Automatic inertial measurement unit data analysis system and method based on matlab GUI

Abstract

The invention relates to the technical field of inertial device testing, and discloses a matlab GUI-based inertial measurement unit data automatic analysis system and method. The system takes a matlab language and matlab gui as tools under windows, can realize quick and specialized analysis processing on data of the imu inertial navigation system only by selecting data and inputting key parameters, visually presents an analysis result and automatically generates an analysis report document in a doc format. The working capacity of vibration big data analysis is reduced, and the data analysis efficiency is improved; the precision vibration data analysis and processing difficulty of the inertial measurement unit is reduced; the universality is high, and the requirement for the professional ability of operators is relatively low.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial device testing, and in particular to an automatic analysis system and method of inertial group data based on matlab GUI. Background Art

[0002] During the assembly and debugging of inertial group products, in order to ensure the accuracy and stability of the products, it is necessary to conduct long-term and multiple data collection and calculations on multiple sets of inertial groups.

[0003] In the existing inertial navigation group test process, testers need to spend a lot of time and energy to repeatedly fill in the inertial navigation group data information, manually modify the inertial navigation group data information to the test program, and manually calculate, integrate and record the output navigation data, which requires certain professional theoretical formula derivation and code writing capabilities. In actual test analysis, there are problems such as complicated operations, easy errors, and low efficiency in navigation data recording and analysis. Summary of the invention

[0004] The present invention provides a matlab GUI-based inertial group data automatic analysis system and method, so as to solve the problems of complicated inertial group data operation, low accuracy and low efficiency in the inertial group product assembly and debugging process in the prior art.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention provides an automatic analysis system for inertial group data based on matlab GUI, comprising:

[0007] Data configuration module, used to obtain the status and position information of the inertial measurement unit in real time and import the precision vibration data of the inertial measurement unit;

[0008] A data calculation module, used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and analyze the instantaneous angular velocity time domain and frequency spectrum to obtain analysis results;

[0009] The analysis result display module is used to output and display the analysis result.

[0010] Optionally, the analysis results include navigation error and dynamic deformation values, instantaneous angular velocity images and vibration spectrum analysis images obtained by a visualization chart drawing module, and a doc report document output by a data analysis report generation module.

[0011] Optionally, the data configuration module includes:

[0012] A calculation parameter configuration module is used for the operator to input the position and time information of the inertial measurement unit;

[0013] The fine vibration data import module is used for the operator to select the data axis type and import the product fine vibration data, which includes three columns of gyro angle increments, three columns of gyro instantaneous angular velocities, and three columns of velocity increments.

[0014] Optionally, the product precision vibration data is imported into the program through the importdata() function and the fscanf() function.

[0015] Optionally, the data calculation module includes:

[0016] The navigation error analysis module is used to perform position calculation based on the state and position information of the inertial measurement unit collected by the inertial measurement unit, combined with the position data of the inertial measurement unit, and output the axial position errors of the inertial group equipment in the east, north and celestial directions respectively;

[0017] A dynamic deformation analysis module is used to perform attitude calculation based on the fine vibration data and output error values ​​of three attitude angles of the active segment and the reentry segment;

[0018] The instantaneous angular velocity and spectrum analysis module is used to perform velocity calculation and frequency domain characteristic analysis on the fine vibration data, and output instantaneous angular velocity and spectrum analysis values.

[0019] Optionally, the position calculation satisfies the following relationship:

[0020]

[0021] Where L is the latitude of the refined vibration data, λ is the longitude of the refined vibration data, and h is the height of the refined vibration data. represents the time differential of the latitude error, Represents the time differential of the longitude error, R M R is the radius of curvature of the Earth's meridian at the location. N is the radius of curvature of the Earth's circumference at the location, They represent the velocities of the inertial measurement unit in the north, east and sky directions in the navigation coordinate system respectively, and δ represents the time differential.

[0022] The speed calculation satisfies the following relationship:

[0023]

[0024] Among them, v n is the velocity of the inertial measurement unit in the navigation coordinate system, δv n represents the time differential of the velocity error, represents the projection of the specific force measured by the inertial measurement unit accelerometer in the navigation coordinate system, is the Earth's rotation angular velocity, is the angular velocity of the navigation coordinate system relative to the inertial coordinate system.

[0025] Optionally, the analysis result display module includes:

[0026] An interface display module is used to display the axial position errors in the east, north and celestial directions, and the extreme values ​​of the three attitude angles in the active phase and the reentry phase;

[0027] Visual chart drawing module, used to draw the change of instantaneous angular velocity over time and spectrum analysis diagram through curve graph;

[0028] The data report generation module is used to generate report documents according to the actual test process and complete the format setting; use the completed document as a template, add the completed document to the preset resource file to form a template file; release the template file to the specified working directory and generate a specified empty document; read the test data to be analyzed and processed, and fill the data analysis results into the specified empty document; save the document to complete the automatic generation of the inertial group data report.

[0029] In a second aspect, the present application provides a method for the system described in the first aspect, comprising:

[0030] The data configuration module is used to obtain the status and position information of the inertial measurement unit in real time, and the precision vibration data of the inertial measurement unit is imported;

[0031] A data calculation module is used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and to analyze the instantaneous angular velocity time domain and frequency spectrum to obtain an analysis result;

[0032] An analysis result display module is used to output and display the analysis result.

[0033] Beneficial effects:

[0034] This application provides an automatic analysis system for inertial group data based on MATLAB GUI. Under Windows, using MATLAB language and MATLAB GUI as tools, only data needs to be selected and key parameters input to realize fast and professional analysis and processing of the data of the IMU inertial navigation system, and the analysis results are presented visually, and the analysis report document in doc format is automatically generated. It reduces the workload of vibration big data analysis and improves data analysis efficiency; reduces the difficulty of precision vibration data analysis and processing of inertial measurement units; has strong versatility and relatively low requirements on the professional ability of operators.

[0035] In a further technical solution, the analysis results are automatically exported as doc report documents to simplify the workflow;

[0036] In a further technical solution, the system can be encapsulated into an independently running program by utilizing the encapsulation function of MATLAB, and can be used in other computers where MATLAB is not installed, thus having high versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A module block diagram of an automatic analysis system for inertial group data based on matlab GUI according to a preferred embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a data configuration module in a preferred embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of an inertial group result display module of a preferred embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a visualization diagram of a preferred embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a data report generated in a preferred embodiment of the present invention;

[0042] Figure 6 The present invention is a flowchart of an automatic analysis method of inertial group data based on matlab GUI according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is described clearly and completely below. 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.

[0044] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0045] It should be understood that this application configures the corresponding parameters in the form of matlab GUI under Windows, which can realize the rapid construction of the vibration characteristic analysis model of the inertial group, realize the inertial group state analysis with one click and present the analysis results visually, and automatically generate the analysis report document in doc format. A more convenient and easy-to-use related program has been built, which is more intuitive than the traditional inertial group test method, simplifies the use of testers, and enables inertial group R&D personnel and production line workers to quickly make more accurate judgments on the inertial group state through the information provided.

[0046] Matlab GUI is a visual interactive tool for Matlab users. Using the operation interface generated by GUI, users can operate without browsing tedious codes. Matlab GUI can be compiled into an independent .exe file, and testers can run the program without installing Matlab software with huge memory.

[0047] In order to improve at least one defect of the prior art, the present invention provides an automatic analysis method for IMU inertial navigation system data based on MATLAB GUI. Under Windows, using MATLAB language and MATLAB GUI as tools, the method only needs to select data and input key parameters to realize fast and professional analysis and processing of the data of the IMU inertial navigation system, and visualize the analysis results, and automatically generate an analysis report document in doc format.

[0048] See also Figure 1 The present application provides an automatic analysis system for inertial group data based on matlab GUI, comprising:

[0049] Data configuration module, used to obtain the status and position information of the inertial measurement unit in real time and import the precision vibration data of the inertial measurement unit;

[0050] A data calculation module, used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and analyze the instantaneous angular velocity time domain and frequency spectrum to obtain analysis results;

[0051] The analysis result display module is used to output and display the analysis result.

[0052] The above-mentioned automatic analysis system of inertial group data based on MATLAB GUI, under Windows, uses MATLAB language and MATLAB GUI as tools. It only needs to select data and input key parameters to realize fast and professional analysis and processing of the data of the IMU inertial navigation system, and visualize the analysis results, and automatically generate analysis report documents in doc format. It has achieved the reduction of the workload of vibration big data analysis and improved the efficiency of data analysis; it has reduced the difficulty of fine vibration data analysis and processing of inertial measurement unit; it has strong versatility and relatively low requirements on the professional ability of operators.

[0053] Among them, Figure 2 As shown, the data configuration module includes a calculation parameter configuration module and a precision vibration data import module. The calculation parameter configuration module is used for the operator to input the position and time information of the inertial measurement unit imu. The precision vibration parameter import module is used for the operator to select the data axial type and import the product precision vibration data, and the product precision vibration data includes three columns of gyro angle increments, three columns of gyro instantaneous angular velocities, and three columns of velocity increments. The precision vibration data is imported into the program through the importdata() function and the fscanf() function.

[0054] The data calculation module includes a navigation error analysis module, a dynamic deformation analysis module, and an instantaneous angular velocity and spectrum analysis module. The navigation error analysis module performs position solution based on the precise vibration data collected by the inertial measurement unit imu, namely the gyroscope and acceleration information, combined with the location data of the inertial measurement unit imu, namely the accuracy, latitude, and altitude, and outputs the axial position error of the inertial group equipment in the east, north, and celestial directions respectively. The dynamic deformation analysis module performs attitude solution based on the precise vibration data collected by the inertial measurement unit imu, namely the gyroscope and acceleration information, and outputs the error values ​​of the three attitude angles of the active segment and the reentry segment. The instantaneous angular velocity and spectrum analysis module performs velocity solution and frequency domain characteristic analysis based on the precise vibration data collected by the inertial measurement unit imu, and outputs the instantaneous angular velocity and spectrum analysis values.

[0055] The solution algorithm is described in detail as follows:

[0056] The position error equation is:

[0057]

[0058] Where L is the latitude of the refined vibration data, λ is the longitude of the refined vibration data, and h is the height of the refined vibration data. represents the time differential of the latitude error, Represents the time differential of the longitude error, R M R is the radius of curvature of the Earth's meridian at the location. N is the radius of curvature of the Earth's circumference at the location, They represent the velocities of the inertial measurement unit in the north, east and sky directions in the navigation coordinate system respectively, and δ represents the time differential.

[0059] The speed calculation satisfies the following relationship:

[0060]

[0061] Among them, v n is the velocity of the inertial measurement unit in the navigation coordinate system, δv n represents the time differential of the velocity error, represents the projection of the specific force measured by the inertial measurement unit accelerometer in the navigation coordinate system, is the Earth's rotation angular velocity, is the angular velocity of the navigation coordinate system relative to the inertial coordinate system.

[0062] like Figure 3 As shown in the figure, the IMU result display module includes an interface display module, a visualization chart drawing module, and a data report generation module. The interface display module collects the above-mentioned axial position errors in the east, north, and celestial directions, and the extreme values ​​of the three attitude angles in the active phase and the reentry phase, and displays them in the interface. Figure 4 As shown, the visualization chart drawing module draws the instantaneous angular velocity changes over time and the spectrum analysis diagram through a curve graph, and the horizontal coordinate of the instantaneous angular velocity is: time (s), and the vertical coordinate is: angular velocity (degree / s). The horizontal coordinate of the instantaneous angular velocity spectrum analysis diagram is: frequency (Hz), and the vertical coordinate is: angular velocity (degree / s). Figure 5 As shown, the data report generation module prepares the report document according to the actual test process and completes the format setting; uses the completed document as a template and adds the completed document to the preset resource file to form a template file; releases the template file to the specified working directory, generates a specified empty document; reads the test data to be analyzed and processed, and fills the data analysis results into the specified empty document; saves the document to complete the automatic generation of the inertial group data report.

[0063] like Figure 6 As shown, the embodiment of the present application also provides a method for the above-mentioned matlab GUI-based inertial group data automatic analysis system, including:

[0064] The data configuration module is used to obtain the status and position information of the inertial measurement unit in real time, and the precision vibration data of the inertial measurement unit is imported;

[0065] A data calculation module is used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and to analyze the instantaneous angular velocity time domain and frequency spectrum to obtain an analysis result;

[0066] An analysis result display module is used to output and display the analysis result.

[0067] This method can implement the various embodiments of the above-mentioned MATLAB GUI-based inertial group data automatic analysis system and achieve the same beneficial effects, which will not be described in detail here.

[0068] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An automatic analysis system of inertial group data based on matlab GUI, characterized in that: include: Data configuration module, used to obtain the status and position information of the inertial measurement unit in real time and import the precision vibration data of the inertial measurement unit; A data calculation module, used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and analyze the instantaneous angular velocity time domain and frequency spectrum to obtain analysis results; The analysis result display module is used to output and display the analysis result.

2. The automatic analysis system of inertial group data based on matlab GUI according to claim 1 is characterized in that: The analysis results include navigation error and dynamic deformation values, instantaneous angular velocity images and vibration spectrum analysis images obtained by a visual chart drawing module, and a doc report document output by a data analysis report generation module.

3. The automatic analysis system of inertial group data based on matlab GUI according to claim 1 is characterized in that: The data configuration module includes: A calculation parameter configuration module is used for the operator to input the position and time information of the inertial measurement unit; The fine vibration data import module is used for the operator to select the data axis type and import the product fine vibration data, which includes three columns of gyro angle increments, three columns of gyro instantaneous angular velocities, and three columns of velocity increments.

4. The automatic analysis system of inertial group data based on matlab GUI according to claim 3 is characterized in that: The product precision vibration data is imported into the program through the importdata() function and the fscanf() function.

5. The automatic analysis system of inertial group data based on matlab GUI according to claim 1 is characterized in that: The data calculation module includes: The navigation error analysis module is used to perform position calculation based on the state and position information of the inertial measurement unit collected by the inertial measurement unit, combined with the position data of the inertial measurement unit, and output the axial position errors of the inertial group equipment in the east, north and celestial directions respectively; A dynamic deformation analysis module is used to perform attitude calculation based on the fine vibration data and output error values ​​of three attitude angles of the active segment and the reentry segment; The instantaneous angular velocity and spectrum analysis module is used to perform velocity calculation and frequency domain characteristic analysis on the fine vibration data, and output instantaneous angular velocity and spectrum analysis values.

6. The automatic analysis system of inertial group data based on matlab GUI according to claim 5 is characterized in that: The position calculation satisfies the following relationship: Where L is the latitude of the refined vibration data, λ is the longitude of the refined vibration data, and h is the height of the refined vibration data. represents the time differential of the latitude error, Represents the time differential of the longitude error, R M R is the radius of curvature of the Earth's meridian at the location. N is the radius of curvature of the Earth's circumference at the location, They represent the speed of the inertial measurement unit in the north, east and sky directions in the navigation coordinate system, and δ represents the time differential; The speed calculation satisfies the following relationship: Among them, v n is the velocity of the inertial measurement unit in the navigation coordinate system, δv n represents the time derivative of the velocity error, represents the projection of the specific force measured by the inertial measurement unit accelerometer in the navigation coordinate system, is the Earth's rotation angular velocity, is the angular velocity of the navigation coordinate system relative to the inertial coordinate system.

7. The automatic analysis system of inertial group data based on matlab GUI according to claim 5 is characterized in that: The analysis result display module includes: An interface display module is used to display the axial position errors in the east, north and celestial directions, and the extreme values ​​of the three attitude angles in the active phase and the reentry phase; Visual chart drawing module, used to draw the change of instantaneous angular velocity over time and spectrum analysis diagram through curve graph; The data report generation module is used to generate report documents according to the actual test process and complete the format setting; use the completed document as a template, add the completed document to the preset resource file to form a template file; release the template file to the specified working directory and generate a specified empty document; read the test data to be analyzed and processed, and fill the data analysis results into the specified empty document; save the document to complete the automatic generation of the inertial group data report.

8. A method for the above-mentioned automatic analysis system of inertial group data based on matlab GUI, characterized in that: include: The data configuration module is used to obtain the status and position information of the inertial measurement unit in real time, and the precision vibration data of the inertial measurement unit is imported; A data calculation module is used to calculate the navigation position error and dynamic deformation according to the state and position information and the fine vibration data, and to analyze the instantaneous angular velocity time domain and frequency spectrum to obtain an analysis result; An analysis result display module is used to output and display the analysis result.

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