Full-temperature calibration compensation method and system for IMU acceleration channel

Abstract

The invention discloses a full-temperature calibration compensation method and system for an IMU acceleration channel. Firstly, a three-input variable-temperature calibration method is adopted to realize zero offset and scale factor temperature compensation of an IF / VF quantization plate; secondly, for the collected accelerometer data subjected to IF / VF quantization plate temperature compensation, adopting a three-position variable temperature calibration method to realize zero offset and scale factor temperature compensation of the accelerometer; and finally, aiming at the collected acceleration channel data after IF / VF quantization plate temperature compensation and accelerometer temperature compensation, adopting a multi-position method to realize constant temperature calibration compensation of the acceleration channel. On one hand, acceleration full-temperature calibration compensation can be completed by adopting low-configuration calibration equipment under the condition of a calibration environment with relatively simple function configuration, so that the cost is reduced; on the other hand, it can be guaranteed that the calibration compensation precision of IMU acceleration is high, and the precision requirement of a conventional navigation control system is met.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial measurement and navigation, and in particular relates to a full-temperature calibration compensation method and system for an IMU acceleration channel. Background Art

[0002] With the upgrading of weapon system's demands for low cost, strike accuracy and other aspects, navigation and control systems are gradually developing towards system integration.

[0003] For the full-temperature calibration compensation of the acceleration channel of the system-integrated all-in-one IMU, the traditional design uses a turntable with a temperature chamber for fixed-temperature calibration compensation. However, this design has high requirements for the functional configuration of the calibration equipment (a turntable with a temperature chamber must be used), which will have a greater impact on the calibration cost. At the same time, in order to ensure the calibration accuracy, this method requires that the IMU must be calibrated after thermal equilibrium. However, the temperature rise of the system-integrated all-in-one IMU is generally large, and it is difficult to achieve thermal equilibrium at a fixed temperature point or the temperature rise is too large after thermal equilibrium, which will affect the calibration accuracy. Therefore, for the full-temperature calibration compensation of the acceleration channel of the system-integrated all-in-one IMU, the traditional fixed-temperature calibration method is difficult to meet the low-cost and high-precision calibration requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a full-temperature calibration and compensation method and system for an IMU acceleration channel, so as to overcome the technical problems of high cost and low precision of the full-temperature calibration and compensation method for the acceleration channel of an IMU integrated all-in-one system in the prior art.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions: A full-temperature calibration compensation method for an IMU acceleration channel comprises the following steps: The three-input variable temperature calibration method is used to realize the zero bias and scale factor temperature compensation of the IF / VF quantization board; For the collected accelerometer data after temperature compensation by the IF / VF quantization board, a three-position variable temperature calibration method is used to achieve temperature compensation of the accelerometer's zero bias and scale factor. For the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the meter, the multi-position method is used to realize the constant temperature calibration compensation of the acceleration channel.

[0006] Furthermore, the specific steps of using the three-input variable temperature calibration method to achieve zero bias and scale factor temperature compensation of the IF / VF quantization board are as follows: Collect IF / VF quantization board data for temperature calibration; Fit the collected IF / VF quantization board data for temperature calibration; The fitted IF / VF quantization board data is used to perform temperature compensation on the zero bias and scale factor of the IF / VF quantization board.

[0007] Furthermore, the step of collecting IF / VF quantization board data for temperature calibration is: The product is placed in a temperature chamber, and the three channels of the IF / VF quantization board are connected to a constant current source, and the current of the constant current source is set to a positive current; Set the temperature of the incubator to the lowest working temperature of the IF / VF quantization board and keep it warm for a while until the internal temperature of the IF / VF quantization board stabilizes; Set the temperature box to slowly rise from low temperature to the maximum working temperature of the IF / VF quantization board, and start collecting IF / VF quantization board data at the same time; After the incubator temperature reaches the highest temperature, keep it warm until the internal temperature of the IF / VF quantization board stabilizes, and then stop data acquisition; Repeat the above steps to achieve acquisition when the current of the constant current source is negative current and zero current.

[0008] Furthermore, the step of fitting the collected IF / VF quantization board data for temperature calibration is: Perform short-term smoothing on multiple sets of temperature calibration data collected; The temperature compensation data of the IF / VF quantization board is fitted using a piecewise straight line or curve fitting method.

[0009] Furthermore, after temperature compensation of the IF / VF quantization board zero bias and scale factor, the IF / VF quantization board output formula is:

[0010]

[0011]

[0012] in, It is the output of the quantization board after temperature compensation; for Quantify board output at temperature; For fitting The zero current quantization board output at temperature is zero bias; for The forward channel scale factor value at temperature; for The negative channel scaling factor value at temperature; For fitting The positive current quantization board output value at temperature; is the fitted output value of the positive current quantization board at room temperature; For fitting Negative current quantization board output value at temperature.

[0013] Furthermore, the specific steps of using the three-position variable temperature calibration method to achieve zero bias and scale factor temperature compensation of the accelerometer for the collected accelerometer data after temperature compensation by the IF / VF quantization board are as follows: Collect accelerometer data for temperature calibration; Fitting the collected accelerometer data for temperature calibration; The fitted accelerometer data is used to perform temperature compensation on the accelerometer zero bias and scale factor.

[0014] Furthermore, the step of collecting accelerometer data for temperature calibration is: Place the product on a vibration isolation table in a static base incubator, and adjust the IMU position so that one of the product's X-axis, Y-axis, or Z-axis points to the sky or the ground; Set the temperature of the incubator to the lowest operating temperature of the IMU and keep it warm for a while until the internal temperature of the IMU stabilizes; Set the temperature box to rise from low temperature to the maximum operating temperature of the IMU, and start collecting IMU data at the same time; After the temperature of the incubator reaches the highest temperature, keep it warm until the internal temperature of the IMU stabilizes, and then stop data collection; Open the incubator, turn the product over, and repeat the above steps to complete the data collection when the other two axes are pointing to the sky or the ground.

[0015] Furthermore, the step of fitting the collected accelerometer data for temperature calibration is: Perform short-term smoothing on the three sets of temperature calibration data collected; The accelerometer temperature compensation data is fitted using a piecewise straight line or curve fitting method.

[0016] The parameter correction of the finite element simulation model includes contact relationship correction, constitutive model parameter fitting and damping ratio adjustment.

[0017] Furthermore, after temperature compensation of the accelerometer zero bias and scale factor, the output formula of the accelerometer is:

[0018]

[0019]

[0020] in, is the accelerometer data after temperature compensation; for Accelerometer output at temperature; for Accelerometer zero bias change value at temperature; for The value of the scaling factor change at temperature; For fitting When the temperature is facing upward or downward, the output value is added; For fitting The horizontal axis adds the output value at temperature; Add the output value facing up or down for the fitted normal temperature; The horizontal axis is the fitted output value at normal temperature.

[0021] In a second aspect, a full-temperature calibration and compensation system for an IMU acceleration channel is provided, including an IF / VF quantization board temperature compensation module, an accelerometer temperature compensation module and a fixed temperature calibration compensation module, wherein: IF / VF quantization board temperature compensation module: used to realize zero bias and scale factor temperature compensation of IF / VF quantization board by adopting three-input variable temperature calibration method; Accelerometer temperature compensation module: used to realize the zero bias and scale factor temperature compensation of the accelerometer by using the three-position variable temperature calibration method for the collected accelerometer data after temperature compensation by the IF / VF quantization board; Constant temperature calibration compensation module: It is used to implement constant temperature calibration compensation of the acceleration channel using a multi-position method for the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the meter temperature compensation.

[0022] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a full-temperature calibration and compensation method for an IMU acceleration channel. Compared with a traditional fixed-temperature calibration and compensation method, the present invention does not need to adopt a high-configuration temperature chamber turntable, but only needs to adopt an ordinary vibration isolation temperature chamber and an ordinary turntable. The functional configuration requirements of the calibration equipment are low, and the test cost of the IMU full-temperature calibration and compensation is greatly reduced. The method can meet the requirements of most low-cost weapon systems for the calibration and compensation accuracy of the IMU, and provides a solution for the low-cost and high-precision calibration and compensation of the system-integrated all-in-one IMU. On the one hand, the present invention can ensure that under the calibration environment conditions with relatively simple functional configuration, the full-temperature calibration and compensation of acceleration is completed by adopting a low-configuration calibration equipment, thereby reducing costs. On the other hand, it can ensure that the calibration and compensation accuracy of the IMU acceleration is high, thereby meeting the accuracy requirements of the navigation control system.

[0023] Preferably, a piecewise straight line method or a curve fitting method is used to fit the temperature compensation data of the IF / VF quantization board. By fitting the output data at different temperatures, the output of the quantization board at different temperatures can be more accurately calibrated and the error caused by temperature change can be compensated.

[0024] Preferably, the process of collecting IF / VF quantization board data for temperature calibration and collecting accelerometer data for temperature calibration does not need to be calibrated after the product is thermally balanced, and temperature compensation of the acceleration channel is achieved under variable temperature conditions, thereby improving the full-temperature calibration compensation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a flow chart of a full-temperature calibration compensation method for an IMU acceleration channel of the present invention; Figure 2 This is a flow chart of the full-temperature calibration and compensation method for the IMU channel. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0030] Explanation of relevant terms: An IMU (Inertial Measurement Unit) is a device used to measure and report specific physical quantities of an object, which mainly include acceleration and rotation rate. An IMU is usually composed of three accelerometers and three gyroscopes. These sensors can measure the motion state of an object in three-dimensional space and provide key data for various applications.

[0031] IMU acceleration channel: IMU acceleration channel refers to the channel in IMU used to measure the independent three-axis acceleration signal of the object in the carrier coordinate system. This channel is usually composed of a high-precision accelerometer and a quantization board, which can obtain the acceleration information of the object in three-dimensional space in real time and accurately.

[0032] Full temperature calibration compensation: Full temperature calibration compensation refers to the calibration and compensation of the output of the sensor or measurement system within a predetermined temperature range to eliminate or reduce the impact of temperature on the measurement results. This method usually involves calibrating the sensor at different temperature points, and then using the calibration results to compensate the sensor output to improve measurement accuracy and stability.

[0033] The variable temperature calibration method refers to calibrating the IF / VF quantization board and accelerometer under varying temperature conditions to obtain their zero bias and scale factor at different temperatures, and perform temperature compensation accordingly. This method ensures the accuracy and stability of the quantization board and accelerometer at different temperatures by simulating various temperature conditions that the quantization board and accelerometer may encounter in the actual working environment.

[0034] Zero bias is one of the most important indicators for evaluating the performance of inertial sensors such as accelerometers. It reflects the stability and accuracy of the sensor when there is no external input. For application scenarios that require high precision and high stability, such as navigation, guidance, and measurement, the size of the zero bias directly affects the performance and accuracy of the system.

[0035] Scale factors are widely used in inertial navigation systems, including gyroscope scale factors, accelerometer scale factors, torquer scale factors, sensor scale factors, command rate scale factors, and temperature scale factors. The accuracy and stability of these scale factors are critical to the performance of inertial navigation systems.

[0036] Constant temperature calibration compensation refers to calibrating the sensor under specific temperature conditions and correcting the measurement errors such as zero bias and scale factor through compensation algorithms. The principle is based on the output characteristics of the sensor under different conditions, obtaining the measured values ​​under different excitations through experiments or simulations, and using these values ​​to fit the relationship between the input and the measured value, thereby realizing the correction of the measured value.

[0037] The present invention provides a full-temperature calibration compensation method for an IMU acceleration channel, such as Figure 1 As shown, the following steps are included; Step 1: Use the three-input variable temperature calibration method to achieve zero bias and scale factor temperature compensation of the IF / VF quantization board; The detailed steps are: Collect IF / VF quantization board data for temperature calibration; Fit the collected IF / VF quantization board data for temperature calibration; The fitted IF / VF quantization board data is used to perform temperature compensation on the zero bias and scale factor of the IF / VF quantization board.

[0038] Step 2: For the collected accelerometer data that has been temperature compensated by the IF / VF quantization board, a three-position variable temperature calibration method is used to achieve temperature compensation of the accelerometer's zero bias and scale factor; The detailed steps are: Collect accelerometer data for temperature calibration; Fitting the collected accelerometer data for temperature calibration; The accelerometer bias and scale factor are temperature compensated using the accelerometer data and the fitted accelerometer data.

[0039] Step 3: For the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the accelerometer, a multi-position method is used to implement constant temperature calibration compensation of the acceleration channel; The specific implementation steps of the constant temperature calibration compensation method are: Conduct calibration experiments: Conduct calibration experiments on the sensor at a specific calibration temperature, including measuring the output values ​​of the sensor under different input conditions and recording these data; Fitting the relationship between input and measured values: Using experimental data, fit the relationship between input and measured values ​​to obtain compensation models and parameters; Implementation of compensation: Integrate the compensation algorithm into the sensor or related equipment. When the sensor is working, read the measured value in real time and call the compensation algorithm to correct the measured value.

[0040] In one embodiment of the present invention, a full-temperature calibration compensation method for an IMU acceleration channel is provided, such as Figure 2 As shown in the figure, the method mainly includes three parts: IF / VF quantization board temperature compensation, meter temperature compensation and constant temperature calibration compensation.

[0041] For IF / VF quantized acceleration channels (mostly seen in quartz accelerometers), firstly, based on an ordinary temperature chamber, the "three-input" method is used to compensate the zero bias and scale factor of the quantized board, and then based on an ordinary vibration isolation temperature chamber, the "three-position" method is used to compensate the zero bias and scale factor of the accelerometer, and finally, the calibration compensation is performed at a constant temperature at a normal temperature based on an ordinary turntable; for AD quantized acceleration channels and MEMS accelerometers, firstly, based on an ordinary vibration isolation temperature chamber, the "three-position" method is used to compensate the zero bias and scale factor of the accelerometer, and finally, the calibration compensation is performed at a constant temperature at a normal temperature based on an ordinary turntable. Ultimately, low-cost, high-precision full-temperature calibration compensation is achieved for IF / VF quantized acceleration channels, AD quantized acceleration channels, and MEMS accelerometers in the system integrated all-in-one IMU.

[0042] (1) IF / VF quantization board temperature compensation For the output of the IF / VF quantization board, a three-input variable temperature calibration method is used to achieve the zero bias and scale factor temperature compensation of the IF / VF quantization board. The specific calibration steps are as follows: 1) Temperature calibration data collection A) The product is placed in a temperature box (ordinary temperature box is OK), the three channels of the IF / VF quantization board are connected to a constant current source, and the current of the constant current source is set to 1mA; B) Set the temperature of the incubator to the lowest working temperature of the IF / VF quantization board and keep it warm for a period of time until the internal temperature of the IF / VF quantization board stabilizes; C) Set the temperature box to slowly increase from low temperature to the maximum working temperature of the IF / VF quantization board, and start collecting IF / VF quantization board data at the same time; D) After the temperature of the incubator reaches the highest temperature, keep it warm until the internal temperature of the IF / VF quantization board stabilizes, and stop data acquisition; E) Set the constant current source to -1mA, repeat steps B) to D) to complete data acquisition at -1mA; F) Set the constant current source to 0mA and repeat steps B) to D) to complete data acquisition at 0mA.

[0043] 2) Temperature compensation data fitting For the three groups of temperature compensation data collected, namely 1mA, -1mA and 0mA, short-time smoothing is performed (set according to the noise level, 10s, 20s, 100s). After smoothing, the IF / VF quantization board temperature compensation data is fitted using the piecewise straight line method or curve fitting method, and the relevant parameters are calculated to obtain the fitting values ​​output by the IF / VF quantization board at different temperatures.

[0044] 3) Data compensation The following method is used to perform temperature compensation on the zero bias and scale factor of the IF / VF quantization board.

[0045] After temperature compensation of the IF / VF quantization board zero bias and scale factor, the output formula of the IF / VF quantization board is: (1) in, It is the output of the quantization board after temperature compensation. for Zero current quantization board output at temperature, For fitting The quantization board output at temperature, i.e. zero bias, for The forward channel scale factor value at temperature, for The negative channel scaling factor value at temperature; (2) (3) For fitting 1mA quantization board output value at temperature; is the fitted 1mA quantization board output value at room temperature; For fitting -1mA quantization board output value at temperature.

[0046] (2) Add temperature compensation For the collected data of the meter after the temperature compensation of the quantization board, the three-position variable temperature calibration method of the meter is used to realize the zero bias and scale factor temperature compensation of the meter. The specific calibration steps are as follows: 1) Temperature calibration data collection A) Place the product on a vibration isolation table in a temperature chamber with a static base, and adjust the IMU position so that the X-axis points to the sky or the ground; B) Set the temperature of the incubator to the lowest operating temperature of the IMU and keep it warm for a while until the internal temperature of the IMU stabilizes; C) Set the temperature box to slowly heat up from low temperature to the maximum operating temperature of the IMU, and start collecting IMU data at the same time; D) Wait for the temperature of the incubator to rise to the highest temperature, keep it warm until the internal temperature of the IMU stabilizes, and stop data acquisition; E) Open the incubator, turn the product over so that the Y axis points to the sky or the ground, and repeat steps B) to D) to complete data collection when the Y axis points to the sky or the ground; F) is similar to E), completing the data collection work when Z points to the sky or the ground.

[0047] 2) Temperature compensation data fitting For the three sets of temperature compensation data collected on the X, Y, and Z axes pointing to the sky or the ground, short-term smoothing is performed (set according to the noise level, 10s, 20s, 100s). After smoothing, the temperature compensation data of the meter is fitted using the piecewise straight line method or curve fitting method, and the relevant parameters are calculated to obtain the fitting values ​​of the meter output at different temperatures.

[0048] 3) Data compensation The following method is used to perform temperature compensation on the zero bias and scale factor.

[0049] The output formula of the accelerometer after temperature compensation of the accelerometer zero bias and scale factor is: (4) in, is the accelerometer data after temperature compensation, for The accelerometer output at temperature, for The change in accelerometer bias with temperature, for The value of the scaling factor change at temperature; (5) (6) For fitting When the temperature is facing upward or downward, the output value is added; For fitting The horizontal axis adds the output value at temperature; Add the output value facing up or down for the fitted normal temperature; The horizontal axis is the fitted output value at normal temperature.

[0050] (3) Constant temperature calibration compensation For the collected data that have been quantized and compensated by temperature compensation, the traditional and mature multi-position method is used to achieve constant temperature calibration compensation of the meter.

[0051] In another embodiment of the present invention, a full-temperature calibration and compensation system for an IMU acceleration channel is provided, comprising an IF / VF quantization board temperature compensation module, an accelerometer temperature compensation module and a fixed temperature calibration compensation module, wherein: IF / VF quantization board temperature compensation module: used to realize zero bias and scale factor temperature compensation of IF / VF quantization board by adopting three-input variable temperature calibration method; Accelerometer temperature compensation module: used to realize the zero bias and scale factor temperature compensation of the accelerometer by using the three-position variable temperature calibration method for the collected accelerometer data after temperature compensation by the IF / VF quantization board; Constant temperature calibration compensation module: It is used to implement constant temperature calibration compensation of the acceleration channel using a multi-position method for the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the meter temperature compensation.

[0052] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various technical features in any other suitable manner, and these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A full-temperature calibration compensation method for an IMU acceleration channel, characterized in that: The following steps are involved: The three-input variable temperature calibration method is used to realize the zero bias and scale factor temperature compensation of the IF / VF quantization board; For the collected accelerometer data after temperature compensation by the IF / VF quantization board, a three-position variable temperature calibration method is used to achieve temperature compensation of the accelerometer's zero bias and scale factor. For the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the accelerometer, the multi-position method is used to implement constant temperature calibration compensation of the acceleration channel.

2. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 1, characterized in that: The specific steps of using the three-input variable temperature calibration method to achieve zero bias and scale factor temperature compensation of the IF / VF quantization board are as follows: Collect IF / VF quantization board data for temperature calibration; Fit the collected IF / VF quantization board data for temperature calibration; The fitted IF / VF quantization board data is used to perform temperature compensation on the zero bias and scale factor of the IF / VF quantization board.

3. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 2, characterized in that: The steps of collecting IF / VF quantization board data for temperature calibration are: The product is placed in a temperature chamber, and the three channels of the IF / VF quantization board are connected to a constant current source, and the current of the constant current source is set to a positive current; Set the temperature of the incubator to the lowest working temperature of the IF / VF quantization board and keep it warm for a while until the internal temperature of the IF / VF quantization board stabilizes; Set the temperature box to slowly rise from low temperature to the maximum working temperature of the IF / VF quantization board, and start collecting IF / VF quantization board data at the same time; After the incubator temperature reaches the highest temperature, keep it warm until the internal temperature of the IF / VF quantization board stabilizes, and then stop data acquisition; Repeat the above steps to realize the acquisition when the current of the constant current source is negative current and zero current.

4. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 2, characterized in that: The steps of fitting the collected IF / VF quantization board data for temperature calibration are as follows: Perform short-term smoothing on multiple sets of temperature calibration data collected; The temperature compensation data of the IF / VF quantization board is fitted using a piecewise straight line or curve fitting method.

5. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 2, characterized in that: The output formula of the IF / VF quantization board after temperature compensation of the IF / VF quantization board zero bias and scale factor is: in, It is the output of the quantization board after temperature compensation; for Quantify board output at temperature; For fitting The zero current quantization board output at temperature is zero bias; for The forward channel scale factor value at temperature; for The negative channel scaling factor value at temperature; For fitting The positive current quantization board output value at temperature; is the fitted output value of the positive current quantization board at room temperature; For fitting Negative current quantization board output value at temperature.

6. The full-temperature calibration compensation method and system of an IMU acceleration channel according to claim 1, characterized in that: The specific steps of using the three-position variable temperature calibration method to achieve zero bias and scale factor temperature compensation of the accelerometer for the collected accelerometer data after temperature compensation by the IF / VF quantization board are as follows: Collect accelerometer data for temperature calibration; Fitting the collected accelerometer data for temperature calibration; The fitted accelerometer data is used to perform temperature compensation on the accelerometer zero bias and scale factor.

7. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 6, characterized in that: The steps of collecting accelerometer data for temperature calibration are: Place the product on a vibration isolation table in a static base incubator, and adjust the IMU position so that one of the product's X-axis, Y-axis, or Z-axis points to the sky or the ground; Set the temperature of the incubator to the lowest operating temperature of the IMU and keep it warm for a while until the internal temperature of the IMU stabilizes; Set the temperature box to rise from low temperature to the maximum operating temperature of the IMU, and start collecting IMU data at the same time; After the temperature of the incubator reaches the highest temperature, keep it warm until the internal temperature of the IMU stabilizes, and then stop data collection; Open the incubator, turn the product over, and repeat the above steps to complete the data collection when the other two axes are pointing to the sky or the ground.

8. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 6, characterized in that: The steps of fitting the collected accelerometer data for temperature calibration are: Perform short-term smoothing on the three sets of temperature calibration data collected; The accelerometer temperature compensation data is fitted using a piecewise straight line or curve fitting method.

9. The full-temperature calibration compensation method for an IMU acceleration channel according to claim 6, characterized in that: The output formula of the accelerometer after temperature compensation of the accelerometer zero bias and scale factor is: in, is the accelerometer data after temperature compensation; for Accelerometer output at temperature; for Accelerometer zero bias change value at temperature; for The value of the scaling factor change at temperature; For fitting When the temperature is facing upward or downward, the output value is added; For fitting The horizontal axis adds the output value at temperature; Add the output value facing up or down for the fitted normal temperature; The horizontal axis is the fitted output value at normal temperature.

10. A full-temperature calibration and compensation system based on the full-temperature calibration and compensation method of the IMU acceleration channel according to claim 1, characterized in that: It includes IF / VF quantization board temperature compensation module, accelerometer temperature compensation module and constant temperature calibration compensation module, among which: IF / VF quantization board temperature compensation module: used to realize zero bias and scale factor temperature compensation of IF / VF quantization board by adopting three-input variable temperature calibration method; Accelerometer temperature compensation module: used to realize the zero bias and scale factor temperature compensation of the accelerometer by using the three-position variable temperature calibration method for the collected accelerometer data after temperature compensation by the IF / VF quantization board; Constant temperature calibration compensation module: It is used to implement constant temperature calibration compensation of the acceleration channel using a multi-position method for the collected acceleration channel data that has been temperature compensated by the IF / VF quantization board and the meter temperature compensation.

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