Calibration method, device and equipment of inertial navigation equipment and storage medium

Abstract

This application provides a calibration method, apparatus, device, and storage medium for inertial navigation equipment (INS). The method is applied to an INS that includes a measurement unit component. The method includes: in response to receiving a calibration command triggered by a user, acquiring a set of staging position information; the staging position information set includes multiple staging position information items; controlling the measurement unit component to sequentially rotate to the staging positions corresponding to the multiple staging position information items to obtain the position and velocity errors corresponding to the multiple staging positions; and calculating the error parameter set of the INS based on the multiple position and velocity errors and a preset error algorithm to achieve calibration. In this application, the INS does not need to be disassembled and returned to the factory during calibration, thus reducing the overall calibration cycle and simplifying the calibration operation. The calibration work in this application does not require extensive professional operation by personnel, so the calibration effect is less affected by personnel, ultimately improving the efficiency of the calibration work.

Description

Technical Field

[0001] This application relates to aviation technology, and more particularly to a calibration method, apparatus, device, and storage medium for an inertial navigation system. Background Technology

[0002] In the aviation field, the positioning accuracy of an aircraft is determined by its inertial navigation system (INS). To ensure positioning accuracy, the INS needs to be calibrated regularly to ensure that its positioning precision meets requirements.

[0003] In the existing technology, the inertial navigation equipment needs to be removed from the carrier and returned to the factory for calibration. During calibration, the inertial navigation equipment is placed on a three-axis precision turntable, and the error parameters are obtained based on the three-axis precision turntable, thereby achieving calibration.

[0004] However, existing technologies require disassembling and returning the inertial navigation equipment to the factory for calibration, resulting in a long calibration cycle, cumbersome operations, and the calibration effect being greatly affected by the operator's proficiency, leading to low efficiency in calibration work. Summary of the Invention

[0005] This application provides a calibration method, apparatus, device, and storage medium for inertial navigation equipment, which solves the problems of long calibration cycle, cumbersome operation, calibration effect greatly affected by personnel proficiency, and low efficiency of calibration work.

[0006] In a first aspect, this application provides a calibration method for an inertial navigation device, the method being applied to the inertial navigation device, the inertial navigation device including a measurement unit assembly, the method comprising:

[0007] In response to receiving a calibration command triggered by a user, the system acquires a set of orchestration position information; the set of orchestration position information includes multiple orchestration position information items.

[0008] The measurement unit component is controlled to rotate sequentially to the arrangement positions corresponding to the multiple arrangement position information, so as to obtain the position velocity error corresponding to the multiple arrangement positions;

[0009] The error parameter set of the inertial navigation device is calculated based on multiple position and velocity errors and a preset error algorithm to achieve calibration.

[0010] In one embodiment, the plurality of arrangement positions are arrangement positions with a rotational order; the plurality of arrangement positions includes eight arrangement positions; the error parameter set includes a first error parameter set and a second error parameter set;

[0011] The control of the measurement unit component to sequentially rotate to the arrangement positions corresponding to the plurality of arrangement position information, in order to obtain the position velocity error corresponding to the plurality of arrangement positions, includes:

[0012] The measurement unit assembly is controlled to rotate sequentially to each arrangement position, and at each arrangement position, it continuously performs measurements in a first preset direction according to a first measurement time, so as to obtain a first position velocity error at each arrangement position; the first preset direction is east, north, and sky.

[0013] After obtaining the first set of error parameters, the measurement unit component is controlled to rotate sequentially to the first three of the plurality of arrangement positions, and measurements are continuously performed in the second preset direction at the first three arrangement positions according to the second measurement time, so as to obtain the second position speed error at the first three arrangement positions; the second preset direction is east and north; the first measurement time is less than the second measurement time.

[0014] In one embodiment, the inertial navigation device includes an inner ring shaft and an outer ring shaft;

[0015] The control of the measurement unit assembly to rotate sequentially to each arranged position includes:

[0016] The measurement unit assembly is controlled to rotate sequentially from the initial arrangement position to each arrangement position according to the rotation sequence around the inner or outer ring axis.

[0017] In one approach, the step of calculating the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm to achieve calibration includes:

[0018] The first error parameter set of the inertial navigation device is calculated based on the velocity errors of each first position and a preset error algorithm to achieve calibration; the first error parameter set includes multiple first error parameters; the multiple first error parameters include multiple accelerometer zero bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometers and gyroscopes are mounted in the measurement unit assembly;

[0019] After obtaining the first set of error parameters, the second set of error parameters of the inertial navigation device is calculated based on multiple second position velocity errors and a preset error algorithm to achieve calibration; the second set of error parameters includes multiple gyroscope zero bias errors.

[0020] In one embodiment, the first position velocity error includes a first eastward velocity error, a first northward velocity error, and a first celestial velocity error;

[0021] The calibration process involves calculating a first set of error parameters for the inertial navigation system based on the velocity errors at each first position and a preset error algorithm, including:

[0022] For each first position velocity error, calculate the rate of change of the velocity error at each first position; the rate of change of the velocity error at each first position includes the rate of change of the first eastward velocity error, the rate of change of the first northward velocity error, and the rate of change of the first celestial velocity error;

[0023] For each first error parameter, select at least one first position velocity error change rate corresponding to the first error parameter;

[0024] The at least one first position velocity error change rate is determined as at least one first target position velocity error change rate;

[0025] The rate of change of the velocity error of the at least one first target position is input into a preset error algorithm, and the preset error algorithm is used to output the corresponding first error parameter to obtain a first error parameter set.

[0026] In one embodiment, the second position velocity error includes a second eastward velocity error and a second northward velocity error;

[0027] The calibration process involves calculating a second set of error parameters for the inertial navigation system based on multiple second position velocity errors and a preset error algorithm, including:

[0028] For each second position velocity error, calculate the rate of change of the second position velocity error; the rate of change of the second position velocity error includes the rate of change of the second eastward velocity error and the rate of change of the second northward velocity error;

[0029] For each gyroscope's zero bias error, at least one second position velocity error change rate is selected to calculate the gyroscope error parameter corresponding to the gyroscope error parameter.

[0030] The rate of change of the at least one second position velocity error is determined as the rate of change of the at least one second target position velocity error.

[0031] The rate of change of the position velocity error of the at least one second target is input into a preset error algorithm, and the corresponding gyroscope zero bias error is output using the preset error algorithm to obtain the second error parameter set.

[0032] In one approach, the step of using the preset error algorithm to output the corresponding first error parameter to obtain a first error parameter set includes:

[0033] For each first error parameter, the preset error algorithm is used to obtain a first matrix formula; the first matrix formula includes multiple formulas.

[0034] From each of the first matrix formulas, a relevant sub-formula for calculating the first error parameter is determined; the relevant sub-formula for the first error parameter includes multiple formulas.

[0035] The first error parameter of the inertial navigation device is calculated based on the relevant sub-formula of the first error parameter to obtain the first error parameter set.

[0036] In one approach, the step of using the preset error algorithm to output the corresponding gyroscope zero-bias error to obtain a second error parameter set includes:

[0037] For the zero-bias error of each gyroscope, the preset error algorithm is used to obtain the second matrix formula; the second matrix formula includes multiple formulas.

[0038] From each of the second matrix formulas, relevant sub-formulas for calculating the gyroscope's zero bias error are determined; the relevant sub-formulas for the gyroscope's zero bias error include multiple formulas.

[0039] The gyroscope zero bias error of the inertial navigation device is calculated based on the correlation formula of the gyroscope zero bias error to obtain the second error parameter set.

[0040] Secondly, this application provides a calibration device for an inertial navigation system (INS), the device being located within the INS, which includes a measurement unit assembly, the device comprising:

[0041] The acquisition module is used to acquire a set of orchestration position information in response to receiving a calibration command triggered by the user; the set of orchestration position information includes multiple orchestration position information.

[0042] The control module is used to control the measurement unit component to rotate sequentially to the arrangement positions corresponding to the multiple arrangement position information, so as to obtain the position velocity error corresponding to the multiple arrangement positions;

[0043] The calculation module is used to calculate the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm, so as to achieve calibration.

[0044] Thirdly, this application provides an inertial navigation device, including: a processor, and a memory communicatively connected to the processor;

[0045] The memory stores computer-executed instructions;

[0046] The processor executes computer execution instructions stored in the memory to implement the method described in the first aspect or any of the above-described methods.

[0047] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect or any of the above embodiments.

[0048] This application provides a calibration method, apparatus, device, and storage medium for an inertial navigation system (INS). In this application, the INS receives a calibration command triggered by a user, then acquires a set of staging position information, which includes multiple staging position information. The INS then controls the measurement unit components included in this set to sequentially rotate to the staging positions corresponding to the staging position information, thereby obtaining the position and velocity errors corresponding to the multiple staging positions. Then, based on the multiple position and velocity errors and a preset error algorithm, the INS' error parameter set is calculated, thus enabling the INS to be calibrated. In this application, the measurement unit components can be directly controlled to rotate to the staging positions, allowing for the calculation of the error parameter set. Therefore, this application eliminates the need to disassemble and return the INS to the factory during calibration, reducing the overall calibration cycle and simplifying the calibration operation. Furthermore, the calibration work in this application does not require extensive professional operation by personnel, so the calibration effect is less affected by personnel, ultimately improving the efficiency of the calibration work. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 An application scenario diagram of the calibration method for inertial navigation equipment provided in this application;

[0051] Figure 2 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 1;

[0052] Figure 3 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 2;

[0053] Figure 4 This is a schematic diagram of the structure of an inertial navigation device provided in Embodiment 3;

[0054] Figure 5 This is a schematic diagram of a programming position provided in Embodiment 3;

[0055] Figure 6 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 4;

[0056] Figure 7 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 5;

[0057] Figure 8 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment Six;

[0058] Figure 9This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 7;

[0059] Figure 10 This is a schematic diagram of a calibration method for an inertial navigation device provided in Embodiment 8;

[0060] Figure 11 This is a schematic diagram of the calibration device structure for an inertial navigation system provided in Embodiment 9;

[0061] Figure 12 This is a schematic diagram of an inertial navigation device provided in Embodiment 10.

[0062] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0063] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0064] In the existing technology, the inertial navigation equipment needs to be removed from the carrier and returned to the factory for calibration. During calibration, the inertial navigation equipment is placed on a three-axis precision turntable, and the error parameters are obtained based on the three-axis precision turntable, thereby achieving calibration.

[0065] However, existing technologies require disassembling and returning the inertial navigation equipment to the factory for calibration, resulting in a long calibration cycle, cumbersome operations, and the calibration effect being greatly affected by the operator's proficiency, leading to low efficiency in calibration work.

[0066] It should be noted that in existing technologies, inertial navigation equipment requires disassembly and return to the factory for calibration, which prolongs the entire calibration cycle. Furthermore, the complexity of disassembly and return operations is increased, requiring a significant amount of specialized work from personnel. Therefore, the skill level of the personnel has a substantial impact on the calibration results, leading to lower calibration efficiency. It should also be noted that existing technologies rely on three-axis precision rotary table equipment to obtain error parameters, thus exhibiting dependence on external equipment.

[0067] To address the shortcomings of existing technologies, the inventors of this solution have creatively designed a new approach. This solution provides a calibration method for inertial navigation systems (INS). To solve the problems of long calibration cycles, cumbersome operations, significant dependence on operator skill levels, and low efficiency, this application provides a method where the INS receives a user-triggered calibration command to acquire a set of staging position information. Then, the measurement unit component within the INS is controlled to sequentially rotate to the staging positions corresponding to a number of staging positions, thereby obtaining the position and velocity errors corresponding to multiple staging positions. Furthermore, based on these multiple position and velocity errors and a preset error algorithm, the error parameter set of the INS is calculated, thus achieving the calibration of the INS. This application uses the measurement unit component included in the INS to obtain the position and velocity errors corresponding to multiple staging positions, thereby achieving calibration. Therefore, this application eliminates the need to disassemble and return the INS to the factory for calibration, reducing the complexity of the calibration operation and shortening the calibration cycle. Furthermore, the calibration work in this application does not rely on personnel; the inertial navigation equipment only needs to control the rotation of the measurement unit components to complete the calibration. Therefore, compared with the prior art, the calibration effect of this application does not depend on the skill level of the personnel, and thus the calibration effect is less affected by the skill level of the personnel. Based on the above-mentioned progress, the efficiency of the calibration work can be improved.

[0068] The following describes the application scenarios of the calibration method, apparatus, equipment, and storage medium for inertial navigation devices provided in this application.

[0069] Figure 1 This is an application scenario diagram of the calibration method for inertial navigation equipment provided in this application. (Example:) Figure 1 As shown in the diagram, the application scenario includes an inertial navigation device 101.

[0070] The inertial navigation device 101 includes a measurement unit component.

[0071] Specifically, in response to receiving a calibration command triggered by the user, the inertial navigation device 101 acquires a set of orchestration position information. This set of orchestration position information includes multiple orchestration position information items.

[0072] Furthermore, the inertial navigation device 101 controls the measurement unit component to rotate sequentially to the arrangement positions corresponding to multiple arrangement position information, thereby obtaining the position and velocity errors corresponding to the multiple arrangement positions.

[0073] Furthermore, the inertial navigation device 101 calculates the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm to achieve calibration.

[0074] This application provides a calibration method for inertial navigation equipment, which aims to solve the above-mentioned technical problems in the prior art.

[0075] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0076] Example 1

[0077] The execution subject of Embodiments 1 to 9 of this application is a calibration device for an inertial navigation system (hereinafter referred to as the calibration device). The calibration device is located in the inertial navigation system, which includes a measurement unit component.

[0078] Figure 2 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 1. Figure 2 As shown, the specific steps are as follows.

[0079] S201, in response to receiving a calibration command triggered by the user, obtain the orchestration position information set; the orchestration position information set includes multiple orchestration position information.

[0080] Inertial navigation equipment refers to a navigation device used in the air, on the ground, and underwater.

[0081] Among them, calibration command refers to the command that instructs the inertial navigation equipment to perform calibration.

[0082] Among them, the arrangement position information set refers to a collection that includes multiple arrangement position information.

[0083] In one approach, the user can directly trigger calibration commands based on the inertial navigation device, thereby receiving the calibration commands and allowing the inertial navigation device to obtain the set of orchestrated position information locally.

[0084] It should be noted that the above-mentioned arrangement position information set is pre-stored locally on the inertial navigation device.

[0085] In one approach, the user terminal can communicate with the inertial navigation device. The user can trigger calibration commands based on the user terminal, and then send the calibration commands to the inertial navigation device based on the user terminal, so that the inertial navigation device can receive the calibration commands.

[0086] S202, the control measurement unit component rotates sequentially to the arrangement positions corresponding to multiple arrangement position information, so as to obtain the position speed error corresponding to the multiple arrangement positions.

[0087] Among them, the Inertial Measurement Unit (IMU) is a sensing component mainly used to detect and measure acceleration and rotational motion.

[0088] Position velocity error refers to the velocity error at each staging position. It should be noted that the position velocity error at each staging position includes the position velocity error at at least one moment.

[0089] For example, suppose that the multiple arrangement position information includes eight arrangement positions, namely the first arrangement position, the second arrangement position, and so on up to the eighth arrangement position. Thus, the inertial navigation equipment controls the measurement unit component to be in the eight arrangement positions in sequence, thereby obtaining the position and velocity error corresponding to the eight arrangement positions.

[0090] For example, the position velocity error corresponding to the first arrangement position can be obtained.

[0091] S203 calculates the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm to achieve calibration.

[0092] Among them, the preset error algorithm is an algorithm that is pre-built into the inertial navigation device to calculate the error parameter set.

[0093] The error parameter set refers to the collection of error parameters that need to be calibrated. The error parameter set includes multiple error parameters.

[0094] It should be noted that the error parameter set may include accelerometer error parameters and gyroscope error parameters. The accelerometer and gyroscope are mounted in the measurement unit assembly.

[0095] This embodiment provides a calibration method for an inertial navigation system (INS). In this application, the INS receives a calibration command triggered by a user, then acquires a set of staging position information, which includes multiple staging position information. The INS then controls the measurement unit components included in this set to sequentially rotate to the staging positions corresponding to the staging position information, thereby obtaining the position and velocity errors corresponding to the multiple staging positions. Next, based on the multiple position and velocity errors and a preset error algorithm, the INS' error parameter set is calculated, thus enabling the INS to be calibrated. In this application, the measurement unit components can be directly controlled to rotate to the staging positions, so the error parameter set can be calculated. Therefore, in this application, the INS does not need to be disassembled and returned to the factory for calibration, thus reducing the entire calibration cycle and simplifying the calibration operation. Furthermore, the calibration work in this application does not require extensive professional operation by personnel, so the calibration effect is less affected by personnel, ultimately improving the efficiency of the calibration work.

[0096] Example 2

[0097] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the multiple arrangement positions are arrangement positions with a rotation order; the multiple arrangement positions include eight arrangement positions; the error parameter set includes a first error parameter set and a second error parameter set.

[0098] It should be noted that the multiple arrangement positions in this embodiment include eight arrangement positions. The eight arrangement positions are arrangement positions with a rotation sequence.

[0099] It should be noted that in a prior art, the inertial navigation system (INS) involves numerous programming positions during calibration, resulting in a long calibration cycle. Furthermore, this long cycle leads to significant temperature variations in the INS, negatively impacting the calibration results. In this embodiment, the programming positions are reduced to eight, thus shortening the calibration cycle and minimizing temperature variations in the INS, thereby improving the calibration performance.

[0100] The first error parameter set includes multiple first error parameters; the multiple first error parameters include multiple accelerometer zero bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometer and gyroscope are mounted in the measurement unit assembly.

[0101] The second set of error parameters includes multiple gyroscope zero-bias errors.

[0102] This embodiment is an optional method for controlling the measurement unit component to rotate sequentially to multiple arrangement positions corresponding to the arrangement position information in order to obtain the position velocity error corresponding to the multiple arrangement positions.

[0103] Figure 3 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 2. Figure 3 As shown, the specific steps are as follows.

[0104] S301, the control measurement unit component rotates sequentially to each arrangement position, and continuously performs measurement in each arrangement position in the first preset direction according to the first measurement time, so as to obtain the first position speed error in each arrangement position; the first preset direction is east, north and sky.

[0105] The first measurement time refers to the measurement time of the measurement unit component at each programmed position when the first position velocity error is obtained. For example, the first measurement time can be 50 seconds, 60 seconds, or other measurement times that can obtain the first position velocity error.

[0106] The first preset directions are east, north, and celestial. It should be noted that these first preset directions are based on the navigation coordinate system. The navigation coordinate system refers to the local northeast-central celestial coordinate system, which can be OX. n Y n Z n (n-system). It should be noted that the inertial navigation equipment is located on the carrier, and the navigation coordinate system is based on the location of the inertial navigation equipment as point O, OX... n The axis points eastward, OY n The axis points north and OZ n The axis points upwards.

[0107] The first position velocity error refers to all position velocity errors used to calculate multiple first error parameters.

[0108] For example, the inertial navigation device controls the measurement unit assembly to rotate sequentially to eight arranged positions, and continuously measures in a first preset direction at the eight arranged positions for a first measurement time (50 seconds).

[0109] S302, after obtaining the first set of error parameters, the control measurement unit component is rotated sequentially to the first three of the multiple arrangement positions, and continuously measured in the second preset direction according to the second measurement time in the first three arrangement positions to obtain the second position speed error in the first three arrangement positions; the second preset direction is east and north; the first measurement time is less than the second measurement time.

[0110] The second measurement time refers to the measurement time of the measurement unit component at each programmed position when the second position velocity error is obtained. For example, the second measurement time can be 480 seconds, or other measurement times that can obtain the second position velocity error.

[0111] The second preset direction is east and north. It should be noted that the second preset direction is based on the navigation coordinate system.

[0112] The second position velocity error refers to all position velocity errors used to calculate the zero bias error of multiple gyroscopes.

[0113] It should be noted that after obtaining the first set of error parameters, the first set of error parameters is determined to be the accurate set of error parameters, so that the speed error is only affected by the second set of error parameters.

[0114] The first three arrangement positions are the first arrangement position, the second arrangement position, and the third arrangement position.

[0115] In this step, the inertial navigation equipment controls the measurement unit component to rotate sequentially to the first arrangement position, the second arrangement position, and the third arrangement position, and continuously performs measurements in the second preset direction at each arrangement position according to the second measurement time, thereby obtaining the second position velocity error.

[0116] This embodiment provides a calibration method for an inertial navigation system (INS). In this embodiment, multiple staging positions are arranged in a rotational order. The error parameter set includes a first error parameter set and a second error parameter set. The INS controls the measurement unit component to rotate sequentially to each staging position and continuously performs measurements in a first preset direction for a first measurement time, thereby obtaining a first position velocity error at each staging position. After obtaining the first error parameter set, the control measurement unit component sequentially rotates to the first three staging positions and continuously performs measurements in the second preset direction for a second measurement time at the first three staging positions, thereby obtaining a second position velocity error. This embodiment can obtain the first and second position velocity errors specifically based on each staging position. This embodiment includes eight staging positions, so obtaining the first and second position velocity errors depends only on these eight positions, reducing the complexity of the staging positions, thereby reducing the calibration cycle and further improving the calibration effect.

[0117] Example 3

[0118] The embodiments are further refinements of any of the above embodiments. In this embodiment, the inertial navigation device includes an inner ring shaft and an outer ring shaft.

[0119] Figure 4 This is a schematic diagram of an inertial navigation device provided in Embodiment 3. Figure 4 As shown, the inertial navigation device includes an inertial navigation housing 401, an outer ring frame 402, an inner ring shaft 403, an outer ring shaft 404, and a measurement unit assembly 405.

[0120] The carrier coordinate system is OX. b Y b Z b (b series), point O is the centroid of the carrier, OX b Axis, OY b Axis and OZ b The axes point to the right, front, and top of the carrier, respectively.

[0121] The coordinate system of the measurement unit component is OX. p Y p Z p (p series). At this time. Figure 4 In the initial state, the coordinate system of the measurement unit component and the coordinate system of the carrier are aligned.

[0122] This embodiment is an optional method for controlling the measurement unit components to rotate sequentially to each arranged position, as detailed below.

[0123] The control and measurement unit assembly rotates sequentially from the initial arrangement position to each arrangement position around the inner or outer ring axis according to the rotation sequence.

[0124] The initial arrangement position refers to the initial position of the measurement unit component.

[0125] Figure 5 This is a schematic diagram of an arrangement position provided in Embodiment 3. Figure 5 As shown, this includes the initial arrangement position and eight arrangement positions.

[0126] The initial arrangement position is northeast (or celestial). It should be noted that at the initial arrangement position (i.e., in the initial state), the measurement unit component is stationary and placed on a horizontal plane, and its coordinate system coincides with the carrier coordinate system. It should also be noted that as the measurement unit component rotates sequentially around its inner or outer ring axis from the initial arrangement position to each subsequent arrangement position, its coordinate system will rotate.

[0127] The first position is the Northwest Heaven position, the second position is the North Heaven East position, the third position is the Earth North East position, the fourth position is the Northwest Earth position, the fifth position is the Heaven North West position, the sixth position is the South Heaven West position, the seventh position is the South East Heaven position, and the eighth position is the South Earth East position.

[0128] It should be noted that the eight arrangement positions are based on the coordinate system of the measurement unit component.

[0129] In this step, such as Figure 5 As shown, the control measurement unit assembly rotates sequentially from the initial arrangement position to each of the eight arrangement positions.

[0130] Specifically, the measurement unit assembly rotates 90 degrees around the inner ring axis from the initial arrangement position to the first arrangement position. Then, it is controlled to rotate 90 degrees around the outer ring axis from the first arrangement position to the second arrangement position. The measurement unit assembly is then controlled to rotate 90 degrees around the inner ring axis from the second arrangement position to the third arrangement position. From the third arrangement position, it is controlled to rotate 90 degrees around the outer ring axis to the fourth arrangement position, and from the fourth arrangement position, it is controlled to rotate 90 degrees around the outer ring axis to the fifth arrangement position. From the fifth arrangement position, it is controlled to rotate 90 degrees around the inner ring axis to the sixth arrangement position, and from the sixth arrangement position, it is controlled to rotate 90 degrees around the outer ring axis to the seventh arrangement position. Furthermore, from the seventh arrangement position, it is controlled to rotate 90 degrees around the outer ring axis to the eighth arrangement position.

[0131] Example 4

[0132] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method for calibration, which calculates the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm.

[0133] Figure 6 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 4. Figure 6 As shown, the specific steps are as follows.

[0134] S601, the first error parameter set of the inertial navigation device is calculated based on the velocity errors of each first position and the preset error algorithm to achieve calibration; the first error parameter set includes multiple first error parameters; the multiple first error parameters include multiple accelerometer zero bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometers and gyroscopes are mounted in the measurement unit assembly.

[0135] The first error parameter set includes multiple first error parameters. It should be noted that the measurement unit assembly includes three accelerometers (x-accelerometer, y-accelerometer, and z-accelerometer) and three gyroscopes (x-gyroscope, y-gyroscope, and z-gyroscope). Therefore, the zero-bias errors of the multiple accelerometers are δ▽x (x-accelerometer zero-bias error), δ▽y (y-accelerometer zero-bias error), and δ▽z (z-accelerometer zero-bias error). The multiple accelerometer scale coefficient errors include δKax (x-accelerometer scale coefficient error), δKay (y-accelerometer scale coefficient error), and δKaz (z-accelerometer scale coefficient error). The multiple accelerometer installation angle errors are δEaxz (x-accelerometer installation angle Eaxy error), δEaxy (x-accelerometer installation angle Eayx error), and δEayx (y-accelerometer installation angle Eayx error).

[0136] It should be noted that the accelerometer installation angle error also includes the y-accelerometer installation angle error Eayz δEayz, the z-accelerometer installation angle error Eazy δEazy, and the z-accelerometer installation angle error Eazx δEazx. In this application, δEayz, δEazy, and δEazx are all set to 0.

[0137] The errors of multiple gyroscope scale coefficients are δKgx (x-gyroscope scale coefficient error), δKgy (y-gyroscope scale coefficient error), and δKgz (z-gyroscope scale coefficient error). The errors of multiple gyroscope mounting angles include δEgxz (x-gyroscope mounting angle Egxz error), δEgxy (x-gyroscope mounting angle Egxy error), δEgyx (y-gyroscope mounting angle Egyx error), δEgyz (y-gyroscope mounting angle Egyz error), δEgzy (z-gyroscope mounting angle Egzy error), and δEgzx (z-gyroscope mounting angle Egzx error).

[0138] It should be noted that after calculating the first set of error parameters, compensation can be performed using each of the first error parameters according to the compensation algorithm to obtain the compensation parameters. For example, the compensation parameters that can be obtained include accelerometer zero bias, accelerometer scale coefficient, accelerometer mounting angle, gyroscope scale coefficient, and gyroscope mounting angle.

[0139] S602, after obtaining the first error parameter set, calculate the second error parameter set of the inertial navigation device based on multiple second position velocity errors and a preset error algorithm to achieve calibration; the second error parameter set includes multiple gyroscope zero bias errors.

[0140] Among them, the zero bias errors of multiple gyroscopes include the zero bias error of x gyroscope δεx, the zero bias error of y gyroscope δεy, and the zero bias error of z gyroscope δεz.

[0141] It should be noted that after obtaining the first set of error parameters, the second set of error parameters is calculated based on this.

[0142] This embodiment provides a calibration method for an inertial navigation device. In this embodiment, a first error parameter set of the inertial navigation device is calculated based on each first position velocity error and a preset error algorithm. Then, after obtaining the first error parameter set, a second error parameter set is calculated based on multiple second position velocity errors and a preset error algorithm, thereby completing the calibration in this embodiment.

[0143] Example 5

[0144] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the first position velocity error includes a first eastward velocity error, a first northward velocity error, and a first celestial velocity error.

[0145] In this application, the first position velocity error is measured according to the first preset direction, so the velocity error in different directions can be obtained. Therefore, the first position velocity error includes the first eastward velocity error, the first northward velocity error, and the first directional velocity error.

[0146] It should be noted that the first eastward velocity error includes the velocity error corresponding to at least one moment. If the first measurement time is 60 seconds, then the first eastward velocity error includes the first eastward velocity error at the first moment, the first eastward velocity error at the second moment, and the first eastward velocity error at the sixtieth moment.

[0147] This embodiment is an optional method for calibration, which calculates the first set of error parameters for the inertial navigation device based on the first position velocity errors and a preset error algorithm.

[0148] Figure 7 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 5. Figure 7 As shown, the specific steps are as follows.

[0149] S701, for each first position velocity error, calculate the rate of change of each first position velocity error; the rate of change of the first position velocity error includes the rate of change of the first eastward velocity error, the rate of change of the first northward velocity error, and the rate of change of the first directional velocity error.

[0150] The rate of change of velocity error at the first position refers to the rate of change of velocity error within the first measurement time.

[0151] For example, taking the first position velocity error corresponding to the first arrangement position as an example, the aforementioned first position velocity error includes the position velocity error corresponding to at least one moment within the first measurement time. It should be noted that the first measurement time includes at least one moment.

[0152] Furthermore, assuming the first measurement time is 60 seconds, the above-mentioned first position velocity error includes the first moment of arrangement position error, the second moment of arrangement position error, and so on up to the sixtieth moment of arrangement position error. Then, the rate of change of the above-mentioned first position velocity error at the first arrangement position is calculated using formula (1).

[0153]

[0154] in, Let m be the rate of change of the first position velocity error at each staging position, where m is the code of the staging position; if it is the first staging position, then m = 1. T1 refers to the first measurement time. This refers to the arrangement position error at time T1 (i.e., the end of measurement) at the m arrangement position, where, It refers to the arrangement position error at the first moment (i.e., the start of measurement) at the arrangement position m, where n refers to the navigation coordinate system.

[0155] Furthermore, the rate of change of the first position velocity error at the aforementioned first arrangement position. It should be noted that since the first position velocity error includes the first eastward velocity error, the first northward velocity error and the first celestial velocity error, according to equation (1), the first eastward velocity error in the first position velocity error at the first arrangement position can be substituted into equation (1) to obtain the rate of change of the first eastward velocity error at the first arrangement position. Similarly, the rate of change of the first northward velocity error at the first arrangement position and the rate of change of the first celestial velocity error at the first arrangement position can be obtained.

[0156] It is understandable that the first position velocity error change rate at the first staging position includes the first eastward velocity error change rate at the first staging position, the first northward velocity error change rate at the first staging position, and the first celestial velocity error change rate at the first staging position.

[0157] Based on the above description of calculating the first position velocity error change rate corresponding to the first staging position, the same method and steps can be used to obtain the first position velocity error change rates corresponding to the other seven staging positions: the first position velocity error change rates at the second, third, fourth, fifth, sixth, seventh, and eighth staging positions. It can be understood that each first position velocity error change rate includes the first eastward velocity error change rate, the first northward velocity error change rate, and the first directional velocity error change rate.

[0158] S702, for each first error parameter, select at least one first position velocity error change rate corresponding to the first error parameter.

[0159] It should be noted that the inertial navigation system can have a pre-built table of first position velocity error change rates, which records at least one first position velocity error change rate required for calculating each first error parameter, as shown in Table 1.

[0160] Table 1: Rate of change of velocity error at first position.

[0161]

[0162] Table 1 continued:

[0163]

[0164] Table 1 continued:

[0165]

[0166] As shown in Table 1, at least one rate of change of first position velocity error corresponding to each first error parameter is listed here. For example, the zero bias error of the x-accelerometer is used as an example. Taking an example, we select the values ​​from Table 1 for calculating the zero bias error of the x-accelerometer. The corresponding first position velocity error change rate, namely the first position velocity error change rate at the third arrangement position, the first position velocity error change rate at the fourth arrangement position, and the first position velocity error change rate at the fifth arrangement position.

[0167] S703, at least one first position velocity error change rate is determined as at least one first target position velocity error change rate.

[0168] According to the description in S702, the first position velocity error change rate at the third arrangement position, the first position velocity error change rate at the fourth arrangement position, and the first position velocity error change rate at the fifth arrangement position are determined as the first target position velocity error change rate.

[0169] S704, at least one first target position velocity error change rate is input to a preset error algorithm, and the preset error algorithm is used to output the corresponding first error parameter to obtain a first error parameter set.

[0170] Furthermore, the rate of change of the three first target position velocity errors mentioned above is input into a preset error algorithm, thereby using the preset error algorithm to output the corresponding first error parameter (i.e., x-accelerometer zero bias error). ).

[0171] Based on the above calculation, the zero bias error of the x-accelerometer is calculated. The remaining first error parameters are calculated using the same method, thus obtaining the first error parameter set.

[0172] This embodiment provides a calibration method for an inertial navigation device. In this embodiment, for each first position velocity error, the rate of change of each first position velocity error can be calculated. The rate of change of the first position velocity error includes the rate of change of the first eastward velocity error, the rate of change of the first northward velocity error, and the rate of change of the first directional velocity error. Further, for each first error parameter, at least one rate of change of the first position velocity error corresponding to the first error parameter is selected and determined as at least one rate of change of the first target position velocity error, and then input into a preset error algorithm. The preset error algorithm is used to output the corresponding first error parameter. The first error parameter set can be obtained by following the same method.

[0173] Example 6

[0174] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the second position velocity error includes a second eastward velocity error and a second northward velocity error.

[0175] This embodiment is an optional method for calibration, which calculates the second error parameter set of the inertial navigation device based on multiple second position velocity errors and a preset error algorithm.

[0176] Figure 8 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment Six. Figure 8 As shown, the specific steps are as follows.

[0177] S801, calculate the rate of change of the second position velocity error for each second position velocity error; the rate of change of the second position velocity error includes the rate of change of the second eastward velocity error and the rate of change of the second northward velocity error.

[0178] The specific implementation method of this step is as described in S701, and will not be repeated here.

[0179] S802, for each gyroscope's zero bias error, select at least one second position velocity error change rate to calculate the gyroscope error parameter.

[0180] Table 2 is a pre-built table of second position velocity error change rates in the inertial navigation system. As shown in Table 2, the table of second position velocity error change rates records at least one second position velocity error change rate required for calculating each second error parameter.

[0181] Table 2: Rate of change of velocity error at second position.

[0182]

[0183] As shown in Table 2, taking the calculation of the zero bias error δεx of the x-gyroscope as an example, at least one second position velocity error change rate corresponding to the calculation of the gyroscope error parameter is determined from Table 2. These are the second position velocity error change rates at the first arrangement position and the second position velocity error change rates at the second arrangement position.

[0184] S803, at least one second position velocity error change rate is determined as at least one second target position velocity error change rate.

[0185] Furthermore, according to S801, the second position velocity error change rate at the first arrangement position and the second position velocity error change rate at the second arrangement position are determined as the second target position velocity error change rate.

[0186] S804, input at least one second target position velocity error change rate into a preset error algorithm, and use the preset error algorithm to output the corresponding gyroscope zero bias error to obtain a second error parameter set.

[0187] Furthermore, the rate of change of the second target position velocity error is input into the preset error algorithm to output the x-gyroscope zero bias error δεx. Then, the remaining second error parameters are obtained according to the same method steps, and thus the second error parameter set is obtained.

[0188] This embodiment provides a calibration method for an inertial navigation device. In this embodiment, the second position velocity error includes a second eastward velocity error and a second northward velocity error. The method calculates the rate of change of the second position velocity error for each second position velocity error, where the rate of change of the second position velocity error includes the rate of change of the second eastward velocity error and the rate of change of the second northward velocity error. For each gyroscope zero-bias error, at least one rate of change of the second position velocity error corresponding to the gyroscope error parameter is selected and determined as at least one second target position velocity error rate of change. Further, the at least one second target position velocity error rate of change is input into a preset error algorithm to obtain the corresponding gyroscope zero-bias error, thereby obtaining a second error parameter set.

[0189] Example 7

[0190] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method of using a preset error algorithm to output the corresponding first error parameter in order to obtain the first error parameter set.

[0191] Figure 9 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 7. Figure 9 As shown, the specific steps are as follows.

[0192] S901, for each first error parameter, a preset error algorithm is used to obtain a first matrix formula; the first matrix formula includes multiple formulas.

[0193] The preset error algorithm includes a position velocity error change rate difference algorithm, which can be expressed as shown in equation (2):

[0194]

[0195] in, The rate of change of position velocity error at the m1 arrangement position. f is the rate of change of position and velocity error at the m2 arrangement position. n The true value of the force ratio of the accelerometer in the n-system is given. Let δf be the transformation matrix. p Accelerometer specific force error in p-system Let f be the true error of the gyroscope's angular velocity in the p-frame, where f n , δf p ,as well as It can be obtained through measurement or directly embedded in the inertial navigation device.

[0196] It should be noted that, as well as The formula includes the velocity error change rate in three directions. The velocity error change rate in each direction is input into the position velocity error change rate difference algorithm to obtain the first matrix formula.

[0197] The following section calculates the zero bias error of the x-accelerometer. Taking this as an example, specifically, based on Table 1, the parameters used to calculate the zero bias error of the x-accelerometer are determined. At least one position velocity error change rate, namely the first position velocity error change rate at the third arrangement position, the first position velocity error change rate at the fourth arrangement position, and the first position velocity error change rate at the fifth arrangement position.

[0198] It should be noted that, according to equation (1), the first position velocity change rate at the third staging position is calculated as the first eastward velocity error change rate, the first northward velocity error change rate, and the first celestial velocity error change rate at the third staging position. These are then input into the position velocity error change rate difference algorithm to obtain two first matrix formulas, one of which is... Another first matrix formula is

[0199] It should be noted that, The rate of change of velocity error in the direction can be written in the following matrix form:

[0200]

[0201] in, The first eastward velocity error change rate at the m1 staging position. The first northbound velocity error variation rate at the m1 staging position. The first directional velocity error change rate at the m1 arrangement position.

[0202] Based on the above matrix form, where,

[0203]

[0204] in,

[0205]

[0206] It should be noted that each first matrix formula includes a left matrix and a right matrix, and both the left and right matrices contain three rows. Therefore, each first matrix formula includes three sub-formulas. Taking this example, we can obtain three sub-formulas, namely (3), (4), and (5):

[0207] (3)

[0208] (4)

[0209] (5)

[0210] Based on the matrix form described above, two first matrix formulas can be obtained. It should be noted that the right-hand side of the first matrix formula is derived based on the arrangement position and orientation of the measurement unit components.

[0211] S902, determine the relevant sub-formulas for calculating the first error parameter from each first matrix formula; the relevant sub-formulas for the first error parameter include multiple ones.

[0212] Based on the above example, a relevant sub-formula for calculating the first error parameter (i.e., x-accelerometer zero bias error) is determined from the two first matrix formulas. The relevant sub-formulas are equations (5) and (6), respectively:

[0213] (5)

[0214] (6)

[0215] S903, calculate the first error parameter of the inertial navigation device based on the correlation sub-formula of the first error parameter to obtain the first error parameter set.

[0216] Furthermore, by adding equations (5) and (6), we obtain... This leads to the zero bias error of the x-accelerometer. in, The first directional velocity error change rate at the fifth position in the sequence. The first directional velocity error change rate at the third arrangement position.

[0217] Furthermore, based on the above calculation of the x-accelerometer zero bias error... The same method and steps are used to calculate the remaining first error parameters.

[0218] This embodiment provides a calibration method for an inertial navigation device. In this embodiment, for each first error parameter, a preset error parameter algorithm is used to obtain a first matrix formula. Further, relevant sub-formulas for calculating the first error parameters are determined from it. Thus, based on the relevant sub-formulas of the first error parameters, the first error parameters corresponding to the inertial navigation device are calculated in a targeted manner. In this embodiment, the first error parameter set can be obtained according to the relevant sub-formulas of the first error parameters.

[0219] Example 8

[0220] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method of using a preset error algorithm to output the corresponding gyroscope zero bias error in order to obtain a second error parameter set.

[0221] Figure 10 This is a schematic flowchart of a calibration method for an inertial navigation device provided in Embodiment 8. Figure 10 As shown, the specific steps are as follows.

[0222] S1001, for the zero bias error of each gyroscope, a preset error algorithm is used to obtain the second matrix formula; the second matrix formula includes multiple formulas.

[0223] The preset error algorithm includes the gyroscope zero bias error rate difference algorithm, as shown in equation (7):

[0224] (7)

[0225] in, Let T2 be the rate of change of the second position velocity error at position m in the arrangement, and T2 be the second measurement time. If T2 is 480 seconds, then the second position velocity error at a certain arrangement position includes position velocity errors at 480 time points. The second eastward velocity error variation rate at the m-position is given. The rate of change of the second northward velocity error at the m-position is given. Let be the rate of change of the second directional velocity error at position m. It should be noted that formula (7) is a matrix formula that includes three sub-formulas.

[0226] The following explanation uses the calculation of the zero bias error δεx of the x-gyroscope as an example. Assuming the second measurement time T2 is 480 seconds, two second matrix formulas can be obtained, namely (8) and (9):

[0227] (8)

[0228] (9)

[0229] It should be noted that the right-hand matrix in equations (8) and (9) is obtained based on the arrangement position and orientation of the measurement unit component. Here, g refers to the local gravitational acceleration, and δT2 refers to the time between the two velocity error change rates.

[0230] Based on equations (8) and (9) above, two sub-formulas can be obtained from each second matrix formula. Among them, the two sub-formulas obtained from equation (8) are equations (10) and (11):

[0231] (10)

[0232] (11)

[0233] Among them, the two sub-formulas obtained from equation (9) are equations (12) and (13):

[0234] (12)

[0235] (13)

[0236] S1002, determine the relevant sub-formulas for calculating the gyroscope's zero bias error from each of the second matrix formulas; there are multiple relevant sub-formulas for the gyroscope's zero bias error.

[0237] Furthermore, based on the sub-formulas obtained from the second matrix formulas in S1001 above, the relevant sub-formulas for calculating the gyroscope zero bias error can be determined as equations (10) and (12). Further, by summing equations (10) and (12), we obtain... Then, the zero-bias error δεx of the x-gyroscope is calculated. The rate of change of the second eastward velocity error at the first arrangement position. This represents the rate of change of the second eastward velocity error at the second arrangement position.

[0238] S1003, calculate the gyroscope zero bias error of the inertial navigation device based on the correlation formula of the gyroscope zero bias error, so as to obtain the second error parameter set.

[0239] Following the same method and steps used to calculate the zero bias error δεx of the x-gyroscope, the remaining second error parameters can be calculated.

[0240] This embodiment provides a calibration method for an inertial navigation device. In this embodiment, for each gyroscope zero bias error, a preset error algorithm is used to obtain a second matrix formula. From each second matrix formula, relevant sub-formulas for calculating the gyroscope zero bias error are determined. Then, based on the relevant sub-formulas for the gyroscope zero bias error, the gyroscope zero bias error of the inertial navigation device is calculated in a targeted manner, thereby obtaining a second error parameter set.

[0241] Example 9

[0242] This embodiment is a device embodiment. Figure 11 This is a schematic diagram of a calibration device for an inertial navigation system provided in Embodiment 9. Figure 11 As shown, the calibration device 1100 of the inertial navigation system is located within the inertial navigation system, which includes a measurement unit assembly. The calibration device 1100 of the inertial navigation system includes:

[0243] The acquisition module 1101 is used to acquire the orchestration position information set in response to receiving a calibration command triggered by the user; the orchestration position information set includes multiple orchestration position information sets.

[0244] Control module 1102 is used to control the measurement unit component to rotate sequentially to the arrangement position corresponding to multiple arrangement position information, so as to obtain the position speed error corresponding to the multiple arrangement positions;

[0245] The calculation module 1103 is used to calculate the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm, so as to achieve calibration.

[0246] In one approach, the multiple arrangement positions are arrangement positions with a rotational order; the multiple arrangement positions include eight arrangement positions; the error parameter set includes a first error parameter set and a second error parameter set;

[0247] The control module 1102, when controlling the measurement unit component to sequentially rotate to multiple positions corresponding to the multiple arrangement position information, in order to obtain the position velocity error corresponding to the multiple arrangement positions, is specifically used for:

[0248] The control measurement unit component rotates sequentially to each arrangement position, and continuously performs measurements in each arrangement position in a first preset direction according to a first measurement time, so as to obtain the first position velocity error in each arrangement position; the first preset direction is east, north and sky.

[0249] After obtaining the first set of error parameters, the control measurement unit component rotates sequentially to the first three of the multiple arrangement positions, and continuously performs measurements in the second preset direction at the first three arrangement positions according to the second measurement time, so as to obtain the second position speed error at the first three arrangement positions; the second preset direction is east and north; the first measurement time is less than the second measurement time.

[0250] In one embodiment, the inertial navigation device includes an inner ring shaft and an outer ring shaft;

[0251] Control module 1102, when controlling the measurement unit components to rotate sequentially to their respective arrangement positions, is specifically used for:

[0252] The control and measurement unit assembly rotates sequentially from the initial arrangement position to each arrangement position around the inner or outer ring axis according to the rotation sequence.

[0253] In one approach, the calculation module 1103, when calculating the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm to achieve calibration, is specifically used for:

[0254] The first error parameter set of the inertial navigation device is calculated based on the velocity errors of each first position and a preset error algorithm to achieve calibration; the first error parameter set includes multiple first error parameters; the multiple first error parameters include multiple accelerometer zero bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometers and gyroscopes are mounted in the measurement unit assembly;

[0255] After obtaining the first set of error parameters, the second set of error parameters of the inertial navigation device is calculated based on multiple second position and velocity errors and a preset error algorithm to achieve calibration; the second set of error parameters includes multiple gyroscope zero bias errors.

[0256] In one embodiment, the first position velocity error includes a first eastward velocity error, a first northward velocity error, and a first celestial velocity error;

[0257] Calculation module 1103, based on the velocity errors at each first position and a preset error algorithm, calculates the first set of error parameters for the inertial navigation device to achieve calibration. Specifically, it is used for:

[0258] For each first position velocity error, calculate the rate of change of the first position velocity error; the rate of change of the first position velocity error includes the rate of change of the first eastward velocity error, the rate of change of the first northward velocity error, and the rate of change of the first celestial velocity error;

[0259] For each first error parameter, select at least one first position velocity error change rate corresponding to the first error parameter;

[0260] At least one first position velocity error change rate is determined as at least one first target position velocity error change rate;

[0261] The first target position velocity error change rate is input into a preset error algorithm, and the corresponding first error parameter is output by the preset error algorithm to obtain the first error parameter set.

[0262] In one embodiment, the second position velocity error includes a second eastward velocity error and a second northward velocity error;

[0263] Calculation module 1103, in order to achieve calibration, calculates the second error parameter set of the inertial navigation device based on multiple second position velocity errors and a preset error algorithm, specifically for:

[0264] For each second position velocity error, calculate the rate of change of the second position velocity error; the rate of change of the second position velocity error includes the rate of change of the second eastward velocity error and the rate of change of the second northward velocity error;

[0265] For each gyroscope's zero bias error, at least one second position velocity error change rate is selected to calculate the gyroscope error parameters.

[0266] At least one second position velocity error change rate is determined as at least one second target position velocity error change rate;

[0267] The rate of change of at least one second target position velocity error is input into a preset error algorithm, and the corresponding gyroscope zero bias error is output using the preset error algorithm to obtain the second error parameter set.

[0268] In one embodiment, when the calculation module 1103 outputs the corresponding first error parameter using a preset error algorithm to obtain a first error parameter set, it is specifically used for:

[0269] For each first error parameter, a preset error algorithm is used to obtain the first matrix formula; the first matrix formula includes multiple formulas.

[0270] From each of the first matrix formulas, relevant sub-formulas for calculating the first error parameter are determined; the relevant sub-formulas for the first error parameter include multiple formulas.

[0271] The first error parameter of the inertial navigation device is calculated based on the correlation formula of the first error parameter to obtain the first error parameter set.

[0272] In one embodiment, the calculation module 1103, when using a preset error algorithm to output the corresponding gyroscope zero-bias error to obtain a second error parameter set, is specifically used for:

[0273] For the zero bias error of each gyroscope, a preset error algorithm is used to obtain the second matrix formula; the second matrix formula includes multiple formulas.

[0274] From each of the second matrix formulas, relevant sub-formulas for calculating the gyroscope's zero bias error are determined; there are multiple relevant sub-formulas for the gyroscope's zero bias error.

[0275] The gyroscope zero bias error of the inertial navigation system is calculated based on the correlation formula of the gyroscope zero bias error to obtain the second error parameter set.

[0276] Example 10

[0277] Figure 12This is a schematic diagram of an inertial navigation device structure provided in Embodiment 10. Figure 12 As shown, the inertial navigation device 1200 may include a processor 1201 and a memory 1202 communicatively connected to the processor 1201. The memory 1202 stores computer-executable instructions; the processor 1201 executes the computer-executable instructions stored in the memory 1202 to implement any one of the method embodiments in Embodiments 1 to 8 above. The specific implementation methods and technical effects are similar and will not be repeated here.

[0278] In this embodiment, the memory 1202 and the processor 1201 are connected via a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 12 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0279] Example 11

[0280] This application provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, these instructions are used to implement any one of the method embodiments 1 to 8 described above. The specific implementation methods and technical effects are similar and will not be repeated here. Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0281] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method of calibrating an inertial navigation device, characterized by, The method is applied to an inertial navigation device, the inertial navigation device including a measurement unit assembly, and the method includes: In response to receiving a calibration command triggered by a user, the system acquires a set of orchestration position information; the set of orchestration position information includes multiple orchestration position information items. The measurement unit component is controlled to rotate sequentially to the arrangement positions corresponding to the multiple arrangement position information, so as to obtain the position velocity error corresponding to the multiple arrangement positions; The error parameter set of the inertial navigation device is calculated based on multiple position and velocity errors and a preset error algorithm to achieve calibration; The plurality of arrangement positions are arrangement positions with a rotational order; the plurality of arrangement positions include eight arrangement positions; the error parameter set includes a first error parameter set and a second error parameter set; controlling the measurement unit component to rotate sequentially to the arrangement positions corresponding to the plurality of arrangement position information to obtain the position velocity error corresponding to the plurality of arrangement positions includes: controlling the measurement unit component to rotate sequentially to each arrangement position, and continuously measuring at each arrangement position in a first preset direction according to a first measurement time to obtain the first position velocity error at each arrangement position; the first preset direction is east, north, and sky. After obtaining the first set of error parameters, the measurement unit component is controlled to rotate sequentially to the first three of the plurality of arrangement positions, and measurements are continuously performed in the second preset direction at the first three arrangement positions according to the second measurement time, so as to obtain the second position speed error at the first three arrangement positions; the second preset direction is east and north; the first measurement time is less than the second measurement time; The calibration process involves calculating a set of error parameters for the inertial navigation device based on multiple position and velocity errors and a preset error algorithm. This includes: calculating a first set of error parameters for the inertial navigation device based on each first position and velocity error and a preset error algorithm; the first set of error parameters includes multiple first error parameters; these multiple first error parameters include multiple accelerometer zero-bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometers and gyroscopes are mounted in the measurement unit assembly. After obtaining the first set of error parameters, the second set of error parameters of the inertial navigation device is calculated based on multiple second position velocity errors and a preset error algorithm to achieve calibration; the second set of error parameters includes multiple gyroscope zero bias errors.

2. The method of claim 1, wherein, The inertial navigation device includes an inner ring shaft and an outer ring shaft; The control of the measurement unit assembly to rotate sequentially to each arranged position includes: The measurement unit assembly is controlled to rotate sequentially from the initial arrangement position to each arrangement position according to the rotation sequence around the inner or outer ring axis.

3. The method of claim 1, wherein, The first position velocity error includes a first eastward velocity error, a first northward velocity error, and a first celestial velocity error; The calibration process involves calculating a first set of error parameters for the inertial navigation system based on the velocity errors at each first position and a preset error algorithm, including: For each first position velocity error, calculate the rate of change of the velocity error at each first position; the rate of change of the velocity error at each first position includes the rate of change of the first eastward velocity error, the rate of change of the first northward velocity error, and the rate of change of the first celestial velocity error; For each first error parameter, select at least one first position velocity error change rate corresponding to the first error parameter; The at least one first position velocity error change rate is determined as at least one first target position velocity error change rate; The rate of change of the velocity error of the at least one first target position is input into a preset error algorithm, and the preset error algorithm is used to output the corresponding first error parameter to obtain a first error parameter set.

4. The method according to claim 3, characterized in that, The second position velocity error includes a second eastward velocity error and a second northward velocity error; The calibration process involves calculating a second set of error parameters for the inertial navigation system based on multiple second position velocity errors and a preset error algorithm, including: For each second position velocity error, calculate the rate of change of the second position velocity error; the rate of change of the second position velocity error includes the rate of change of the second eastward velocity error and the rate of change of the second northward velocity error; For each gyroscope's zero bias error, at least one second position velocity error change rate is selected to calculate the gyroscope error parameter corresponding to the gyroscope error parameter. The rate of change of the at least one second position velocity error is determined as the rate of change of the at least one second target position velocity error. The rate of change of the position velocity error of the at least one second target is input into a preset error algorithm, and the corresponding gyroscope zero bias error is output using the preset error algorithm to obtain the second error parameter set.

5. The method according to claim 3, characterized in that, The step of using the preset error algorithm to output the corresponding first error parameter to obtain the first error parameter set includes: For each first error parameter, the preset error algorithm is used to obtain a first matrix formula; the first matrix formula includes multiple formulas. From each of the first matrix formulas, a relevant sub-formula for calculating the first error parameter is determined; the relevant sub-formula for the first error parameter includes multiple formulas. The first error parameter of the inertial navigation device is calculated based on the relevant sub-formula of the first error parameter to obtain the first error parameter set.

6. The method according to claim 4, characterized in that, The step of using the preset error algorithm to output the corresponding gyroscope zero bias error to obtain the second error parameter set includes: For the zero-bias error of each gyroscope, the preset error algorithm is used to obtain the second matrix formula; the second matrix formula includes multiple formulas. From each of the second matrix formulas, relevant sub-formulas for calculating the gyroscope's zero bias error are determined; the relevant sub-formulas for the gyroscope's zero bias error include multiple formulas. The gyroscope zero bias error of the inertial navigation device is calculated based on the correlation formula of the gyroscope zero bias error to obtain the second error parameter set.

7. A calibration device for an inertial navigation system, characterized in that, The device is located in an inertial navigation system, which includes a measurement unit assembly. The device includes: The acquisition module is used to acquire a set of orchestration position information in response to receiving a calibration command triggered by the user; the set of orchestration position information includes multiple orchestration position information. The control module is used to control the measurement unit component to rotate sequentially to the arrangement positions corresponding to the multiple arrangement position information, so as to obtain the position velocity error corresponding to the multiple arrangement positions; The calculation module is used to calculate the error parameter set of the inertial navigation device based on multiple position and velocity errors and a preset error algorithm, so as to achieve calibration; The plurality of arrangement positions are arrangement positions with a rotational order; the plurality of arrangement positions include eight arrangement positions; the error parameter set includes a first error parameter set and a second error parameter set; the control module, when controlling the measurement unit component to rotate sequentially to the arrangement positions corresponding to the plurality of arrangement position information to obtain the position velocity error corresponding to the plurality of arrangement positions, is specifically used to: control the measurement unit component to rotate sequentially to each arrangement position, and continuously perform measurement in a first preset direction according to a first measurement time at each arrangement position to obtain the first position velocity error at each arrangement position; the first preset direction is east, north, and sky. After obtaining the first set of error parameters, the measurement unit component is controlled to rotate sequentially to the first three of the plurality of arrangement positions, and measurements are continuously performed in the second preset direction at the first three arrangement positions according to the second measurement time, so as to obtain the second position speed error at the first three arrangement positions; the second preset direction is east and north; the first measurement time is less than the second measurement time; The calculation module, when calculating the error parameter set of the inertial navigation device based on multiple position velocity errors and a preset error algorithm for calibration, specifically performs the following: calculating the first error parameter set of the inertial navigation device based on each first position velocity error and the preset error algorithm for calibration; the first error parameter set includes multiple first error parameters; the multiple first error parameters include multiple accelerometer zero bias errors, multiple accelerometer installation angle errors, multiple accelerometer scale coefficient errors, multiple gyroscope scale coefficient errors, and multiple gyroscope installation angle errors; the accelerometers and gyroscopes are mounted in the measurement unit assembly; After obtaining the first set of error parameters, the second set of error parameters of the inertial navigation device is calculated based on multiple second position velocity errors and a preset error algorithm to achieve calibration; the second set of error parameters includes multiple gyroscope zero bias errors.

8. An inertial navigation device, comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

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