Dynamic attitude navigation error evaluation method and system for rotary inertial system

Abstract

The invention discloses a method and a system for evaluating dynamic attitude navigation errors of a rotary inertial system. The method comprises the following steps: synchronously acquiring a position turntable ring frame angle signal and an inertial output signal of the rotary inertial system; according to a frame angle signal and a gyroscope output signal of the rotary inertial system, obtaining an attitude matrix of a shell of the rotary inertial system relative to a navigation system by adopting a navigation solution method; obtaining a reference attitude matrix of the inertial system mounting surface relative to the navigation system according to the mounting direction of the position turntable and the annular frame angle signal; performing direction cosine method resolving according to the inertial system shell and mounting surface reference attitude matrix signals to obtain an attitude error matrix; and obtaining the attitude navigation error angle of the inertial system according to the relationship between the attitude error angle and the direction cosine matrix. The method can be applied to dynamic attitude navigation precision evaluation of the rotary inertial system, and has relatively high applicability and accuracy.

Description

Technical Field

[0001] The invention relates to a method and a system for evaluating a dynamic attitude navigation error of a rotating inertial system, and belongs to the technical field of inertial navigation. Background Art

[0002] The rotating inertial system is an inertial instrument installed on a platform with a rotating mechanism. It is a precision optomechanical product, consisting of a stabilization system, an acceleration measurement system, an angular velocity measurement system, a frame angle measurement system, a power supply system, a self-monitoring system, a platform control system, etc. In recent years, with the development of inertial navigation technology, new requirements for high-precision and long-flight inertial systems have been put forward, and the application of rotating inertial systems has become more and more extensive.

[0003] The rotating inertial system adopts the strapdown solution method, which can solve the attitude of the base and the platform relative to the geographical system in real time during the movement. In order to evaluate the accuracy of the rotating inertial navigation attitude solution, the rotating inertial navigation is installed on the turntable, the motion attitude of the inertial navigation during the actual flight is simulated, and the rotating inertial navigation is strapdown-solved at the same time.

[0004] Usually, the pitch angle range of the motion trajectory of the inertial navigation system is between -90° and +90°. The intuitive Euler angle method can be used to directly calculate the three attitude angles of the inertial navigation, and compared with the reference attitude angle to evaluate the accuracy of the attitude solution. However, the rotating inertial navigation is in a rotation modulation state during the flight. The platform rotates 360° continuously around the rotation axis. The pitch angle of the inertial navigation platform varies between 0 and 360°, which exceeds the normal solution range of the Euler angle. In addition, when the attitude angle is close to the singular point, the Euler angle solution still has the problem of large errors. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a method and system for evaluating the dynamic attitude navigation error of a rotating inertial system, and to solve the problems of angular motion amplitude range limitation and attitude error calculation accuracy affected by the limited range of attitude representation by Euler angles and the existence of singular points.

[0006] The technical solution of the present invention is: a method for evaluating the dynamic attitude navigation error of a rotating inertial system, comprising:

[0007] Synchronously obtain the inertial output signal of the rotating inertial system and the angle signal of the position turntable ring frame;

[0008] According to the frame angle signal of the rotating inertial system and the output signal of the gyroscope, the direction cosine matrix of the rotating inertial system shell system relative to the navigation coordinate system is calculated;

[0009] According to the installation orientation of the position turntable and the angle signal of the ring frame, the reference direction cosine matrix of the inertial system installation surface relative to the navigation coordinate system is calculated;

[0010] According to the reference attitude matrix of the mounting surface when the position turntable is at zero position and the attitude matrix of the inertial system shell system obtained based on the self-alignment process, the installation error matrix from the inertial system shell to the mounting surface is calculated;

[0011] Direction cosine method is performed according to the direction cosine matrix, the installation error matrix and the reference direction cosine matrix to calculate the inertial system navigation attitude error angle.

[0012] Furthermore, the calculation of the direction cosine matrix of the rotating inertial system shell system relative to the navigation coordinate system includes:

[0013] Based on the navigation attitude differential equation of the fiber optic gyro inertial system, the direction cosine matrix from the inertial system body coordinate system p to the navigation coordinate system n is obtained by using the navigation solution method.

[0014] According to the frame angle signal of the inertial system, the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is obtained.

[0015] according to and Get the direction cosine matrix from the inertial system shell system b to the navigation coordinate system n The origin of the inertial system table coordinate system p is located at the geometric center of the inertial system table, and the x, y, and z axes are respectively along the directions of the X, Y, and Z gyro sensitive axes of the inertial system; the origin of the inertial system shell coordinate system b is located at the rotation center of the rotating inertial system, and the x, y, and z axes are respectively along the directions of the X, Y, and Z frame axes of the inertial system.

[0016] Furthermore, after the initial alignment of the inertial system with the stationary base, the direction cosine matrix is ​​obtained: The initial information of the inertial system is used to output the gyroscope signal according to the navigation attitude differential equation. Real-time update solution.

[0017] Furthermore, the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is The solution is:

[0018]

[0019] Among them, θ out ,θ in ,θ tab They are the frame angle signal of the outer ring axis, the frame angle signal of the inner ring axis, and the frame angle signal of the platform axis of the rotating inertial system respectively; for The transposed matrix of .

[0020] Furthermore, the reference direction cosine matrix of the inertial system installation surface relative to the navigation coordinate system includes:

[0021] According to the reference attitude angle signal of the mounting surface when the turntable ring frame is at zero position, the direction cosine matrix of the mounting surface at zero position relative to the navigation system is obtained.

[0022] According to the position turntable ring frame attitude angle signal, the coordinate transformation matrix of the position turntable installation surface at time t relative to the installation surface at zero position is obtained. Among them, θ y ,θ x ,θ z They are the attitude angle signals of the outer frame, middle frame and inner frame of the position turntable respectively;

[0023] According to the coordinate transformation matrix of the turntable installation surface at time t relative to the installation surface at zero position The direction cosine matrix of the navigation system relative to the zero-position mounting surface of the ring frame Get the direction cosine matrix of the turntable installation surface relative to the navigation system at time t This is the reference direction cosine matrix.

[0024] Further, the calculating of the installation error matrix from the inertial system housing to the installation surface includes:

[0025] According to the initial alignment result of the inertial navigation system, the direction cosine matrix of the inertial system shell system relative to the navigation system is obtained.

[0026] According to the direction cosine matrix of the turntable installation surface relative to the navigation system at the zero position and shell system direction cosine matrix Obtain the installation error matrix from the inertial system housing to the mounting surface

[0027] Furthermore, the inertial system navigation attitude error angle is in, represents the attitude error matrix of the calculated navigation system n1 deviating from the ideal navigation system n; The direction cosine matrix representing the position of the turntable mounting surface relative to the navigation system at time t; Represents the direction cosine matrix of the inertial system shell relative to the navigation system at time t; Represents the installation error matrix of the inertial system housing relative to the turntable mounting surface.

[0028] Furthermore, according to the relationship between the attitude error angle of the calculated navigation system n1 deviating from the ideal navigation system n and the direction cosine matrix, the attitude error matrix is: Among them, φ E ,φN ,φ U Respectively represent the attitude error angles in the east, north and sky directions;

[0029] According to the attitude error matrix, the attitude error angle is obtained as follows:

[0030]

[0031] Among them, C ij Respectively represent matrices The corresponding elements in .

[0032] A rotating inertial system dynamic attitude navigation error evaluation system, comprising a position turntable, a rotating inertial navigation, a rotating inertial navigation ground test system, a position turntable control cabinet and an electric control box;

[0033] The position turntable control cabinet is connected to the position turntable and is used to send control instructions to the position turntable and collect its test data; after receiving the control instructions, the position turntable rotates according to the specified angular position to simulate the angular motion environment of the aircraft;

[0034] The rotary inertial navigation system is mounted on a position turntable and generates a corresponding output signal under the excitation of the angular motion of the position turntable;

[0035] The rotating inertial navigation ground test system is connected to the rotating inertial navigation, and is used to collect the frame angle signal and gyroscope output signal of the rotating inertial navigation, and send the flip level signal to the electric control box;

[0036] The electric control box is connected with the position turntable and the rotating inertial navigation ground test system, receives the flip level signal transmitted from the rotating inertial navigation ground test system, and synchronously collects the position turntable and the rotating inertial navigation output signals according to the flip signal.

[0037] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a method for evaluating a dynamic attitude navigation error of a rotating inertial system are implemented.

[0038] The advantages of the present invention compared with the prior art are:

[0039] (1) The present invention overcomes the limitations of the attitude angle range and the inaccuracy of singular points when using Euler angles to describe the full-attitude motion of a carrier, and provides an attitude error evaluation method based on the direction cosine method, which converts the attitude angle description into the form of attitude error angle, thereby realizing attitude error analysis under 360-degree full-attitude motion conditions and improving the accuracy of attitude evaluation.

[0040] (2) The present invention evaluates the attitude solution accuracy by obtaining the error between the attitude solved by the rotating inertial navigation and the reference attitude angle, thereby providing a technical basis for evaluating the accuracy of the attitude solution of the rotating inertial navigation under the full angular motion range of the flight environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0042] Figure 1 It is a schematic diagram of the process of the present invention;

[0043] Figure 2 This is a schematic diagram of the attitude error calculation principle of the rotating inertial navigation base of the present invention;

[0044] Figure 3 Schematic diagram of the rotational inertial navigation attitude error evaluation system of the present invention. DETAILED DESCRIPTION

[0045] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0046] The following is a further detailed description of a method for evaluating a dynamic attitude navigation error of a rotating inertial system provided by an embodiment of the present invention in conjunction with the accompanying drawings. Figure 1 , the specific implementation methods may include:

[0047] Synchronously obtain the angle signal of the position turntable ring frame and the inertial output signal of the rotating inertial system;

[0048] According to the frame angle signal of the rotating inertial system and the output signal of the gyroscope, the direction cosine matrix of the rotating inertial system shell system relative to the navigation coordinate system is obtained by using the navigation solution method;

[0049] According to the installation orientation of the position turntable and the angle signal of the ring frame, the reference direction cosine matrix of the installation surface of the inertial system relative to the navigation coordinate system is obtained;

[0050] According to the reference attitude matrix of the mounting surface when the position turntable is at zero position and the attitude matrix of the inertial system shell system obtained based on the self-alignment process, the installation error matrix from the inertial system shell to the mounting surface is calculated;

[0051] The direction cosine method is used to solve the inertial system direction cosine matrix, the installation error matrix and the reference direction cosine matrix to obtain the inertial system navigation attitude error angle.

[0052] According to the frame angle signal of the rotating inertial system and the output signal of the gyroscope, the method of obtaining the attitude matrix of the shell system of the rotating inertial system relative to the navigation coordinate system by using the navigation solution method includes:

[0053] Based on the navigation attitude differential equation of the fiber optic gyro inertial system, the direction cosine matrix from the inertial system body coordinate system p to the navigation coordinate system n is obtained by using the navigation solution method.

[0054] According to the frame angle signal of the inertial system, the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is obtained.

[0055] according to and Get the direction cosine matrix from the inertial system shell system b to the navigation coordinate system n

[0056] The origin of the inertial system platform coordinate system p is located at the geometric center of the inertial system platform, and the x, y, and z axes are respectively along the directions of the X, Y, and Z gyro sensitive axes of the inertial system;

[0057] The origin of the inertial system shell coordinate system b is located at the rotation center of the rotating inertial system, and the x, y, and z axes are respectively along the X, Y, and Z frame axis directions of the inertial system.

[0058] After the initial alignment of the inertial system on the stationary base, the direction cosine matrix is ​​obtained The initial information of the inertial system is used to output the gyroscope signal according to the navigation attitude differential equation. Real-time update solution.

[0059] Direction cosine matrix from inertial system shell system b to table coordinate system p The solution is:

[0060]

[0061] Among them, θ out ,θ in ,θ tab They are the frame angle signal of the outer ring axis, the frame angle signal of the inner ring axis, and the frame angle signal of the platform axis of the rotating inertial system respectively;

[0062] for The transposed matrix of .

[0063] According to the installation orientation of the position turntable and the angle signal of the ring frame, the method for obtaining the reference direction cosine matrix of the inertial system installation surface relative to the navigation coordinate system is:

[0064] According to the reference attitude angle signal of the mounting surface when the turntable ring frame is at zero position, the direction cosine matrix of the mounting surface at zero position relative to the navigation system is obtained.

[0065] According to the position turntable ring frame attitude angle signal, the coordinate transformation matrix of the position turntable installation surface at time t relative to the installation surface at zero position is obtained.

[0066]

[0067] Among them, θ y ,θ x ,θ z They are the attitude angle signals of the outer frame, middle frame and inner frame of the position turntable respectively;

[0068] According to the coordinate transformation matrix of the turntable installation surface at time t relative to the installation surface at zero position The direction cosine matrix of the navigation system relative to the zero-position mounting surface of the ring frame The calculation method for obtaining the direction cosine matrix (reference direction cosine matrix) of the turntable installation surface relative to the navigation system at time t is:

[0069]

[0070] According to the reference attitude matrix of the mounting surface and the attitude matrix of the inertial system shell system relative to the navigation system obtained based on the self-alignment process, the calculation method for obtaining the installation error matrix from the inertial system shell to the mounting surface is:

[0071] According to the initial alignment result of the inertial navigation system, the direction cosine matrix of the inertial system shell system relative to the navigation system is obtained.

[0072] According to the direction cosine matrix of the turntable installation surface relative to the navigation system at the zero position and shell system direction cosine matrix Obtain the installation error matrix from the inertial system housing to the mounting surface:

[0073]

[0074] The direction cosine method is used to solve the inertial system direction cosine matrix, the installation error matrix and the reference direction cosine matrix to obtain the calculation method of the inertial system attitude navigation error direction cosine matrix:

[0075]

[0076] in, represents the attitude error matrix of the calculated navigation system (n1) deviating from the ideal navigation system (n);

[0077] The direction cosine matrix representing the position of the turntable mounting surface relative to the navigation system at time t;

[0078] Represents the direction cosine matrix of the inertial system shell relative to the navigation system at time t;

[0079] The installation error matrix representing the relative position of the inertial system housing to the turntable installation surface;

[0080] According to the relationship between the attitude error angle of the calculated navigation system (n1) deviating from the ideal navigation system (n) and the direction cosine matrix, the attitude error matrix can be expressed as:

[0081]

[0082] Among them, φ E ,φ N ,φ U Respectively represent the attitude error angles in the east, north and sky directions;

[0083] The calculation method of the attitude error angle is obtained according to the attitude error matrix:

[0084]

[0085] Among them, C ij Respectively represent matrices The corresponding elements in .

[0086] In the solution provided in the embodiment of the present invention, the position turntable frame data and the rotation inertial navigation output data are first collected by building a rotation inertial navigation attitude error evaluation system. Then the rotation inertial navigation installation matrix is ​​solved based on the self-alignment method. After that, the online attitude is solved by the rotation inertial navigation and converted into quaternion for downloading. Then the quaternion is converted into an attitude matrix, and the reference attitude matrix is ​​calculated using the collected turntable frame data. Finally, the attitude error matrix is ​​calculated, the attitude error angle is obtained, and the calculation accuracy is evaluated.

[0087] Experiments show that the attitude error evaluation method based on the direction cosine method can realize attitude error analysis under 360-degree full-attitude motion conditions, and obtain the error between the attitude solved by the rotating inertial navigation and the reference attitude angle to evaluate the attitude solution accuracy.

[0088] Example:

[0089] In this embodiment, a method for evaluating the dynamic attitude navigation error of a rotating inertial system is implemented as follows: Figure 1 As shown, the schematic diagram of the scheme is as follows Figure 2 As shown, the details are as follows:

[0090] (1) System construction and data collection during the test process.

[0091] like Figure 3 , build a rotating inertial navigation attitude error evaluation system, including a position turntable, a rotating inertial navigation, a rotating inertial navigation ground test system, a position turntable control cabinet and an electric control box. Connect the position turntable control cabinet with the position turntable, install the rotating inertial navigation on the position turntable, connect the rotating inertial navigation ground test system with the rotating inertial navigation, and connect the electric control box with the position turntable and the rotating inertial navigation ground test system. Synchronously collect the output signals of the position turntable and the rotating inertial navigation according to the flip level signal received by the electric control box to reduce the phase delay caused by the deviation of the signal acquisition equipment.

[0092] (2) Solve the rotating inertial navigation installation matrix based on the self-alignment method.

[0093] According to the initial alignment result of the inertial navigation system, the direction cosine matrix of the inertial system shell system relative to the navigation system is obtained.

[0094] According to the installation orientation of the position turntable, the direction cosine matrix of the installation surface relative to the navigation system at the zero position is obtained

[0095] Calculate the installation error matrix from the inertial navigation system housing to the mounting surface:

[0096]

[0097] (3) The rotating inertial navigation system calculates the online attitude and converts it into quaternion for downloading.

[0098] The rotating inertial navigation attitude solution process updates the platform attitude angle by the gyroscope output information. The platform attitude update can be determined by the following formula:

[0099]

[0100] in: is the coordinate transformation matrix between the platform system and the local geographic system at time k-1;

[0101] is the change in angular position of the platform system relative to the inertial system caused by the gyroscope drift;

[0102] is the coordinate transformation matrix from the geographic system at time k-1 to the geographic system at time k in the inertial system.

[0103] The matrix Represents the correction of the geographic coordinate system from time K-1 to time K, which consists of two parts: the change of the earth coordinate system caused by the rotation of the earth and the change of longitude and latitude caused by the movement of the carrier.

[0104] The coordinate transformation process can be regarded as a rotation process, which can be expressed by the rotation quaternion Q(t k+1 ) represents, the rotation quaternion is recorded as:

[0105] Q(t k+1 )=q0+q1+q2+q3

[0106] The relationship between the attitude matrix and the rotation quaternion is as follows:

[0107]

[0108] Among them, q0, q1, q2, q3 are the elements of the quaternion, is the attitude matrix.

[0109] (4) Use the position turntable to simulate the flight environment and calculate the turntable attitude matrix as a reference.

[0110] During the test, the rotation sequence of the position turntable is designed according to the actual flight environment. The turntable frame angle data and the quaternion data solved during the navigation process are synchronously collected in the order of the turntable outer ring, middle ring, and inner ring. According to the relationship between the attitude matrix and the rotation quaternion in (3), the collected quaternion is used to calculate the inertial navigation system shell attitude matrix

[0111] According to the direction cosine matrix of the mounting surface relative to the navigation system when the position turntable ring frame is in zero position and the position turntable ring frame attitude angle signal, and obtain the coordinate transformation matrix of the position turntable installation surface at time t relative to the installation surface at zero position

[0112]

[0113] Among them, θ y ,θ x ,θ z They are the attitude angle signals of the outer frame, middle frame and inner frame of the position turntable respectively;

[0114] According to the coordinate transformation matrix of the turntable installation surface at time t relative to the installation surface at zero position The direction cosine matrix of the navigation system relative to the zero-position mounting surface of the ring frame The calculation method for obtaining the direction cosine matrix (reference direction cosine matrix) of the turntable installation surface relative to the navigation system at time t is:

[0115]

[0116] (5) Calculate the attitude error matrix and obtain the attitude error angle.

[0117] The direction cosine method is used to solve the inertial navigation system direction cosine matrix, installation error matrix and reference direction cosine matrix to obtain the calculation method of the inertial navigation system navigation attitude error angle:

[0118]

[0119] in, represents the attitude error matrix of the calculated navigation system (n1) deviating from the ideal navigation system (n); The direction cosine matrix representing the position of the turntable mounting surface relative to the navigation system at time t; Represents the direction cosine matrix of the inertial system shell relative to the navigation system at time t; The installation error matrix representing the relative position of the inertial system housing to the turntable installation surface;

[0120] According to the relationship between the attitude error angle of the calculated navigation system (n1) deviating from the ideal navigation system (n) and the direction cosine matrix, the attitude error matrix can be expressed as:

[0121]

[0122] Among them, φ E ,φ N ,φ U Respectively represent the attitude error angles in the east, north and sky directions;

[0123] The calculation method of the attitude error angle is obtained according to the attitude error matrix:

[0124]

[0125] Among them, C ij Respectively represent matrices The corresponding elements in .

[0126] This method is applied to the analysis of the accuracy of rotating inertial navigation attitude calculation, and the scope of application is expanded to the full attitude range. The evaluation accuracy is improved by more than 95% compared with the traditional attitude error evaluation based on Euler angles.

[0127] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 1 The method described.

[0128] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0133] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for evaluating dynamic attitude navigation error of a rotating inertial system, characterized in that: include: Synchronously obtain the inertial output signal of the rotating inertial system and the angle signal of the position turntable ring frame; According to the frame angle signal of the rotating inertial system and the output signal of the gyroscope, the direction cosine matrix of the rotating inertial system shell system relative to the navigation coordinate system is calculated; According to the installation orientation of the position turntable and the angle signal of the ring frame, the reference direction cosine matrix of the installation surface of the inertial system relative to the navigation coordinate system is calculated; According to the reference attitude matrix of the mounting surface when the position turntable is at zero position and the attitude matrix of the inertial system shell system obtained based on the self-alignment process, the installation error matrix from the inertial system shell to the mounting surface is calculated; Direction cosine method is performed according to the direction cosine matrix, the installation error matrix and the reference direction cosine matrix to calculate the inertial system navigation attitude error angle.

2. The method for evaluating the dynamic attitude navigation error of a rotating inertial system according to claim 1, characterized in that: The step of calculating the direction cosine matrix of the rotating inertial system shell system relative to the navigation coordinate system includes: Based on the navigation attitude differential equation of the fiber optic gyro inertial system, the direction cosine matrix from the inertial system body coordinate system p to the navigation coordinate system n is obtained by using the navigation solution method. According to the frame angle signal of the inertial system, the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is obtained. according to and Get the direction cosine matrix from the inertial system shell system b to the navigation coordinate system n The origin of the inertial system table coordinate system p is located at the geometric center of the inertial system table, and the x, y, and z axes are respectively along the directions of the X, Y, and Z gyro sensitive axes of the inertial system; the origin of the inertial system shell coordinate system b is located at the rotation center of the rotating inertial system, and the x, y, and z axes are respectively along the directions of the X, Y, and Z frame axes of the inertial system.

3. The method for evaluating the dynamic attitude navigation error of a rotating inertial system according to claim 2, characterized in that: After the initial alignment of the inertial system on the stationary base, the direction cosine matrix is ​​obtained The initial information of the inertial system is used to output the gyroscope signal according to the navigation attitude differential equation. Real-time update solution.

4. The method for evaluating dynamic attitude navigation error of a rotating inertial system according to claim 2, characterized in that: The direction cosine matrix of the inertial system shell system b to the platform coordinate system p The solution is: Among them, θ out ,θ in ,θ tab They are the frame angle signal of the outer ring axis, the frame angle signal of the inner ring axis, and the frame angle signal of the platform axis of the rotating inertial system respectively; for The transposed matrix of .

5. The method for evaluating dynamic attitude navigation error of a rotating inertial system according to claim 1, characterized in that: The reference direction cosine matrix of the inertial system installation surface relative to the navigation coordinate system includes: According to the reference attitude angle signal of the mounting surface when the turntable ring frame is at zero position, the direction cosine matrix of the mounting surface at zero position relative to the navigation system is obtained. According to the position turntable ring frame attitude angle signal, the coordinate transformation matrix of the position turntable installation surface at time t relative to the installation surface at zero position is obtained. Among them, θ y ,θ x ,θ z They are the attitude angle signals of the outer frame, middle frame and inner frame of the position turntable respectively; According to the coordinate transformation matrix of the turntable installation surface at time t relative to the installation surface at zero position The direction cosine matrix of the navigation system relative to the zero-position mounting surface of the ring frame Get the direction cosine matrix of the turntable installation surface relative to the navigation system at time t This is the reference direction cosine matrix.

6. The method for evaluating dynamic attitude navigation error of a rotating inertial system according to claim 1, characterized in that: The step of calculating the installation error matrix from the inertial system housing to the installation surface includes: According to the initial alignment result of the inertial navigation system, the direction cosine matrix of the inertial system shell system relative to the navigation system is obtained. According to the direction cosine matrix of the turntable installation surface relative to the navigation system at the zero position and shell system direction cosine matrix Obtain the installation error matrix from the inertial system housing to the mounting surface 7. The method for evaluating dynamic attitude navigation error of a rotating inertial system according to claim 1, characterized in that: The inertial system navigation attitude error angle is in, represents the attitude error matrix of the calculated navigation system n1 deviating from the ideal navigation system n; The direction cosine matrix representing the position of the turntable mounting surface relative to the navigation system at time t; Represents the direction cosine matrix of the inertial system shell relative to the navigation system at time t; Represents the installation error matrix of the inertial system housing relative to the turntable mounting surface.

8. The method for evaluating dynamic attitude navigation error of a rotating inertial system according to claim 7, characterized in that: According to the relationship between the attitude error angle of the calculated navigation system n1 deviating from the ideal navigation system n and the direction cosine matrix, the attitude error matrix is: Among them, φ E ,φ N ,φ U Respectively represent the attitude error angles in the east, north and sky directions; According to the attitude error matrix, the attitude error angle is obtained as follows: Among them, C ij Respectively represent matrices The corresponding elements in .

9. A rotating inertial system dynamic attitude navigation error evaluation system, characterized in that: It includes position turntable, rotary inertial navigation, rotary inertial navigation ground test system, position turntable control cabinet and electric control box; The position turntable control cabinet is connected to the position turntable and is used to send control instructions to the position turntable and collect its test data; After receiving the control command, the position turntable rotates according to the specified angular position to simulate the angular motion environment of the aircraft; The rotary inertial navigation system is mounted on a position turntable and generates a corresponding output signal under the excitation of the angular motion of the position turntable; The rotating inertial navigation ground test system is connected to the rotating inertial navigation, and is used to collect the frame angle signal and gyroscope output signal of the rotating inertial navigation, and send the flip level signal to the electric control box; The electric control box is connected with the position turntable and the rotating inertial navigation ground test system, receives the flip level signal transmitted from the rotating inertial navigation ground test system, and synchronously collects the position turntable and the rotating inertial navigation output signals according to the flip signal.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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