Method for configuring IMU (Inertial Measurement Unit) parameters in installation reference direction of heading attitude system

Abstract

In order to overcome the defect that when an attitude heading system is installed on a carrier aircraft, the attitude heading system must be returned to a factory for recalibration when the arrow direction of the attitude heading system cannot be used as a northbound reference, the invention provides an IMU parameter configuration method in the installation reference direction of the attitude heading system. According to the method, the coordinate conversion relation between the factory default installation direction and the actual installation direction is established, the IMU parameter values collected by the heading and attitude system are configured based on the coordinate conversion relation, and then the configured IMU parameters are output by the heading and attitude system. The adverse effect caused by the fact that the actual installation direction of the attitude and heading system is inconsistent with the factory default installation direction can be overcome, and the attitude and heading system does not need to be returned to a factory for recalibration.

Description

Technical Field

[0001] The invention relates to a method for configuring IMU parameters (inertial measurement unit parameters) of an installation reference direction of a heading attitude system. Background Art

[0002] The attitude and heading system is an airborne device that can output information such as heading and attitude in real time. Usually, when the attitude and heading system is calibrated in the factory, the three-axis calibration is generally performed with the direction of the arrow of the attitude and heading system itself as the north reference. Therefore, the default installation direction of the attitude and heading system is that the direction of its own arrow is consistent with the north reference required by the carrier aircraft. However, when the attitude and heading system is installed, in order to meet the requirements of each host, it is often impossible to use the direction of the arrow of the attitude and heading system itself as the north reference. At this time, the correctness of the output of the attitude and heading system cannot be guaranteed, and the attitude and heading system must be returned to the factory for re-calibration of the three-axis according to the north reference required by the current aircraft. The disadvantages of this method are poor operability, time-consuming and labor-intensive, and may even affect the progress of the flight mission. Summary of the invention

[0003] In order to solve the problem that when the attitude and heading system is installed on a carrier aircraft and its own arrow direction cannot be used as the north reference, it must be returned to the factory for recalibration, the present invention provides an IMU parameter configuration method for the installation reference direction of the attitude and heading system.

[0004] The technical solution of the present invention is:

[0005] A method for configuring IMU parameters for an attitude system installation reference direction is characterized in that it comprises the following steps:

[0006] Step 1: Create a parameter configuration table and build it into the heading and attitude system;

[0007] The parameter configuration table includes a one-to-one correspondence of the actual installation direction of the attitude system, parameter configuration instructions, parameter values ​​of the attitude system installation direction, and an IMU parameter configuration matrix; in the IMU parameter configuration matrix, the IMU parameter configuration matrix corresponding to the factory default direction of the attitude system is used to calculate the IMU parameter configuration matrix of the remaining installation directions, and the IMU parameter configuration matrix of the remaining installation directions is used to correct the IMU parameters collected by the attitude system;

[0008] Step 2: Parameter configuration;

[0009] According to the current installation direction, the corresponding parameter configuration instructions are input to the heading attitude system. The heading attitude system traverses and reads the parameter values ​​of the heading attitude system installation direction stored in the parameter configuration table according to the received parameter configuration instructions, calls the corresponding IMU parameter configuration matrix, and multiplies the collected IMU parameter values ​​with the called IMU parameter configuration matrix before outputting it to realize the IMU parameter configuration of the heading attitude system.

[0010] Furthermore, step 1 is specifically as follows:

[0011] Step 1.1: Construct the parameter configuration matrix M0 corresponding to the factory default installation orientation of the heading attitude system;

[0012] Step 1.2: Establish a one-to-one correspondence between the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and the IMU parameter configuration matrix:

[0013] The arrow on the attitude system points forward, the corresponding parameter configuration instruction is the first instruction, the parameter value of the attitude system installation direction is A, and the IMU parameter configuration matrix is ​​M0;

[0014] The arrow on the attitude system points backward, the corresponding parameter configuration instruction is the second instruction, the parameter value of the attitude system installation direction is B, and the IMU parameter conversion matrix is ​​M1*M0;

[0015] The arrow on the attitude system points to the left, the corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the IMU parameter conversion matrix is ​​M2*M0;

[0016] The arrow on the attitude system points to the right, the corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the IMU parameter conversion matrix is ​​M3*M0;

[0017]

[0018] Step 1.3: Store the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and the IMU parameter conversion matrix in a one-to-one correspondence, build a parameter configuration table, and import it through the RS232 monitoring port of the attitude and heading system and store it in the memory of the attitude and heading system itself.

[0019] Furthermore, step 2 is specifically as follows:

[0020] Step 2.1: After the attitude system is installed in place and powered on, input the corresponding parameter configuration command to the attitude system according to the current installation direction. The attitude system traverses and reads the parameter values ​​of the attitude system installation direction stored in the parameter configuration table according to the received parameter configuration command, and determines whether the parameter value of the attitude system installation direction read is B. If so, go to step 2.5; if not, go to step 2.2;

[0021] Step 2.2: Determine whether the parameter value of the installation direction of the attitude and heading system read is C. If so, proceed to step 2.6; if not, proceed to step 2.3;

[0022] Step 2.3: Determine whether the parameter value of the installation direction of the attitude and heading system read is D. If so, proceed to step 2.7; if not, proceed to step 2.4;

[0023] Step 2.4: The parameter value of the attitude system installation direction read is A, indicating that the current attitude system installation direction is the factory default installation direction. There is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values.

[0024] Step 2.5: Call the IMU parameter matrix M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M1*M0 and then output them, so as to realize the IMU parameter configuration of the attitude system, and the process ends;

[0025] Step 2.6: Call the IMU parameter matrix M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M2*M0 and then output them, so as to realize the IMU parameter configuration of the attitude system, and the process ends;

[0026] Step 2.7 calls the IMU parameter matrix M3*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the IMU parameter configuration matrix M3*M0 and then outputs them to realize the IMU parameter configuration of the attitude system, and the process ends.

[0027] The present invention also provides a method for configuring IMU parameters of a heading attitude system installation reference direction, which is special in that it includes the following steps:

[0028] Step 1: Create a parameter configuration table and build it into the heading and attitude system;

[0029] The parameter configuration table includes an IMU parameter configuration matrix M0 corresponding to the factory default installation direction of the attitude system, and the actual installation directions, parameter configuration instructions, parameter values ​​of the attitude system installation directions and coordinate conversion matrices of the remaining attitude systems corresponding to each other;

[0030] Step 2: Parameter configuration;

[0031] According to the current installation direction, the corresponding parameter configuration instructions are input to the attitude system. The attitude system traverses and reads the parameter values ​​of the installation direction of the attitude system stored in the parameter configuration table according to the received parameter configuration instructions, calls the corresponding coordinate transformation matrix, calculates the product of the coordinate transformation matrix and the IMU parameter configuration matrix M0, obtains the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the calculated IMU parameter configuration matrix of the current installation direction and then outputs them to realize the IMU parameter configuration of the attitude system.

[0032] Furthermore, step 1 is specifically as follows:

[0033] Step 1.1: Construct the parameter configuration matrix M0 corresponding to the factory default installation orientation of the heading attitude system;

[0034] Step 1.2: Establish a one-to-one correspondence between the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the installation direction of the attitude and heading system, and the coordinate transformation matrix:

[0035] The arrow on the heading and attitude system points forward, the corresponding parameter configuration instruction is the first instruction, the parameter value of the heading and attitude system installation direction is A, and the coordinate conversion matrix is ​​empty;

[0036] The arrow on the heading system points backward, the corresponding parameter configuration instruction is the second instruction, the parameter value of the heading system installation direction is B, and the coordinate conversion matrix is ​​M1;

[0037] The arrow on the attitude system points to the left, the corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the coordinate conversion matrix is ​​M2;

[0038] The arrow on the attitude system points to the right, the corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the coordinate conversion matrix is ​​M3;

[0039]

[0040] Step 1.3: Store the parameter configuration matrix M0, and store the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the installation direction of the attitude and heading system, and the coordinate conversion matrix one by one to construct a parameter configuration table, which is imported through the RS232 monitoring port of the attitude and heading system and stored in the memory of the attitude and heading system itself.

[0041] Furthermore, step 2 is specifically as follows:

[0042] Step 2.1: After the attitude system is installed in place and powered on, input the corresponding parameter configuration command to the attitude system according to the current installation direction. The attitude system traverses and reads the parameter values ​​of the attitude system installation direction stored in the parameter configuration table according to the received parameter configuration command, and determines whether the parameter value of the attitude system installation direction read is B. If so, go to step 2.5; if not, go to step 2.2;

[0043] Step 2.2: Determine whether the parameter value of the installation direction of the attitude and heading system read is C. If so, proceed to step 2.6; if not, proceed to step 2.3;

[0044] Step 2.3: Determine whether the parameter value of the installation direction of the attitude and heading system read is D. If so, proceed to step 2.7; if not, proceed to step 2.4;

[0045] Step 2.4: The parameter value of the attitude system installation direction read is A, indicating that the current attitude system installation direction is the factory default installation direction. There is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values.

[0046] Step 2.5: Call the coordinate transformation matrix M1 and calculate M1*M0. Use M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M1*M0 and then output them. This will realize the IMU parameter configuration of the attitude system and the process ends.

[0047] Step 2.6: Call the coordinate transformation matrix M2 and calculate M2*M0. Use M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M2*M0 and then output them. This will realize the IMU parameter configuration of the attitude system and the process ends.

[0048] Step 2.7 calls the coordinate transformation matrix M3 and calculates M3*M0. M3*M0 is used as the IMU parameter configuration matrix of the current installation direction. The collected IMU parameter values ​​are multiplied by the IMU parameter configuration matrix M3*M0 and then output. This will realize the IMU parameter configuration of the attitude system and the process ends.

[0049] The advantages of the present invention are:

[0050] After the attitude system is installed on the aircraft, the present invention first configures the corresponding attitude system installation reference direction parameters according to the attitude system installation direction, and then selects the corresponding conversion matrix according to the attitude system installation reference direction parameters to perform coordinate conversion on the original configuration matrix corresponding to the IMU parameters of the default installation direction of the attitude system, so as to obtain the IMU parameter configuration matrix of the current installation direction, and configures (corrects) the IMU parameter values ​​collected by the attitude system based on the IMU parameter configuration matrix of the current installation direction obtained by the coordinate conversion. In this way, when the attitude system is not installed in the factory default direction according to its own arrow direction, the IMU parameter configuration (correction) of the current attitude system installation direction can be performed by only typing the corresponding configuration instructions (first instruction, second instruction, third instruction or fourth instruction) through the RS232 monitoring port of the attitude system, so as to ensure that the attitude correctness and accuracy requirements can still be met after the installation direction is changed, and there is no need to return the attitude system to the factory for recalibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1It is a flow chart of inputting parameter configuration instructions according to the installation direction of the heading attitude system in the present invention.

[0052] Figure 2 It is a flow chart of the method for solving the IMU parameter configuration matrix of the installation direction of the heading attitude system in the present invention. DETAILED DESCRIPTION

[0053] When the attitude system is actually installed, there are four installation methods, namely, the arrow on the attitude system faces forward, backward, left and right during installation. Among them, when the arrow on the attitude system faces forward, it is the factory default installation direction of the attitude system, and there is no need to configure the IMU parameters (also called correction). The attitude system directly outputs the IMU parameter values ​​actually collected. As for the other three installation methods, since they are inconsistent with the factory default installation direction, the output correctness of the attitude system will be affected. Therefore, the present invention establishes a coordinate conversion relationship between the factory default installation direction and the actual installation direction, configures (corrects) the IMU parameter values ​​collected by the attitude system based on the coordinate conversion relationship, and then the attitude system outputs the configured (corrected) IMU parameters, which can overcome the adverse effects caused by the inconsistency between the actual installation direction of the attitude system and the factory default installation direction, and there is no need to return the attitude system to the factory for recalibration.

[0054] The following is combined with Figure 1-2 The present invention is further described in detail.

[0055] Embodiment 1:

[0056] The method for configuring the IMU parameters of the reference direction of the attitude and heading system provided by the present invention comprises the following steps:

[0057] Step 1: Create a parameter configuration table and embed it into the heading and attitude system;

[0058] First, construct an IMU parameter configuration matrix M0. After multiplying the IMU parameter values ​​collected when the attitude and heading system is installed in the factory default installation direction, the IMU parameter configuration matrix M0 has no effect on the IMU parameter values. The IMU parameter configuration matrix M0 can be used as the basis for calculating the IMU parameter configuration matrix under the other three installation methods. The IMU parameter configuration matrix M0 can be obtained by performing coordinate transformation on the IMU parameter configuration matrix M0. Specifically,

[0059] Then, a one-to-one correspondence is established between the actual installation direction of the attitude and heading system, the parameter configuration instructions, the parameter values ​​of the attitude and heading system installation direction, and the IMU parameter configuration matrix:

[0060] 1) When the arrow on the heading and attitude system points forward, that is, the arrow points to the nose of the carrier aircraft (consistent with the direction of the nose of the carrier aircraft), the corresponding parameter configuration instruction is the first instruction, the parameter value of the heading and attitude system installation direction is A, and the IMU parameter configuration matrix is ​​M0;

[0061] 2) When the arrow on the attitude system points backward, that is, the arrow is facing away from the nose of the carrier aircraft (opposite to the direction of the nose of the carrier aircraft), the corresponding parameter configuration instruction is the second instruction, the parameter value of the attitude system installation direction is B, and the IMU parameter configuration matrix is ​​M1*M0;

[0062] 3) The arrow on the attitude system points to the left, that is, the arrow points to the left side of the aircraft nose (the aircraft nose is taken as the front reference direction, and the arrow direction is 270° with the aircraft nose). The corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the IMU parameter configuration matrix is ​​M2*M0;

[0063] 4) The arrow on the attitude system points to the right, that is, the arrow points to the right side of the aircraft nose (with the aircraft nose as the reference direction, and at a 90° angle to the aircraft nose). The corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the IMU parameter configuration matrix is ​​M3*M0;

[0064] The above-mentioned IMU parameter configuration matrices M1*M0, M2*M0 and M3*M0 are used to correct the IMU parameter values ​​collected when the heading attitude system is installed in a non-factory default orientation; among them,

[0065] Exemplarily, the first instruction, the second instruction, the third instruction and the fourth instruction mentioned above are respectively $21,1 instruction, $21,2 instruction, $21,3 instruction and $21,4 instruction, and A, B, C, D are 0, 2, 4, 8 respectively.

[0066] Finally, the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and IMU parameter configuration matrix are stored one by one, constructed into a parameter configuration table and imported through the RS232 monitoring port of the attitude and heading system and stored in the memory of the attitude and heading system itself.

[0067] Step 2: Based on the parameter configuration table established in step 1 and the parameter configuration instructions input into the attitude and heading system, the IMU parameter configuration matrix of the current installation direction of the attitude and heading system is solved, and the IMU parameter values ​​are configured (corrected) according to the solved IMU parameter configuration matrix;

[0068] The specific method is as follows:

[0069] First, after the attitude and navigation system is installed in place and powered on, the corresponding parameter configuration instructions are input to the attitude and navigation system according to the current installation direction. The attitude and navigation system traverses and reads the parameter values ​​of the attitude and navigation system installation direction stored in the parameter configuration table according to the received parameter configuration instructions, and determines whether the parameter value of the attitude and navigation system installation direction read is B.

[0070] If it is B, the attitude system calls the IMU parameter configuration matrix M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter value with the IMU parameter configuration matrix M1*M0 and then outputs it, so as to realize the IMU parameter configuration (correction) of the attitude system;

[0071] If it is not B, then determine whether the value of the attitude system installation direction parameter read is C.

[0072] If it is C, the attitude system calls the IMU parameter configuration matrix M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter value with the IMU parameter configuration matrix M2*M0 and then outputs it, so as to realize the IMU parameter configuration (correction) of the attitude system;

[0073] If it is not C, then determine whether the read attitude system installation direction parameter is D.

[0074] If it is D, the attitude system calls the IMU parameter configuration matrix M3*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the IMU parameter configuration matrix M3*M0 and then outputs them, so that the IMU parameter configuration (correction) of the attitude system can be realized;

[0075] If it is not D, the attitude system installation direction parameter read is A, indicating that the current attitude system installation direction is the factory default installation direction, and there is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values.

[0076] The above reading, judging and calling can be realized by writing corresponding programs by using existing known methods and loading them into the heading attitude system, and the heading attitude system executes these programs.

[0077] Embodiment 2:

[0078] The method for configuring the IMU parameters of the reference direction of the attitude and heading system provided in this embodiment includes the following steps:

[0079] Step 1: Create a parameter configuration table and build it into the heading and attitude system;

[0080] First, construct an IMU parameter configuration matrix M0. After multiplying the IMU parameter values ​​collected when the attitude and heading system is installed in the factory default installation direction, the IMU parameter configuration matrix M0 has no effect on the IMU parameter values. The IMU parameter configuration matrix M0 can be used as the basis for calculating the IMU parameter configuration matrix under the other three installation methods. The IMU parameter configuration matrix M0 can be obtained by performing coordinate transformation on the IMU parameter configuration matrix M0. Specifically,

[0081] Then, establish a one-to-one correspondence between the actual installation direction of the remaining three attitude and heading systems, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and coordinate transformation matrices:

[0082] 1) When the arrow on the attitude system points forward, that is, the arrow points to the nose of the carrier aircraft (consistent with the direction of the nose of the carrier aircraft), the corresponding parameter configuration instruction is the first instruction, the parameter value of the attitude system installation direction is A, and the coordinate transformation matrix is ​​empty (indicating that no coordinate transformation is required in this case);

[0083] 2) When the arrow on the attitude system points backward, that is, the arrow is facing away from the nose of the carrier aircraft (opposite to the direction of the nose of the carrier aircraft), the corresponding parameter configuration instruction is the second instruction, the parameter value of the attitude system installation direction is B, and the coordinate conversion matrix is ​​M1;

[0084] 3) The arrow on the attitude system points to the left, that is, the arrow points to the left side of the aircraft nose (the aircraft nose is taken as the front reference direction, and the arrow direction is 270° with the aircraft nose). The corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the coordinate conversion matrix is ​​M2;

[0085] 4) The arrow on the attitude system points to the right, that is, the arrow points to the right side of the aircraft nose (with the aircraft nose as the reference direction, and at a 90° angle to the aircraft nose). The corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the coordinate conversion matrix is ​​M3;

[0086] The above-mentioned coordinate transformation matrices M1, M2 and M3 are used to calculate the corresponding IMU parameter configuration matrix when the heading attitude system is installed in a non-factory default orientation; wherein,

[0087] Exemplarily, the first instruction, the second instruction, the third instruction and the fourth instruction mentioned above are respectively $21,1 instruction, $21,2 instruction, $21,3 instruction and $21,4 instruction, and A, B, C, D are 0, 2, 4, 8 respectively.

[0088] Finally, the IMU parameter configuration matrix M0, the actual installation directions of the other three attitude systems, parameter configuration instructions, parameter values ​​of the attitude system installation directions, and the coordinate transformation matrix are stored one by one, constructed into a parameter configuration table and imported through the RS232 monitoring port of the attitude system and stored in the memory of the attitude system itself.

[0089] Step 2: Based on the parameter configuration table established in step 1 and the parameter configuration instructions input into the attitude and heading system, the IMU parameter configuration matrix of the current installation direction of the attitude and heading system is solved, and the IMU parameter values ​​are configured (corrected) according to the solved IMU parameter configuration matrix;

[0090] The specific method is as follows:

[0091] First, after the attitude and navigation system is installed in place and powered on, the corresponding parameter configuration instructions are input to the attitude and navigation system according to the current installation direction. The attitude and navigation system traverses and reads the parameter values ​​of the attitude and navigation system installation direction stored in the parameter configuration table according to the received parameter configuration instructions, and determines whether the parameter value of the attitude and navigation system installation direction read is B.

[0092] If it is B, the heading and attitude system calls the coordinate transformation matrix M1, and calculates M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the IMU parameter configuration matrix M1*M0 and then outputs it, so as to realize the IMU parameter configuration (correction) of the heading and attitude system;

[0093] If it is not B, then determine whether the value of the attitude system installation direction parameter read is C.

[0094] If it is C, the heading and attitude system calls the coordinate transformation matrix M2, and calculates M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the IMU parameter configuration matrix M2*M0 and then outputs it, so as to realize the IMU parameter configuration (correction) of the heading and attitude system;

[0095] If it is not C, then determine whether the read attitude system installation direction parameter is D.

[0096] If it is D, the attitude system calls the coordinate conversion matrix M3, and calculates M3*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter value with the IMU parameter configuration matrix M3*M0 and then outputs it, so as to realize the IMU parameter configuration (correction) of the attitude system;

[0097] If it is not D, the attitude system installation direction parameter read is A, indicating that the current attitude system installation direction is the factory default installation direction, and there is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values.

[0098] The above reading, judging and calling can be realized by writing corresponding programs by using existing known methods and loading them into the heading attitude system, and the heading attitude system executes these programs.

Claims

1. A method for configuring IMU parameters for installation reference direction of an attitude and heading system, characterized in that: The following steps are involved: Step 1: Create a parameter configuration table and build it into the heading and attitude system; The parameter configuration table includes a one-to-one correspondence of the actual installation direction of the attitude system, parameter configuration instructions, parameter values ​​of the attitude system installation direction, and an IMU parameter configuration matrix; in the IMU parameter configuration matrix, the IMU parameter configuration matrix corresponding to the factory default direction of the attitude system is used to calculate the IMU parameter configuration matrix of the remaining installation directions, and the IMU parameter configuration matrix of the remaining installation directions is used to correct the IMU parameters collected by the attitude system; Step 2: Parameter configuration; According to the current installation direction, the corresponding parameter configuration instructions are input to the heading attitude system. The heading attitude system traverses and reads the parameter values ​​of the heading attitude system installation direction stored in the parameter configuration table according to the received parameter configuration instructions, calls the corresponding IMU parameter configuration matrix, and multiplies the collected IMU parameter values ​​with the called IMU parameter configuration matrix before outputting it to realize the IMU parameter configuration of the heading attitude system.

2. The method for configuring the IMU parameters of the attitude and heading system installation reference direction according to claim 1, characterized in that: Step 1 is as follows: Step 1.1: Construct the parameter configuration matrix M0 corresponding to the factory default installation orientation of the heading attitude system; Step 1.2: Establish a one-to-one correspondence between the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and the IMU parameter configuration matrix: The arrow on the attitude system points forward, the corresponding parameter configuration instruction is the first instruction, the parameter value of the attitude system installation direction is A, and the IMU parameter configuration matrix is ​​M0; The arrow on the attitude system is facing backward, the corresponding parameter configuration instruction is the second instruction, the parameter value of the attitude system installation direction is B, and the IMU parameter conversion matrix is ​​M1*M0; The arrow on the attitude system points to the left, the corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the IMU parameter conversion matrix is ​​M2*M0; The arrow on the attitude system points to the right, the corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the IMU parameter conversion matrix is ​​M3*M0; Step 1.3: Store the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the attitude and heading system installation direction, and the IMU parameter conversion matrix in a one-to-one correspondence, build a parameter configuration table, and import it through the RS232 monitoring port of the attitude and heading system and store it in the memory of the attitude and heading system itself.

3. The method for configuring the IMU parameters of the installation reference direction of the attitude and heading system according to claim 2, characterized in that: Step 2 is as follows: Step 2.1: After the attitude system is installed in place and powered on, input the corresponding parameter configuration command to the attitude system according to the current installation direction. The attitude system traverses and reads the parameter values ​​of the attitude system installation direction stored in the parameter configuration table according to the received parameter configuration command, and determines whether the parameter value of the attitude system installation direction read is B. If so, go to step 2.5; if not, go to step 2.2; Step 2.2: Determine whether the parameter value of the installation direction of the attitude and heading system read is C. If so, proceed to step 2.6; if not, proceed to step 2.3; Step 2.3: Determine whether the parameter value of the installation direction of the attitude and heading system read is D. If so, proceed to step 2.7; if not, proceed to step 2.4; Step 2.4: The parameter value of the attitude system installation direction read is A, indicating that the current attitude system installation direction is the factory default installation direction. There is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values. Step 2.5: Call the IMU parameter matrix M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M1*M0 and then output them, so as to realize the IMU parameter configuration of the attitude system, and the process ends; Step 2.6: Call the IMU parameter matrix M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M2*M0 and then output them, so as to realize the IMU parameter configuration of the attitude system, and the process ends; Step 2.7 calls the IMU parameter matrix M3*M0 as the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the IMU parameter configuration matrix M3*M0 and then outputs them to realize the IMU parameter configuration of the attitude system, and the process ends.

4. A method for configuring IMU parameters for the reference direction of the attitude system installation, characterized in that: The following steps are involved: Step 1: Create a parameter configuration table and build it into the heading and attitude system; The parameter configuration table includes an IMU parameter configuration matrix M0 corresponding to the factory default installation direction of the attitude system, and the actual installation directions, parameter configuration instructions, parameter values ​​of the attitude system installation directions and coordinate conversion matrices of the remaining attitude systems corresponding to each other; Step 2: Parameter configuration; According to the current installation direction, the corresponding parameter configuration instructions are input to the attitude system. The attitude system traverses and reads the parameter values ​​of the installation direction of the attitude system stored in the parameter configuration table according to the received parameter configuration instructions, calls the corresponding coordinate transformation matrix, calculates the product of the coordinate transformation matrix and the IMU parameter configuration matrix M0, obtains the IMU parameter configuration matrix of the current installation direction, and multiplies the collected IMU parameter values ​​with the calculated IMU parameter configuration matrix of the current installation direction and then outputs them to realize the IMU parameter configuration of the attitude system.

5. The method for configuring the IMU parameters of the installation reference direction of the attitude and heading system according to claim 4, characterized in that: Step 1 is as follows: Step 1.1: Construct the parameter configuration matrix M0 corresponding to the factory default installation orientation of the heading attitude system; Step 1.2: Establish a one-to-one correspondence between the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the installation direction of the attitude and heading system, and the coordinate transformation matrix: The arrow on the heading and attitude system points forward, the corresponding parameter configuration instruction is the first instruction, the parameter value of the heading and attitude system installation direction is A, and the coordinate conversion matrix is ​​empty; The arrow on the heading system points backward, the corresponding parameter configuration instruction is the second instruction, the parameter value of the heading system installation direction is B, and the coordinate conversion matrix is ​​M1; The arrow on the attitude system points to the left, the corresponding parameter configuration instruction is the third instruction, the parameter value of the attitude system installation direction is C, and the coordinate conversion matrix is ​​M2; The arrow on the attitude system points to the right, the corresponding parameter configuration instruction is the fourth instruction, the parameter value of the attitude system installation direction is D, and the coordinate conversion matrix is ​​M3; Step 1.3: Store the parameter configuration matrix M0, and store the actual installation direction of the attitude and heading system, parameter configuration instructions, parameter values ​​of the installation direction of the attitude and heading system, and the coordinate conversion matrix one by one to construct a parameter configuration table, which is imported through the RS232 monitoring port of the attitude and heading system and stored in the memory of the attitude and heading system itself.

6. The method for configuring the IMU parameters of the installation reference direction of the attitude and heading system according to claim 5, characterized in that: Step 2 is as follows: Step 2.1: After the attitude system is installed in place and powered on, input the corresponding parameter configuration command to the attitude system according to the current installation direction. The attitude system traverses and reads the parameter values ​​of the attitude system installation direction stored in the parameter configuration table according to the received parameter configuration command, and determines whether the parameter value of the attitude system installation direction read is B. If so, go to step 2.5; if not, go to step 2.2; Step 2.2: Determine whether the parameter value of the installation direction of the attitude and heading system read is C. If so, proceed to step 2.6; if not, proceed to step 2.3; Step 2.3: Determine whether the parameter value of the installation direction of the attitude and heading system read is D. If so, proceed to step 2.7; if not, proceed to step 2.4; Step 2.4: The parameter value of the attitude system installation direction read is A, indicating that the current attitude system installation direction is the factory default installation direction. There is no need to configure the IMU parameters. The attitude system directly outputs the collected IMU parameter values. Step 2.5: Call the coordinate transformation matrix M1 and calculate M1*M0. Use M1*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M1*M0 and then output them. This will realize the IMU parameter configuration of the attitude system and the process ends. Step 2.6: Call the coordinate transformation matrix M2 and calculate M2*M0. Use M2*M0 as the IMU parameter configuration matrix of the current installation direction, and multiply the collected IMU parameter values ​​with the IMU parameter configuration matrix M2*M0 and then output them. This will realize the IMU parameter configuration of the attitude system and the process ends. Step 2.7 calls the coordinate transformation matrix M3 and calculates M3*M0. M3*M0 is used as the IMU parameter configuration matrix of the current installation direction. The collected IMU parameter values ​​are multiplied by the IMU parameter configuration matrix M3*M0 and then output. This will realize the IMU parameter configuration of the attitude system and the process ends.

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