A method and system for evaluating dynamic attitude navigation errors of a rotating inertial system

Abstract

The application discloses a dynamic attitude navigation error evaluation method and system of a rotating inertia system, which comprises the following steps: synchronously acquiring a position turntable ring frame angle signal and an inertia output signal of the rotating inertia system; obtaining a shell attitude matrix of the rotating inertia system relative to a navigation system according to a frame angle signal and a gyroscope output signal of the rotating inertia system by using a navigation solution method; obtaining a reference attitude matrix of an inertia system mounting surface relative to the navigation system according to a mounting direction of the position turntable and the ring frame angle signal; performing a direction cosine method solution according to the reference attitude matrix signals of the inertia system shell and the mounting surface to obtain an attitude error matrix; and obtaining an inertia system attitude navigation error angle according to the relationship between the attitude error angle and the direction cosine matrix. The application can be applied to dynamic attitude navigation precision evaluation of the rotating inertia system and has high applicability and accuracy.

Description

TECHNICAL FIELD

[0001] The application relates to a rotating inertia system dynamic attitude navigation error evaluation method and system and belongs to the technical field of inertial navigation. BACKGROUND

[0002] The rotating inertia system is a precise optoelectromechanical product in which inertial instruments are installed on a platform with a rotating mechanism and is composed of a stabilizing system, an acceleration measuring system, an angular velocity measuring system, a frame angle measuring system, a power supply system, a self-monitoring system and a platform control system. In recent years, with the development of inertial navigation technology, new demands for high-precision long-time navigation of the inertial system are put forward, and the rotating inertia system is applied more and more widely.

[0003] The rotating inertia system adopts a strapdown solution mode and can solve the attitude of a base and a platform relative to a geographical system in real time during movement. In order to evaluate the precision of the rotating inertial navigation attitude solution, the rotating inertial navigation is installed on a turntable, the movement attitude of the inertial navigation in an actual flight process is simulated, and the rotating inertial navigation is subjected to strapdown attitude solution.

[0004] Generally, the movement trajectory of the inertial navigation system has a pitch angle range of -90 DEG to +90 DEG, the three attitude angles of the inertial navigation can be directly calculated by using the intuitive Euler angle method, the attitude angles are compared with reference attitude angles, and the attitude solution precision is evaluated. However, the rotating inertial navigation is in a rotating modulation state during flight, the platform continuously rotates around the rotating shaft by 360 DEG, the pitch angle of the inertial navigation platform changes between 0 DEG and 360 DEG, exceeds the solving range of the normal Euler angle, and the Euler angle solution also has the problem of large error when the attitude angle is close to a singular point. SUMMARY

[0005] The technical problem solved by the application is to overcome the defects of the prior art, provide a rotating inertia system dynamic attitude navigation error evaluation method and system, and solve the problems of the range limitation of the angular movement amplitude and the influence of the attitude error calculation precision caused by the limited attitude range of the Euler angle expression and the singular point.

[0006] The technical solution of the application is a rotating inertia system dynamic attitude navigation error evaluation method, which comprises the following steps:

[0007] Synchronously acquiring an inertial output signal of the rotating inertia system and a position turntable ring frame angle signal;

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

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

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

[0011] According to the direction cosine matrix, the mounting error matrix and the reference direction cosine matrix, a direction cosine method is solved to calculate the navigation attitude error angle of the inertial system.

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

[0013] Based on the navigation attitude differential equation of the fiber-optic gyroscope inertial system, a navigation solution method is used to obtain the direction cosine matrix of the inertial system platform coordinate system p to the navigation coordinate system n

[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 the direction cosine matrix of the inertial system shell system b to the navigation coordinate system n is obtained 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. 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] Further, after the inertial system is initially aligned on a static base, the initial information of the direction cosine matrix is obtained, and the navigation attitude differential equation is used to update and solve in real time according to the output gyroscope signal of the inertial system.

[0017] Further, the solving method of the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is as follows:

[0018]

[0019] Wherein, θ out , θ in and θ tab are respectively the frame angle signals of the outer ring axis, the inner ring axis and the platform axis of the rotating inertial system. is the transpose matrix of .

[0020] Further, the cosine matrix of the reference direction of the mounting surface of the inertial system relative to the navigation coordinate system comprises:

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

[0022] According to the position turntable mounting surface relative to the zero position mounting surface coordinate conversion matrix at time t Wherein, θ y , θ x , θ z It is the position turntable outer frame, middle frame, inner frame attitude angle signal respectively;

[0023] According to the position turntable mounting surface relative to the zero position mounting surface coordinate conversion matrix at time t And the cosine matrix of the ring frame zero position mounting surface relative to the navigation system direction The cosine matrix of the position turntable mounting surface relative to the navigation system direction at time t is obtained That is, the reference direction cosine matrix.

[0024] Further, the mounting error matrix of the inertial system shell to the mounting surface comprises:

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

[0026] According to the zero position mounting surface relative to the navigation system direction cosine matrix of the position turntable at time t And the cosine matrix of the shell system direction The mounting error matrix of the inertial system shell to the mounting surface is obtained

[0027] Further, the navigation attitude error angle of the inertial system is Wherein, Indicates the attitude error matrix of the navigation system n1 deviating from the ideal navigation system n; Indicates the cosine matrix of the position turntable mounting surface relative to the navigation system at time t; Indicates the cosine matrix of the inertial system shell relative to the navigation system at time t; Indicates the mounting error matrix of the inertial system shell relative to the position turntable mounting surface.

[0028] Further, according to the relationship between the attitude error angle and the cosine matrix of the navigation system n1 deviating from the ideal navigation system n, the attitude error matrix is Wherein, φ E , φN , φ U respectively represent eastward, northward, and skyward attitude error angles;

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

[0030]

[0031] wherein C ij respectively represent corresponding elements in the matrix .

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

[0033] The position turntable control cabinet is connected with the position turntable, and is used for sending control instructions to the position turntable and collecting test data thereof; the position turntable rotates according to a specified angle position to simulate an angular motion environment of an aircraft after receiving the control instructions;

[0034] The rotation inertial navigation system is installed on the position turntable, and generates corresponding output signals under the excitation of angular motion of the position turntable;

[0035] The rotation inertial navigation system ground test system is connected with the rotation inertial navigation system, and is used for collecting frame angle signals and gyroscope output signals of the rotation inertial navigation system, and sending a flip level signal to the electric control box;

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

[0037] A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to realize the steps of the rotation inertia system dynamic attitude navigation error evaluation method.

[0038] Compared with the prior art, the present application has the following advantages:

[0039] (1) The present application overcomes the limitations of the range of attitude angles 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 description of attitude angles into the form of attitude error angles, realizes attitude error analysis under the condition of 360-degree full attitude motion, and improves the accuracy of attitude evaluation.

[0040] (2) The application obtains the error between the rotation inertial navigation calculated attitude and the reference attitude angle, evaluates the attitude calculation precision, and provides a technical basis for the rotation inertial navigation attitude calculation precision evaluation under the whole process angle motion range of the flight environment. BRIEF DESCRIPTION OF DRAWINGS

[0041] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Furthermore, the same reference numerals are used throughout the several views of the drawings to denote the same or similar parts. In the drawings:

[0042] Figure 1 A method flowchart of the application is shown in Figure 1.

[0043] Figure 2 A rotation inertial navigation base attitude error calculation schematic diagram of the application is shown in Figure 2.

[0044] Figure 3 A rotation inertial navigation attitude error evaluation system schematic diagram of the application is shown in Figure 3. DETAILED DESCRIPTION

[0045] In order to better understand the above technical solutions, the following detailed description of the technical solutions of the application is provided by means of the accompanying drawings and specific embodiments. It should be understood that the embodiments of the application and the specific features in the embodiments are detailed descriptions of the technical solutions of the application, and are not limitations of the technical solutions of the application. In the case of no conflict, the technical features in the embodiments of the application and the embodiments can be combined with each other.

[0046] The following further detailed description of a rotation inertial system dynamic attitude navigation error evaluation method provided by the embodiments of the application is provided in combination with the accompanying drawings of the specification, as shown in Figure 1 The specific implementation mode can include:

[0047] Synchronously acquiring a position turntable ring frame angle signal and an inertial output signal of the rotation inertial system;

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

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

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

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

[0052] According to the frame angle signal of the rotating inertial system and the gyroscope output signal, a navigation solving method is used to obtain the method for obtaining the attitude matrix of the shell system of the rotating inertial system relative to the navigation coordinate system.

[0053] Based on the navigation attitude differential equation of the optical fiber gyroscope inertial system, a navigation solving method is used to obtain the direction cosine matrix of the inertial system platform coordinate system p to the navigation coordinate system n.

[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 the direction cosine matrix of the inertial system shell system b to the navigation coordinate system n is obtained.

[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 gyroscope sensitive axes of the inertial system.

[0057] The origin of the inertial system shell coordinate system b is located at the 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.

[0058] After the inertial system is initially aligned on a static base, the initial information of the direction cosine matrix is obtained. According to the navigation attitude differential equation, the real-time update solution of is obtained by using the output gyroscope signal of the inertial system.

[0059] The solving method of the direction cosine matrix of the inertial system shell system b to the platform coordinate system p is:

[0060]

[0061] Wherein, θ out , θ in and θ tab are the frame angle signals of the outer ring axis, the inner ring axis and the platform axis of the rotating inertial system respectively.

[0062] is the transpose matrix of .

[0063] ​​The method for obtaining the reference direction cosine matrix of the inertial system mounting surface relative to the navigation coordinate system based on the installation orientation of the position turntable and the angle signal of the ring frame is as follows:

[0064] Based on 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 of the ring frame relative to the navigation system is obtained.

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

[0066]

[0067] Where, θ y θ x θ z These are the attitude angle signals for the outer frame, middle frame, and inner frame of the position turntable, respectively.

[0068] Based on the coordinate transformation matrix of the turntable mounting surface at time t relative to the mounting surface at the zero position. The direction cosine matrix of the ring frame zero-position mounting surface relative to the navigation system The method for calculating the direction cosine matrix (reference direction cosine matrix) of the turntable mounting surface relative to the navigation system at time t is as follows:

[0069]

[0070] The method for calculating the installation error matrix from the inertial system shell to the mounting surface, based on the reference attitude matrix of the mounting surface and the attitude matrix of the inertial system shell relative to the navigation frame obtained through the self-alignment process, is as follows:

[0071] Obtain the orientation cosine matrix of the inertial system shell relative to the navigation frame based on the initial alignment results of the inertial navigation system.

[0072] Based on the direction cosine matrix of the turntable mounting surface relative to the navigation system at the zero-position time. Cosine matrix of shell system direction Obtain the installation error matrix from the inertial system shell to the mounting surface:

[0073]

[0074] The direction cosine matrix of the inertial system attitude navigation error is obtained by solving the direction cosine method based on the inertial system direction cosine matrix, installation error matrix, and reference direction cosine matrix.

[0075]

[0076] in, represents a posture error matrix of a computing navigation system (n1) deviating from an ideal navigation system (n) ;

[0077] represents a direction cosine matrix of a position turntable mounting surface relative to a navigation system at time t;

[0078] represents a direction cosine matrix of an inertial system shell relative to a navigation system at time t;

[0079] represents a mounting error matrix of an inertial system shell relative to a position turntable mounting surface;

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

[0081]

[0082] wherein φ E , φ N , and φ U respectively represent east, north, and sky posture error angles;

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

[0084]

[0085] wherein C ij respectively represent corresponding elements in the matrix .

[0086] In the scheme provided in the embodiment of the application, first, position turntable frame data and rotary inertial navigation output data are collected by building a rotary inertial navigation posture error evaluation system. Then, a rotary inertial navigation mounting matrix is solved based on a self-alignment method. After that, rotary inertial navigation online posture is calculated and converted into a quaternion for downward transmission. Then, the quaternion is converted into a posture matrix, and a reference posture matrix is calculated by using the collected turntable frame data. Finally, a posture error matrix is calculated, a posture error angle is obtained, and the calculation precision is evaluated.

[0087] Experiments show that the posture error evaluation method based on the direction cosine method can realize posture error analysis under 360-degree full attitude motion conditions, and realize evaluation of the error between the rotary inertial navigation calculated posture and the reference attitude angle to evaluate the posture calculation precision.

[0088] Embodiment:

[0089] The implementation steps of the dynamic posture navigation error evaluation method of the rotary inertial system in the embodiment are as shown in Figure 1 , and the scheme principle block diagram is as shown inFigure 2 The system is built and the test process data is collected.

[0090] (1) System building and test process data collection.

[0091] As shown in Figure 3 , a rotating inertial navigation attitude error evaluation system is constructed, including a position turntable, a rotating inertial navigation system, a rotating inertial navigation ground test system, a position turntable control cabinet and an electric control box. The position turntable control cabinet is connected with the position turntable, the rotating inertial navigation system is installed on the position turntable, the rotating inertial navigation ground test system is connected with the rotating inertial navigation system, and the electric control box is connected with the position turntable and the rotating inertial navigation ground test system. According to the flip level signal received by the electric control box, the output signals of the position turntable and the rotating inertial navigation system are synchronously collected, so as to reduce the phase delay caused by the deviation of the signal collection equipment.

[0092] (2) Solving the installation matrix of the rotating inertial navigation system 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 relative to the navigation system is obtained

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

[0095] The installation error matrix of the inertial navigation system shell to the installation surface is calculated:

[0096]

[0097] (3) On-line attitude solution of the rotating inertial navigation system and conversion into quaternion for downlink.

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

[0099]

[0100] Among them: is the coordinate conversion matrix between the platform system and the local geographic system at k-1 moment;

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

[0102] is the coordinate conversion matrix of the geographic system at k-1 moment to the geographic system at k moment in the inertial system.

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

[0104] The coordinate transformation process can be regarded as a rotation process, which can be represented by a rotation quaternion Q(t k+1 ) and the rotation quaternion is denoted 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] wherein q0, q1, q2, q3 are elements of the quaternion, is the attitude matrix.

[0109] (4) The position turntable is used to simulate the flight environment, and the attitude matrix of the turntable is calculated as a reference.

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

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

[0112]

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

[0114] According to the coordinate conversion matrix of the installation surface of the position turntable at time t relative to the installation surface at the zero position and the direction cosine matrix of the installation surface of the ring frame at the zero position relative to the navigation system the direction cosine matrix of the installation surface of the position turntable at time t relative to the navigation system (reference direction cosine matrix) is obtained, and the calculation method is as follows:

[0115]

[0116] (5) calculating the attitude error matrix to obtain the attitude error angle.

[0117] The method for calculating the navigation attitude error angle of the inertial navigation system according to the direction cosine matrix of the inertial navigation system, the installation error matrix and the reference direction cosine matrix is as follows:

[0118]

[0119] wherein, represents the attitude error matrix for calculating the deviation of the navigation system (n1) from the ideal navigation system (n); represents the direction cosine matrix of the installation surface of the position turntable 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 shell relative to the installation surface of the position turntable;

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

[0121]

[0122] wherein, φ E , φ N , φ U respectively represent the eastward, northward and skyward attitude error angles;

[0123] The method for calculating the attitude error angle according to the attitude error matrix is as follows:

[0124]

[0125] wherein, C ij respectively represent the corresponding elements in the matrix .

[0126] When the method is applied to the precision analysis of the rotation inertial navigation attitude, the application range is improved to the full attitude range, and the evaluation precision is improved by more than 95% compared with the traditional evaluation precision based on the Euler angle attitude error.

[0127] The application provides a computer readable storage medium, the computer readable storage medium stores computer instructions, when the computer instructions run on the computer, make the computer execute Figure 1 the method.

[0128] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, the present application can be implemented with computer-executable instructions, such as programs stored in memory of a computer and executed by a processor of the computer. Of course, the present application is not limited to any particular

[0129] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0130] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0132] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the

[0133] Those skilled in the art will appreciate that the application described herein is susceptible to variations and modifications other than those specifically described. It is to be understood that the application includes all such variations and modifications which fall within the spirit and scope of the present application.

Claims

1. A method of evaluating the error of a dynamic attitude navigation of a rotating inertial system, characterized in that, The method comprises: synchronously acquiring an inertial output signal of a rotating inertial system and a ring frame angle signal of a position turntable; calculating a direction cosine matrix of a shell system of the rotating inertial system relative to a navigation coordinate system according to a frame angle signal of the rotating inertial system and a gyroscope output signal; calculating a reference direction cosine matrix of a mounting surface of the rotating inertial system relative to the navigation coordinate system according to a mounting orientation of the position turntable and the ring frame angle signal; calculating a mounting error matrix of the shell system of the rotating inertial system to the mounting surface according to a reference attitude matrix of the mounting surface when the position turntable is at zero position and an attitude matrix of the shell system of the rotating inertial system obtained based on a self-alignment process; calculating an inertial navigation attitude error angle according to a direction cosine method solution of the direction cosine matrix, the mounting error matrix and the reference direction cosine matrix.

2. A method of evaluating the navigation error of a rotational inertial system dynamic attitude according to claim 1, characterized in that, The method of calculating the direction cosine matrix of the shell system of the rotating inertial system relative to the navigation coordinate system comprises: Based on the navigation attitude differential equation of the fiber-optic gyroscope inertial system, the direction cosine matrix p of the inertial system platform coordinate system to the navigation coordinate system n is obtained by using the navigation solution method The direction cosine matrix of the inertial system shell frame b to the platform coordinate system p is obtained according to the frame angle signal of the inertial system According to and obtaining a direction cosine matrix of the inertial system shell system b to the navigation coordinate system n 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; 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. A method of evaluating the navigation error of a rotational inertial system dynamic attitude according to claim 2, characterized in that, After initial alignment of the inertial system with a static base, the direction cosine matrix is ​​obtained. The initial information is used to output gyroscope signals from the inertial system and apply them to the navigation attitude differential equation. The solution is updated in real time.

4. The method of claim 2, wherein, The direction cosine matrix of the inertial system shell body b to the platform coordinate system p The solution method is as follows: Wherein, θ out , θ in , θ tab are respectively the outer ring shaft frame angle signal, the inner ring shaft frame angle signal, and the table body shaft frame angle signal of the rotating inertia system; is the transpose matrix of .

5. The method of claim 1, wherein, The method of calculating the reference direction cosine matrix of the mounting surface of the rotating inertial system relative to the navigation coordinate system comprises: According to the position turntable ring frame zero position installation surface reference attitude angle signal, the direction cosine matrix of the ring frame zero position installation surface relative to the navigation system is obtained According to the position turntable ring frame attitude angle signal, a coordinate conversion matrix of the position turntable mounting surface relative to the zero position mounting surface at time t is obtained Wherein, θ y , θ x , θ z are respectively the position turntable outer frame, middle frame and inner frame attitude angle signals; The coordinate conversion matrix of the position turntable mounting surface relative to the zero position mounting surface at time t The direction cosine matrix of the gimbals zero position mounting surface relative to the navigation system The direction cosine matrix of the position turntable mounting surface relative to the navigation system at time t is obtained That is, the reference direction cosine matrix.

6. The method of claim 1, wherein, The method of calculating the mounting error matrix of the shell system of the rotating inertial system to the mounting surface comprises: Obtaining a direction cosine matrix of an inertial system shell frame relative to a navigation system frame according to an initial alignment result of an inertial navigation system cosine matrix of the direction of the mounting surface of the position turntable relative to the navigation system at the zero time instant and the cosine matrix of the direction of the housing system obtaining a mounting error matrix of the housing of the inertial system to the mounting surface 7. The method of claim 1, wherein The inertial system navigation attitude error angle is Wherein, The attitude error matrix of calculating the navigation system n1 deviating from the ideal navigation system n is represented as The direction cosine matrix of the position turntable mounting surface relative to the navigation system at time t is represented as The direction cosine matrix of the inertial system shell relative to the navigation system at time t is represented as The mounting error matrix of the inertial system shell relative to the position turntable mounting surface is represented as 8. A method of evaluating the navigation error of a rotational inertial system dynamic attitude according to claim 7, characterized in that, According to the relationship between the attitude error angle of the navigation system n1 deviating from the ideal navigation system n and the direction cosine matrix, the attitude error matrix is wherein φ E , φ N , and φ U respectively represent the eastward, northward, and skyward attitude error angles; The method of obtaining the attitude error angle according to the attitude error matrix comprises: where C ij respectively denote the corresponding elements in the matrix .

9. A rotational inertial system dynamic attitude navigation error evaluation system for implementing the method of claim 1, wherein, The method comprises a position turntable, a rotating inertial navigation system, a rotating inertial navigation ground test system, a position turntable control cabinet and an electric control box. The position turntable control cabinet is connected with the position turntable and is used to send control instructions to the position turntable and collect test data of the position turntable. After receiving the control instructions, the position turntable rotates at a designated angle position to simulate an angular motion environment of an aircraft. The rotating inertial navigation system is installed on the position turntable and generates corresponding output signals under the excitation of the angular motion of the position turntable. The rotating inertial navigation ground test system is connected with the rotating inertial navigation system and is used to collect a frame angle signal and a gyroscope output signal of the rotating inertial navigation system and send a 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 by the rotating inertial navigation ground test system and synchronously collects output signals of the position turntable and the rotating inertial navigation system according to the flip signal.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1-9. The computer program is executed by a processor to realize the steps of the method according to any one of claims 1 to 8.

Images