Error calibration and compensation method, device, equipment and medium for inertial navigation system

Abstract

The present invention relates to an error calibration and compensation method, device, equipment and medium for an inertial navigation system. The method comprises: constructing a calibration model of a micro-electromechanical gyro inertial navigation system; placing the micro-electromechanical gyro inertial navigation system on a three-axis turntable, performing rotation control on the micro-electromechanical gyro inertial navigation system, and obtaining micro-electromechanical gyro output data, accelerometer output data and modal vibration angle output data; performing calibration data fitting according to the micro-electromechanical gyro output data, accelerometer output data and modal vibration angle output data to obtain the drift parameter and initial azimuth of the micro-electromechanical gyro; based on the calibration model of the micro-electromechanical gyro inertial navigation system, using the drift parameter and the initial azimuth to perform circumferential zero bias compensation on the micro-electromechanical gyro inertial navigation system. The present invention is applicable to a rate-integrating micro-electromechanical gyro inertial navigation system, and can realize high-precision circumferential zero bias calibration and the north-seeking function of the initial position.

Description

Technical Field

[0001] The present invention relates to the field of technical inertial navigation, and in particular to an error calibration and compensation method, device, equipment and medium for an inertial navigation system. Background Art

[0002] The inertial navigation system provides accurate position, speed and attitude information by measuring the spatial motion information of the carrier. This technology is widely used in scenarios such as unmanned driving, underground exploration, geodesy, positioning and orientation, track calculation and inertial guidance. Compared with satellite navigation, visual navigation and other methods, inertial navigation has the advantages of strong autonomy and strong anti-interference ability.

[0003] In the inertial navigation system, the gyroscope is a key component that directly determines the key indicators of the system such as positioning and orientation accuracy. Traditional inertial navigation systems mostly use dynamic tuned gyroscopes, laser gyroscopes, fiber optic gyroscopes and hemispherical resonant gyroscopes to measure the spatial angular motion of the carrier. However, these gyroscopes have the disadvantages of being large in size, heavy in weight and high in cost.

[0004] With the rapid development of micro-electromechanical technology, micro-electromechanical gyroscopes have gradually been used in inertial navigation systems due to their advantages of small size, light weight and low cost. The working modes of micro-electromechanical gyroscopes include rate mode and rate integration mode. Compared with the rate mode, the rate integration mode has the advantages of small scale factor error, large bandwidth and range. However, in the rate integration mode, the zero bias error of the gyroscope has circumferential anisotropy, which is difficult to calibrate and compensate by traditional calibration methods. Therefore, there is an urgent need for a high-precision calibration and compensation method for the rate-integrated micro-electromechanical gyroscope inertial navigation system. Summary of the invention

[0005] Based on this, it is necessary to provide an error calibration and compensation method, device, equipment and medium for the inertial navigation system that can fit the relationship between the circumferential zero bias and the modal vibration angle of the micro-electromechanical gyroscope and compensate for its circumferential zero bias error to improve the measurement accuracy in response to the above technical problems.

[0006] An error calibration and compensation method for an inertial navigation system, the method comprising:

[0007] Construct a calibration model for a MEMS gyro inertial navigation system;

[0008] Placing a micro-electromechanical system (MEMS) gyro inertial navigation system on a three-axis turntable, performing rotation control on the MEMS gyro inertial navigation system, and obtaining MEMS gyro output data, accelerometer output data, and modal vibration angle output data;

[0009] Performing calibration data fitting according to the output data of the MEMS gyroscope, the output data of the accelerometer and the output data of the modal vibration angle to obtain the drift parameter and the initial azimuth angle of the MEMS gyroscope;

[0010] Based on a micro-electro-mechanical gyro-inertial navigation system calibration model, the micro-electro-mechanical gyro-inertial navigation system is compensated for circumferential zero bias by utilizing the drift parameter and the initial azimuth angle.

[0011] An error calibration and compensation device for an inertial navigation system, the device comprising:

[0012] Model building module, used to build the calibration model of MEMS gyro inertial navigation system;

[0013] A data acquisition module is used to place the MEMS gyro inertial navigation system on a three-axis turntable, perform rotation control on the MEMS gyro inertial navigation system, and obtain MEMS gyro output data, accelerometer output data, and modal vibration angle output data;

[0014] A circumferential zero bias calibration module, used for performing calibration data fitting according to the output data of the MEMS gyroscope, the output data of the accelerometer and the output data of the modal vibration angle, so as to obtain the drift parameter and the initial azimuth angle of the MEMS gyroscope;

[0015] The circumferential zero bias compensation module is used to perform circumferential zero bias compensation on the micro-electro-mechanical gyro inertial navigation system based on a micro-electro-mechanical gyro inertial navigation system calibration model by using the drift parameter and the initial azimuth angle.

[0016] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the error calibration and compensation method of the inertial navigation system when executing the computer program.

[0017] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the error calibration and compensation method of the inertial navigation system.

[0018] The error calibration and compensation method, device, equipment and medium of the inertial navigation system are as follows: a calibration model of a micro-electromechanical gyro inertial navigation system is constructed; the micro-electromechanical gyro inertial navigation system is then placed on a three-axis turntable, the micro-electromechanical gyro inertial navigation system is rotationally controlled, and micro-electromechanical gyro output data, accelerometer output data and modal vibration angle output data are obtained; calibration data fitting is performed according to the micro-electromechanical gyro output data, accelerometer output data and modal vibration angle output data to obtain the drift parameters and initial azimuth of the micro-electromechanical gyro; based on the calibration model of the micro-electromechanical gyro inertial navigation system, the drift parameters and the initial azimuth are used to perform circumferential zero bias compensation on the micro-electromechanical gyro inertial navigation system.

[0019] The present invention performs corresponding rotation control on the three-axis turntable, fits the relationship between the circumferential zero bias of the micro-electromechanical gyroscope and the modal vibration angle, and compensates for its circumferential zero bias error, thereby improving the measurement accuracy of the micro-electromechanical gyroscope inertial navigation system. The method of the present invention performs circumferential zero bias compensation at the system level, which is not only stable and reliable, but also has a wide range of applications. It can also further improve the measurement accuracy of the rate-integrated micro-electromechanical gyroscope inertial navigation system, greatly promoting the industrialization and marketization process of the rate-integrated micro-electromechanical gyroscope inertial navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 is a flow chart of an error calibration and compensation method for an inertial navigation system in one embodiment;

[0022] Figure 2 : is a comparison diagram of the three-axis zero bias output before and after compensation by the error calibration and compensation method of the inertial navigation system proposed by the present invention in one embodiment; wherein, Figure 2 (a) is the comparison of zero bias output before and after X-axis gyro compensation. Figure 2 (b) is the comparison of zero bias output before and after Y-axis gyro compensation. Figure 2 (c) is the zero bias output pair before and after Z-axis gyro compensation;

[0023] Figure 3 A schematic diagram of a north-seeking error diagram for multiple stop positions in one embodiment;

[0024] Figure 4 is a structural block diagram of an error calibration and compensation device for an inertial navigation system in one embodiment;

[0025] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0026] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] The following will describe the implementation of the present invention in detail with reference to the accompanying drawings in the embodiment diagram of the present invention.

[0031] Example 1

[0032] This embodiment discloses an error calibration and compensation method for an inertial navigation system, which performs corresponding rotation control on a three-axis turntable, fits the relationship between the circumferential zero bias of a micro-electromechanical gyroscope and the modal vibration angle, and compensates for its circumferential zero bias error, thereby improving the measurement accuracy of the micro-electromechanical gyroscope inertial navigation system. The method of the present invention is suitable for the circumferential zero bias calibration and initial position north search of a rate-integrating micro-electromechanical gyroscope inertial navigation system, and performs circumferential zero bias compensation at the system level, which is not only stable and reliable, and has a wide range of applications, but also can further improve the measurement accuracy of the rate-integrating micro-electromechanical gyroscope inertial navigation system, realize high-precision circumferential zero bias calibration and initial position north search function, and greatly promote the industrialization and marketization process of the rate-integrating micro-electromechanical gyroscope inertial navigation system.

[0033] refer to Figure 1 As shown, the error calibration and compensation method of the inertial navigation system provided in this embodiment includes the following steps:

[0034] Step 201, constructing a micro-electromechanical gyro inertial navigation system calibration model.

[0035] It is understandable that due to the deviation of the gyroscope, these errors will affect the navigation accuracy. By constructing a MEMS gyro inertial navigation system calibration model, the gyroscope output can be corrected to improve the measurement accuracy of the gyroscope. When constructing a MEMS gyro inertial navigation system calibration model, usually one or more errors including but not limited to zero bias error, scale factor error, nonlinear error, etc. are considered according to the needs.

[0036] Step 202, placing the MEMS gyro inertial navigation system on a three-axis turntable, performing rotation control on the MEMS gyro inertial navigation system, and obtaining MEMS gyro output data, accelerometer output data, and modal vibration angle output data.

[0037] It can be understood that in a rate-integrating micro-electromechanical gyro inertial navigation system, there are usually three gyroscopes, which are installed on a three-axis turntable. The three-axis turntable can rotate independently along three different axes. The rotation on different axes can be used to measure and calibrate the drift, sensitivity and noise characteristics of the inertial navigation system in each axis.

[0038] Placing the MEMS gyro inertial navigation system on a three-axis turntable for rotation control can accurately measure the zero bias error of the MEMS gyro inertial navigation system in each axis; help calibrate the performance of each axis of the system, verify the isotropic consistency and dynamic accuracy of the gyroscope, and improve the overall accuracy and reliability of the system.

[0039] Step 203 , performing calibration data fitting according to the MEMS gyro output data, the accelerometer output data and the modal vibration angle output data, to obtain the drift parameter and the initial azimuth angle of the MEMS gyro.

[0040] It can be understood that the output data of the MEMS gyroscope is mainly the output data of the three-axis angular velocity, which reflects the rotational motion of the gyroscope in three-dimensional space. These data may include drift, noise, zero bias error, etc.

[0041] The accelerometer output data can obtain the earth's gravity vector, which is mainly used to calculate attitude information.

[0042] The modal vibration angle output data represents the specific angle change of the system when it vibrates or rotates. The modal vibration angle output data can assist in detecting the system behavior in a dynamic environment.

[0043] This step is the process of circumferential zero bias calibration of the rate-integrating MEMS gyro inertial navigation system. The MEMS gyro output data, accelerometer output data and modal vibration angle output data are intercepted static data, which can reduce dynamic noise interference, provide stable reference conditions, simplify error analysis, and improve the accuracy of the fitting model, thereby obtaining high-precision drift parameters and initial azimuth angles.

[0044] Step 204 , based on the MEMS gyro inertial navigation system calibration model, use the drift parameter and the initial azimuth angle to perform circumferential zero bias compensation on the MEMS gyro inertial navigation system.

[0045] It can be understood that by performing circumferential zero bias compensation on the MEMS gyro inertial navigation system through high-precision drift parameters and initial azimuth angles, the accuracy, stability and anti-interference ability of the system can be significantly improved, while reducing the impact of cumulative errors and the external environment on the system.

[0046] In the specific implementation process of step 201, the North Eastern Coordinate System (NUE) is used as the local navigation coordinate system, and the Front Up Right (FUR) coordinate system is used as the carrier coordinate system; the MEMS gyro inertial navigation system calibration model is constructed by considering the ideal angle increment output value, zero bias error and measurement noise. The MEMS gyro inertial navigation system calibration model expression is:

[0047] ;

[0048] In the formula, express The actual angle increment output value of the three gyroscopes of the axis; , Represents the ideal angular increment output values ​​of the three gyroscopes; represents the equivalent three gyro bias errors in the carrier coordinate system b; represents the sampling time interval, Represents the measurement noise.

[0049] In addition, in the calibration model of the MEMS gyro inertial navigation system, the relationship between the zero bias error and the modal vibration angle is expressed as:

[0050] ;

[0051] In the formula, represents the equivalent three gyro bias errors in the carrier coordinate system b; Respectively represent the modal vibration angles of the three gyroscopes; represents the equivalent three gyro constant drifts in the carrier coordinate system b; represents the gyro drift parameters related to the angular positions of the modal vibration shapes of the three equivalent gyros in the carrier coordinate system b, It represents the multiple of the vibration mode angle; Indicates the sampling time interval; Indicates the current sampling time. The value of is selected according to the gyro bias error characteristics.

[0052] In the specific implementation process of step 202, after the MEMS gyro inertial navigation system is placed on the three-axis turntable, the three-axis turntable is reset to zero; a control command is applied to the MEMS gyro inertial navigation system, and after the middle frame and the inner frame of the turntable are rotated to specific positions respectively, the outer frame is rotated counterclockwise in sequence by using a stop-turn method; and the MEMS gyro output data, accelerometer output data and modal vibration angle output data are collected.

[0053] Specifically, first determine the equipment required for data collection, including: a control unit and a data acquisition unit electrically connected to the three-axis turntable. The three-axis turntable includes an inner frame, a middle frame and an outer frame, and the micro-electromechanical gyro inertial navigation system is placed in the inner frame. The rotation mode of the three-axis turntable is controlled by the control device, and the relevant output data is collected by the data acquisition unit. The three-axis turntable, the control unit and the data acquisition unit are conventional mechanical equipment and intelligent control equipment, which will not be described in detail here.

[0054] Then the three-axis turntable is reset to zero and a control command is applied, for example, the middle frame is rotated to 35.2644°, the inner frame is rotated to 45°, the angle is kept fixed, and then the outer frame is rotated counterclockwise in sequence by stopping. The positions of the outer frame stopping are 4QΠ / P (Q=0, 1, 2, ..., I), and each position stays for several minutes, where the value of I is selected according to the geometric parameters of the gyro resonant structure, and the value of P is selected according to the gyro zero bias error characteristics. During the rotation process, the output data of the micro-electromechanical gyroscope, the output data of the accelerometer, and the output data of the modal vibration angle are collected in real time until the three-axis turntable stops working.

[0055] In the specific implementation process of step 203, firstly, the earth's gravity vector is obtained based on the accelerometer output data, and the horizontal attitude angle is calculated.

[0056] Then, according to the horizontal attitude angle and the output data of the micro-electromechanical gyroscope, the projection value of the earth's rotation angular velocity in the carrier coordinate system b is calculated in static state. Then, combined with the output data of the modal vibration angle, the relationship between the gyro drift parameters related to the modal vibration angle and the initial azimuth angle is preliminarily constructed.

[0057] Finally, the relationship between the constructed gyro drift parameters and the initial azimuth angle is solved by the least square method to obtain the drift parameters and initial azimuth angle of the MEMS gyro related to the modal vibration angle. The circumferential zero bias calibration of the rate-integrated MEMS gyro inertial navigation system is completed through the above process.

[0058] In the specific implementation process of step 204, based on the calibration model of the MEMS gyro inertial navigation system, the MEMS gyro inertial navigation system is compensated for the circumferential zero bias according to the drift parameter and the initial azimuth angle, and the expression is:

[0059] .

[0060] In the expression, the drift parameter is substituted into the relationship expression between the zero bias error and the modal vibration angle, and the result is , and , and then according to the calibration model of the MEMS gyro inertial navigation system, the output values ​​of three ideal angular increments can be obtained.

[0061] The method provided in this embodiment can fit and calculate the relationship between the circumferential zero bias of the rate-integrated micro-electromechanical resonant gyroscope and the change in the angular position of the modal vibration shape, and use the system software to compensate in real time, thereby eliminating the influence of the circumferential zero bias on the inertial navigation output accuracy, and realizing high-precision circumferential zero bias calibration and initial position north-seeking function.

[0062] In addition, the effectiveness of the method proposed in the present invention is verified.

[0063] After the calibration is completed in step 203, the calibration value is bound to the system to compensate the circumferential zero bias. The compensated zero bias output and the uncompensated zero bias result curve are as follows: Figure 2 As shown, it can be seen that before compensation, the maximum gyro zero bias can reach 10° / h, and after compensation, the gyro circumferential zero bias is controlled within 0.5° / h.

[0064] Figure 3 The figure is a schematic diagram of the north-seeking error diagram for multiple stop positions. It can be seen that the north-seeking error at each position is within 2°.

[0065] Although this embodiment Figure 1 The steps in the process are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0066] Example 2

[0067] Based on the error calibration and compensation method of the inertial navigation system in Example 1, this embodiment discloses an error calibration and compensation device for an inertial navigation system, such as Figure 4 As shown, the error calibration and compensation device of the inertial navigation system includes: a model building module 401, a data acquisition module 402, a circumferential zero bias calibration module 403 and a circumferential zero bias compensation module 404, wherein:

[0068] The model building module 401 is used to build a calibration model of a micro-electromechanical gyro inertial navigation system.

[0069] The data acquisition module 402 is used to place the MEMS gyro inertial navigation system on a three-axis turntable, perform rotation control on the MEMS gyro inertial navigation system, and obtain MEMS gyro output data, accelerometer output data, and modal vibration angle output data.

[0070] The circumferential zero bias calibration module 403 is used to perform calibration data fitting according to the output data of the MEMS gyroscope, the output data of the accelerometer and the modal vibration angle output data, so as to obtain the drift parameters and the initial azimuth angle of the MEMS gyroscope.

[0071] The circumferential zero bias compensation module 404 is used to perform circumferential zero bias compensation on the MEMS gyro inertial navigation system based on the MEMS gyro inertial navigation system calibration model by using the drift parameter and the initial azimuth angle.

[0072] In this embodiment, the specific working process and working principle of the model building module 401, the data acquisition module 402, the circumferential zero bias calibration module 403 and the circumferential zero bias compensation module 404 are the same as those in the method of embodiment 1, so they are not described in detail in this embodiment. Each unit module can be implemented in whole or in part by software, hardware and a combination thereof, and each unit module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above unit modules.

[0073] Example 3

[0074] like Figure 5 The terminal device disclosed in this embodiment includes a transmitter, a receiver, a memory, and a processor. The transmitter is used to send instructions and data, the receiver is used to receive instructions and data, the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions stored in the memory to implement the method in the above-mentioned embodiment 1.

[0075] It should be noted that the above memory can be independent or integrated with the processor. When the memory is independently provided, the terminal device further includes a bus for connecting the memory and the processor.

[0076] Example 4

[0077] This embodiment discloses a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method in the above-mentioned embodiment 1 is implemented.

[0078] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0079] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An error calibration and compensation method for an inertial navigation system, characterized in that: The method comprises: Construct a calibration model for a MEMS gyro inertial navigation system; Placing a micro-electromechanical system (MEMS) gyro inertial navigation system on a three-axis turntable, performing rotation control on the MEMS gyro inertial navigation system, and obtaining MEMS gyro output data, accelerometer output data, and modal vibration angle output data; Performing calibration data fitting according to the output data of the MEMS gyroscope, the output data of the accelerometer and the output data of the modal vibration angle to obtain the drift parameter and the initial azimuth angle of the MEMS gyroscope; Based on a micro-electro-mechanical gyro-inertial navigation system calibration model, using the drift parameter and the initial azimuth angle to perform circumferential zero bias compensation on the micro-electro-mechanical gyro-inertial navigation system; The calibration model expression of the MEMS gyro inertial navigation system is: ； It also includes: determining the relationship between the zero bias error and the modal vibration angle in the calibration model of the micro-electromechanical gyro inertial navigation system, the expression is: ； Based on the micro-electromechanical gyro inertial navigation system calibration model, the micro-electromechanical gyro inertial navigation system is compensated for circumferential zero bias according to the drift parameter and the initial azimuth angle. The expression is: ； In the formula, , , express , , The actual angle increment output value of the three gyroscopes of the axis; , , Represents the ideal angular increment output values ​​of the three gyroscopes; , , represents the equivalent three gyro bias errors in the carrier coordinate system b; represents the sampling time interval, , , represents the measurement noise; , , represents the equivalent three gyro bias errors in the carrier coordinate system b; , , Respectively represent the modal vibration angles of the three gyroscopes; , , represents the equivalent three gyro constant drifts in the carrier coordinate system b; , , , , , ( =1, 2, …, ) represents the gyro drift parameters of the three equivalent gyros in the carrier coordinate system b related to the angular positions of the modal vibration shapes, It represents the multiple of the vibration mode angle; Indicates the sampling time interval; Indicates the current sampling time.

2. The error calibration and compensation method of an inertial navigation system according to claim 1, characterized in that: Construct a MEMS gyro inertial navigation system calibration model, including: The north celestial east coordinate system is used as the local navigation coordinate system, and the front upper right coordinate system is used as the carrier coordinate system. The calibration model of the MEMS gyro inertial navigation system is constructed considering the ideal angular increment output value, zero bias error and measurement noise.

3. The error calibration and compensation method of an inertial navigation system according to claim 1 or 2, characterized in that: Placing a micro-electromechanical system (MEMS) gyro inertial navigation system on a three-axis turntable, performing rotation control on the MEMS gyro inertial navigation system, and obtaining MEMS gyro output data, accelerometer output data, and modal vibration angle output data, including: After placing the micro-electromechanical gyro inertial navigation system on a three-axis turntable, the three-axis turntable is reset to zero; A control command is applied to the MEMS gyro inertial navigation system, and after the middle frame and the inner frame of the turntable are rotated to specific positions respectively, the outer frame is rotated counterclockwise in sequence by a rotation-stop method; and the MEMS gyro output data, the accelerometer output data and the modal vibration angle output data are collected.

4. The error calibration and compensation method of an inertial navigation system according to claim 1 or 2, characterized in that: Calibration data fitting is performed according to the output data of the micro-electro-mechanical system gyroscope, the output data of the accelerometer and the output data of the modal vibration angle to obtain the drift parameter and the initial azimuth angle of the micro-electro-mechanical system gyroscope, including: Obtain the earth's gravity vector based on the accelerometer output data and calculate the horizontal attitude angle; According to the horizontal attitude angle and the output data of the micro-electromechanical gyroscope, the projection value of the earth's rotation angular velocity in the carrier coordinate system b is calculated in a static state, and then, combined with the output data of the modal vibration angle, the relationship between the gyro drift parameter related to the modal vibration angle and the initial azimuth angle is preliminarily constructed; The relationship between the constructed gyro drift parameters and the initial azimuth angle is solved by the least square method, and the drift parameters and the initial azimuth angle of the MEMS gyro related to the modal vibration angle are obtained.

5. An error calibration and compensation device for an inertial navigation system, characterized in that: The error calibration and compensation method of the inertial navigation system according to any one of claims 1 to 4 is adopted, and the device comprises: Model building module, used to build the calibration model of MEMS gyro inertial navigation system; A data acquisition module is used to place the MEMS gyro inertial navigation system on a three-axis turntable, perform rotation control on the MEMS gyro inertial navigation system, and obtain MEMS gyro output data, accelerometer output data, and modal vibration angle output data; A circumferential zero bias calibration module, used for performing calibration data fitting according to the output data of the MEMS gyroscope, the output data of the accelerometer and the output data of the modal vibration angle, so as to obtain the drift parameter and the initial azimuth angle of the MEMS gyroscope; The circumferential zero bias compensation module is used to perform circumferential zero bias compensation on the micro-electro-mechanical gyro inertial navigation system based on a micro-electro-mechanical gyro inertial navigation system calibration model by using the drift parameter and the initial azimuth angle.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the error calibration and compensation method of the inertial navigation system described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the error calibration and compensation method of the inertial navigation system according to any one of claims 1 to 4 are implemented.

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