and (6th) postures, and the difference between the X-axis readings of the two postures is the scale;

[0088] The calibration factor of the gyro sensor is obtained in exactly the same way as that of the accelerometer, but a coefficient correction is required. This coefficient is sinL, where L is the local latitude of the earth.

[0089] Based on the orthogonal model of the gyro inclinometer, orthogonal correction is performed:

[0090] The data collected by the three axes of the instrument are recorded as X, Y and Z. The results collected by the three coordinate axes of the ideal orthogonal instrument are X1, Y1 and Z1. According to the above model,

[0091]

[0092] Conclusion

[0093] X l =X+YY-aZ;

[0094] Y1=Y-βZ;

[0095] Z1=Z;

[0096] Select N kinds of postures to transform, record the three-axis data collected by the instrument, gravity plus table data or gyro data, as X i , Y i , Z i , Ii=1,2,…,N。

[0097] remember

[0098] by As a reference value,

[0099] Denote the vector sum after orthogonal correction

[0100]

[0101] Establishing the objective function The above objective function Q(α, β, γ) is minimized by the optimization method, so as to obtain α, β, and γ.

[0102] Among them, the most optimized method can be solved by using the lsqnonlin function (nonlinear least squares) in matlab (matrix&laboratory, matrix factory).

[0103] Based on the gyro inclinometer's different axis model, different axis correction is performed;

[0104]

[0105] Right now,

[0106] Select N kinds of postures to transform, and record the accelerometer data collected together as g x , g y , g z , gyro sensor collects data W x , W y , W z The above three components correspond to X′Y′Z′ in the model. For the angle of the accelerometer, the well inclination is used as the optimization parameter for correction, and the gyro sensor uses the orientation as the optimization parameter for correction. That is, the correction parameter is λ, and the expected parameter each time is recorded as λ i , i=1,2,…,N。

[0107] Establish the objective function:

[0108]

[0109] By optimizing the above objective function Minimum, thus finding θ, δ, where the optimization problem can be solved using the fminsearch function (unconstrained multidimensional extreme value) in Matlab.

[0110] The implementation principle of a gyro inclinometer calibration and correction method according to an embodiment of the present application is as follows: orthogonality correction and misalignment correction are performed by calculating the data value of the sensor output after eliminating zero bias and the value of the sensor output after eliminating sensitivity error. The calibration and compensation parameters are calculated by solving a comprehensive calibration and correction model to calibrate and correct the gyro inclinometer. A high-precision calibration and correction algorithm is then used to implement a high-precision gyro inclinometer, perform high-precision trajectory measurement, reduce the zero bias error and installation error of the gyro inclinometer, and improve the measurement accuracy and efficiency of the gyro inclinometer.

[0111] An embodiment of the present application further discloses a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor adopts the gyro inclinometer calibration correction method of the above embodiment when executing the computer program.

[0112] Among them, the terminal device can be a computer device such as a desktop computer, a laptop computer or a cloud server, and the terminal device includes but is not limited to a processor and a memory. For example, the terminal device can also include input and output devices, network access devices and buses, etc.

[0113] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSP), 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. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc., and this application does not impose any restrictions on this.

[0114] Among them, the memory can be an internal storage unit of the terminal device, such as the hard disk or memory of the terminal device, or it can be an external storage device of the terminal device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD) or flash memory card (FC) equipped on the terminal device, etc., and the memory can also be a combination of the internal storage unit and the external storage device of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or is to be output. This application does not impose any restrictions on this.

[0115] Among them, through this terminal device, the gyro inclinometer calibration and correction method of the above embodiment is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device to facilitate user use.

[0116] An embodiment of the present application further discloses a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the gyro inclinometer calibration and correction method of the above embodiment is adopted.

[0117] Among them, the computer program can be stored in a computer-readable medium, the computer program includes computer program code, the computer program code can be in the form of source code, object code, executable file or certain middleware, etc. The computer-readable medium includes any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that computer-readable medium includes but is not limited to the above-mentioned components.

[0118] The gyro inclinometer calibration and correction method of the above embodiment is stored in the computer-readable storage medium through the computer-readable storage medium, and is loaded and executed on the processor to facilitate the storage and application of the gyro inclinometer calibration and correction method.

[0119] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A gyro inclinometer calibration and correction method for calibrating and correcting a gyro inclinometer, wherein the gyro inclinometer is equipped with a sensor, characterized in that: The following steps are involved: Establish a gyro inclinometer zero bias calibration model and calculate the sensor output value after eliminating the zero bias; Establish a gyro inclinometer calibration model and calculate the sensor output value after eliminating sensitivity errors; Establish the orthogonal model of gyro inclinometer and perform orthogonal error compensation; Establish different axis models of gyro inclinometer and perform sensor attitude calibration; Establishing a comprehensive calibration correction model based on the gyro inclinometer zero bias calibration model, the gyro inclinometer scale calibration model, the gyro inclinometer orthogonal model and the gyro inclinometer non-coaxial model; Based on the comprehensive calibration and correction model and the calibration and correction algorithm, the postures required for gyro inclinometer calibration are sequentially assumed, sensor values ​​under multiple postures are obtained, calibration and compensation parameters are calculated, and calibration and correction of the gyro inclinometer are performed; The comprehensive calibration correction model is: ； Simplified to: ； in, , , is the output value of the sensor, , , is the zero bias value of the corresponding sensor, , , is the sensitivity compensation factor of the sensor, is the value of the sensor output after eliminating the error, is the dihedral angle, Assume that the three coordinate axes of the instrument are OX, OY and OZ respectively. The three coordinate axes of the instrument that are ideally orthogonal are 、 and , The axis coincides with the OZ axis, and the coordinate plane On the same plane as YOZ, Assume OY and The angle between the axes is , and Rotation around the coordinate origin O, counterclockwise rotation is positive; OX Projection on the plane and The angle between the axes is , OX The direction of rotation is counterclockwise; OX and The angle between the planes is , counterclockwise rotation toward the OX axis is positive.

2. The gyro inclinometer calibration correction method according to claim 1, characterized in that: The gyro inclinometer zero bias calibration model is: ,in, , , The sensor output value is the value after eliminating the zero bias.

3. The gyro inclinometer calibration correction method according to claim 2, characterized in that: The gyro inclinometer calibration model is: ,in, , , This is the value of the sensor output after eliminating the sensitivity error.

4. The gyro inclinometer calibration correction method according to claim 3, characterized in that: The orthogonal model of the gyro inclinometer is, ； in, , , This is the value of the sensor output after eliminating the orthogonality error.

5. The gyro inclinometer calibration correction method according to claim 4, characterized in that: The process of establishing the gyro inclinometer orthogonal model and performing orthogonal error compensation further includes simplifying the gyro inclinometer orthogonal model, including the following steps: The process of orthogonal error compensation makes the angles α, β, and γ gradually decrease to 0. From α→0, β→0, γ→0, we can get: sinα→α, sinβ→β, sinγ→γ, cosα→1, cosβ→1, cosγ→1, The orthogonality error compensation model is simplified as: 。 6. The gyro inclinometer calibration correction method according to claim 5, characterized in that: The non-coaxial model of the gyro inclinometer is, ； according to ,have: ； The simplified model is: 。 7. A gyro inclinometer, characterized in that: The gyro inclinometer calibration and correction method according to any one of claims 1 to 6 comprises: a gyro inclinometer body, an acceleration sensor and a gyro sensor mounted on the gyro inclinometer body, wherein the sensitive axis of the acceleration sensor and the sensitive axis of the gyro sensor are coaxial with the gyro inclinometer.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor loads and executes the computer program, the gyro inclinometer calibration and correction method according to any one of claims 1 to 6 is adopted.

9. A computer-readable storage medium storing a computer program, wherein: When the computer program is loaded and executed by a processor, the gyro inclinometer calibration and correction method according to any one of claims 1 to 6 is adopted.

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