Method for calibrating course reference of mobile platform

Abstract

The invention provides a method for calibrating a course reference of a mobile platform. The method comprises the following steps: preparing equipment and initially setting the equipment; it is ensured that an inertial device and a device needing benchmark calibration are installed on the mobile platform; determining the course reference of the inertial device as a first course reference and the course reference of the device needing reference calibration as a second course reference; and erecting the collimation theodolite. According to the method for calibrating the course reference of the mobile platform, provided by the invention, the calibration of the reference can be completed only by respectively carrying out four times of aiming and collimation operations by utilizing a temporarily assumed collimation theodolite, and compared with the traditional method which possibly needs complex landmark positioning, multiple times of measurement and tedious data processing, the method has the advantages that the calibration efficiency is greatly improved; according to the scheme, the operation process is simple and clear, and the time and labor cost required by calibration are reduced.

Description

Technical Field

[0001] The invention relates to the field of inertial navigation, and in particular to a method for calibrating a heading reference of a mobile platform. Background Art

[0002] In modern navigation and positioning technology, the heading reference calibration of mobile platforms is crucial. Accurate heading reference is critical to the safe navigation, precise operation and mission execution of mobile platforms.

[0003] When the inertial device is installed, it is usually necessary to use other fixed locations or landmarks to establish a heading reference with the platform where a precise heading device is required. However, it is not convenient to use fixed locations or landmarks on the ground for a mobile platform.

[0004] Therefore, it is necessary to provide a method for calibrating the heading reference of a mobile platform to solve the above technical problems. Summary of the invention

[0005] The present invention provides a method for calibrating a heading reference of a mobile platform, which solves the problem that after an inertial device is installed, other fixed locations or landmark points are usually needed to establish a heading reference between the inertial device and a precise direction device on the platform, but it is inconvenient for a mobile platform to use fixed locations or landmark points on the ground.

[0006] In order to solve the above technical problems, the present invention provides a method for calibrating a heading reference of a mobile platform, comprising the following steps:

[0007] S1. Equipment preparation and initial setup;

[0008] S11. Equipment confirmation:

[0009] S111. Ensure that the inertial device and the device that needs to be calibrated are installed on the mobile platform;

[0010] S112, confirming that the heading reference of the inertial device is the first heading reference, and the heading reference of the device that needs to be calibrated is the second heading reference;

[0011] S12, collimation theodolite installation;

[0012] A collimation theodolite is set up at point B and point A respectively, point B is located at the intersection of the first heading reference of the inertial device, and point A is located at the intersection of the second heading reference of the device to be calibrated;

[0013] S2. Collimation theodolite aiming operation;

[0014] S21. Aiming inertial device:

[0015] The collimation theodolite set up at point B is operated to aim at the first heading reference of the inertial device. At this time, the aiming direction of the theodolite is the first aiming direction.

[0016] S22. Aiming device to be calibrated:

[0017] The collimating theodolite set up at point A is operated to aim at the second heading reference of the device to be calibrated. At this time, the aiming direction of the theodolite is the second aiming direction;

[0018] S3. Align the theodolite and aim at each other;

[0019] S31, mutual aiming operation;

[0020] S311, operate two collimating theodolites respectively so that they are aimed at each other;

[0021] S312, aiming the collimator at point A at the collimator at point B, where the aiming direction is a third aiming direction, and the horizontal angle at which the collimator at point A rotates is b1;

[0022] S313, aiming the collimator at point B at the collimator at point A, where the aiming direction is the fourth aiming direction, and the horizontal angle at which the collimator at point B rotates is a1;

[0023] S32, alignment operation: During the mutual aiming process, ensure that the two alignment theodolites are aligned, that is, ensure that the aiming line is accurate;

[0024] S4, measuring the rotation angle: measuring and recording the rotation angles of the two collimating theodolites after they are aimed at each other, the rotation angle b1 of the collimating theodolite at point A, and the rotation angle a1 of the collimating theodolite at point B;

[0025] S5. Measuring heading angle: using an inertial device to complete the measurement of heading angle b0;

[0026] S6, reference angle calculation;

[0027] S61, calculating the heading angle difference: calculating the heading angle difference a2 between the inertial device and the device to be calibrated according to the formula: a2=a1-b1;

[0028] S62, calculating the heading angle of the device to be calibrated: according to the formula: a0=a2+b0, calculating the heading angle a0 of the device to be calibrated.

[0029] Preferably, a box body is provided at the bottom of the alignment theodolite in S311, a rotating device is provided inside the box body, the rotating device includes a motor, one end of the motor output shaft is fixedly connected to a rotating rod through a coupling, and one end of the rotating rod is connected to a first gear.

[0030] Preferably, a second gear is meshed on one side of the first gear, a rotating rod is connected to one side of the second gear, and one end of the rotating rod passes through the box body and is connected to the center position of the bottom of the alignment theodolite.

[0031] Preferably, a disassembly cover is provided at the bottom of the box body.

[0032] Preferably, a dial is provided on the surface of the box body.

[0033] Preferably, an indicator block is connected to one side of the collimation theodolite and located above the scale plate.

[0034] Preferably, a support block is connected between the box body and the scale plate.

[0035] Preferably, a controller is installed on the top of the inner wall of the box body.

[0036] Preferably, the bottom of the disassembly cover is connected to a fixing assembly, the fixing assembly comprises a fixing block, and the bottom of the fixing block is connected to a magnetic block.

[0037] Preferably, the fixing block and the magnetic block are used for installing and fixing the alignment theodolite.

[0038] Compared with the related art, the method for calibrating the heading reference of a mobile platform provided by the present invention has the following beneficial effects:

[0039] The present invention provides a method for calibrating the heading reference of a mobile platform. This method uses a temporarily assumed alignment theodolite and only requires four aiming and alignment operations to complete the calibration of the reference. Compared with the traditional method that may require complex landmark positioning, multiple measurements and tedious data processing, the operation process of this solution is simple and clear, reducing the time and labor costs required for calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic structural diagram of a first embodiment of a method for calibrating a heading reference of a mobile platform provided by the present invention;

[0041] Figure 2 It is a structural schematic diagram of the first working principle of the device;

[0042] Figure 3 It is a structural schematic diagram of the second working principle of the device;

[0043] Figure 4 It is a structural schematic diagram of the third working principle of the device;

[0044] Figure 5 It is a structural schematic diagram of the fourth working principle of the device;

[0045] Figure 6It is a structural schematic diagram of the fifth working principle of the device;

[0046] Figure 7 It is a structural schematic diagram of the sixth working principle of the device;

[0047] Figure 8 A schematic structural diagram of a second embodiment of a method for calibrating a heading reference of a mobile platform provided by the present invention;

[0048] Fig. 9 for Figure 8 An enlarged schematic diagram of part A is shown;

[0049] Fig.10 for Figure 8 A schematic diagram of the overall three-dimensional structure of the device shown;

[0050] Fig.11 for Fig.10 An enlarged schematic diagram of part B is shown;

[0051] Fig.12 for Figure 8 A schematic diagram of the three-dimensional structure of the bottom of the device as a whole is shown;

[0052] Fig.13 for Figure 8 An isometric structural diagram of the entire device shown;

[0053] Fig.14 A schematic structural diagram of a third embodiment of a method for calibrating a heading reference of a mobile platform provided by the present invention.

[0054] Numbers in the figure: 1, mobile platform; 2, inertial device; 3, first heading reference; 4, device to be calibrated; 5, second heading reference; 6, point B; 7, point A; 8, b1; 9, a1; 10, b0; 11, a2; 12, a0; 13, first aiming direction; 14, second aiming direction; 15, third aiming direction; 16, fourth aiming direction;

[0055] 17. Collimation theodolite; 18. Box body;

[0056] 19. Rotating device; 191. Motor; 192. Rotating rod; 193. First gear; 194. Second gear; 195. Rotating rod;

[0057] 20. Dial; 21. Indicator block; 22. Support block; 23. Disassembly cover;

[0058] 24. fixing assembly; 241. fixing block; 242. magnetic block;

[0059] 25. Controller. DETAILED DESCRIPTION

[0060] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0061] First embodiment

[0062] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 ,in, Figure 1 A schematic structural diagram of a first embodiment of a method for calibrating a heading reference of a mobile platform provided by the present invention; Figure 2 It is a structural schematic diagram of the first working principle of the device; Figure 3 It is a structural schematic diagram of the second working principle of the device; Figure 4 It is a structural schematic diagram of the third working principle of the device; Figure 5 It is a structural schematic diagram of the fourth working principle of the device; Figure 6 It is a structural schematic diagram of the fifth working principle of the device; Figure 7 A method for calibrating a heading reference of a mobile platform comprises the following steps:

[0063] S1. Equipment preparation and initial setup;

[0064] S11. Equipment confirmation:

[0065] S111, ensuring that the inertial device 2 and the device 4 requiring reference calibration are installed on the mobile platform 1;

[0066] S112, confirming that the heading reference of the inertial device 2 is the first heading reference 3, and the heading reference of the device 4 that needs to be calibrated is the second heading reference 5;

[0067] S12, collimation theodolite installation;

[0068] A collimation theodolite is set up at point B 6 and point A 7, respectively. Point B 6 is located at the intersection of the first heading reference 3 of the inertial device 2, and point A 7 is located at the intersection of the second heading reference 5 of the device 4 to be calibrated.

[0069] S2. Collimation theodolite aiming operation;

[0070] S21. Aiming inertial device:

[0071] The collimation theodolite set up at point B 6 is operated to aim at the first heading reference 3 of the inertial device 2 . At this time, the aiming direction of the theodolite is the first aiming direction 13 .

[0072] S22. Aiming device to be calibrated:

[0073] The collimating theodolite set up at point A 7 is operated to aim at the second heading reference 5 of the device 4 to be calibrated, and the aiming direction of the theodolite is the second aiming direction 14;

[0074] S3. Align the theodolite and aim at each other;

[0075] S31, mutual aiming operation;

[0076] S311, operate two collimating theodolites respectively so that they are aimed at each other;

[0077] S312, aiming the collimator at point A 7 at the collimator at point B 6, where the aiming direction is a third aiming direction 15, and the horizontal angle of rotation of the collimator at point A 7 is 8 (marked as b1);

[0078] S313, aim the collimator at point B 6 at the collimator at point A 7, the aiming direction is the fourth aiming direction 16, and the horizontal angle of rotation of the collimator at point B 6 is 9 (marked as a1);

[0079] S32, alignment operation: During the mutual aiming process, ensure that the two alignment theodolites are aligned, that is, ensure that the aiming line is accurate;

[0080] S4, measuring the rotation angle: measuring and recording the rotation angles of the two collimating theodolites after they are aimed at each other, the rotation angle (b1) 8 of the collimating theodolite at point A 7, and the rotation angle (a1) 9 of the collimating theodolite at point B 6;

[0081] S5, measuring the heading angle: using the inertial device 2 to complete the measurement of the heading angle (b0) 10;

[0082] S6, reference angle calculation;

[0083] S61, calculating the heading angle difference: calculating the heading angle difference (a2) 11 between the inertial device 2 and the device to be calibrated 4 according to the formula: a2=a1-b1;

[0084] S62, calculating the heading angle of the device to be calibrated: according to the formula: a0=a2+b0, calculating the heading angle (a0) 12 of the device 4 to be calibrated as a reference.

[0085] The mobile platform 1 should have sufficient rigidity and stability to ensure that the inertial device 2 and the device 4 that needs to be calibrated are not affected by the vibration or deformation of the platform during operation. The surface of the platform should be flat and have a standard installation interface to accurately install the above devices. During installation, it is necessary to ensure that the relative positions of the inertial device 2 and the device 4 that needs to be calibrated are fixed and meet the design requirements. The installation error should be controlled within a very small range.

[0086] The installation position and direction of the inertial device 2 and the device 4 to be calibrated need to be determined according to the design axis and use requirements of the mobile platform 1. During the installation process, high-precision measuring tools, such as laser interferometers, are used to ensure that the installation direction of the device is parallel or perpendicular to the design axis of the mobile platform 1.

[0087] Select a collimation theodolite with high-resolution and high-precision angle measurement functions. When installing the collimation theodolite at point B 6 and point A 7, use a stable tripod and use a level and plumb line to ensure the accuracy of the horizontal and vertical directions of the theodolite. After installation, the theodolite needs to be calibrated to check its own sight axis error, horizontal axis error, and vertical axis error to ensure that these errors are within the allowable range.

[0088] When operating the collimating theodolite to aim at the inertial device 2 and the device 4 that needs to be calibrated, first roughly align the target using the coarse adjustment knob, and then use the fine adjustment knob to accurately aim until the crosshair center of the target and the crosshair center of the theodolite are clearly seen to coincide with each other in the eyepiece of the theodolite. When aiming and aligning the two theodolites, adjust the horizontal and vertical angles of one of the theodolites while observing the eyepiece of the other theodolite so that the aiming lines of the two theodolites completely coincide and achieve a collimated state.

[0089] To ensure the accuracy of angle measurement, when measuring the angles (b1)8 and (a1)9 after the two collimating theodolites are aimed at each other, the method of taking the average value of multiple measurements is adopted, and the measurement environment is strictly controlled to avoid the influence of external factors such as airflow and vibration on the measurement results. For the heading angle (b0)10 measured by the inertial device 2, the inertial device 2 needs to be preheated and calibrated before measurement to achieve the best working state. At the same time, the measurement data is monitored and filtered in real time to remove noise and abnormal data to ensure the accuracy of heading angle measurement.

[0090] Compared with the related art, the method for calibrating the heading reference of a mobile platform provided by the present invention has the following beneficial effects:

[0091] The present invention provides a method for calibrating the heading reference of a mobile platform. This method uses a temporarily assumed alignment theodolite and only requires four aiming and alignment operations to complete the calibration of the reference. Compared with the traditional method that may require complex landmark positioning, multiple measurements and tedious data processing, the operation process of this solution is simple and clear, reducing the time and labor costs required for calibration.

[0092] Second embodiment

[0093] Please refer to Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 and Fig.13 Based on a method for calibrating a heading reference of a mobile platform provided in the first embodiment of the present application, the second embodiment of the present application proposes another method for calibrating a heading reference of a mobile platform. The second embodiment is only a preferred method of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0094] Specifically, the second embodiment of the present application provides a method for calibrating the heading reference of a mobile platform. The difference is that, in a method for calibrating the heading reference of a mobile platform, a box body 18 is provided at the bottom of the alignment theodolite 17 in S311, and a rotating device 19 is provided inside the box body 18. The rotating device 19 includes a motor 191, and one end of the output shaft of the motor 191 is fixedly connected to a rotating rod 192 through a coupling, and one end of the rotating rod 192 is connected to a first gear 193.

[0095] A second gear 194 is meshed with one side of the first gear 193 , a rotating rod 195 is connected to one side of the second gear 194 , and one end of the rotating rod 195 passes through the box body 18 and is connected to the center position of the bottom of the alignment theodolite 17 .

[0096] A disassembly cover 23 is provided at the bottom of the box body 18 .

[0097] A scale plate 20 is disposed on the surface of the box body 18 .

[0098] An indicating block 21 is connected to one side of the alignment theodolite 17 and located above the scale plate 20 .

[0099] A support block 22 is connected between the box body 18 and the scale plate 20 .

[0100] A controller 25 is installed on the top of the inner wall of the box body 18 .

[0101] The device is mainly composed of a collimating theodolite 17, a box body 18 and a rotating device 19 inside the collimating theodolite 17, wherein the collimating theodolite 17 is the main measuring component for high-precision angle measurement and positioning, and the box body 18 is the outer shell for carrying and protecting the rotating device 19, which has a solid structure and a reasonable design, and can effectively prevent external factors from interfering with the internal rotating device.

[0102] Motor 191 is the power source of rotating device 19. It adopts a high-precision motor and can provide stable and accurate rotation speed. The output shaft of motor 191 is connected to rotating rod 19 through a coupling. This connection method can effectively transmit the power of the motor and reduce vibration and error caused by improper connection.

[0103] The rotating rod 192 rotates under the drive of the motor 191, and one end of the rotating rod 192 is fixedly connected to the first gear 193. The first gear 193 is designed with high-strength metal materials and has a precise tooth shape, which can ensure good meshing with other gears, thereby achieving stable power transmission.

[0104] The first gear 193 is meshed with the second gear 194. The design of the second gear 194 matches the first gear 193, and can convert the direction and adjust the speed of the power transmitted by the first gear 193. A rotating rod 195 is connected to one side of the second gear 194. The rotating rod 195 passes through the box body 18 and is connected to the center position of the bottom of the alignment theodolite 17, so as to realize the rotation control of the alignment theodolite 17.

[0105] A disassembly cover 23 is provided at the bottom of the box body 18. This design facilitates maintenance and inspection of the rotating device 19 inside the box body 18. The disassembly cover 23 adopts a structure that is easy to disassemble and install, such as being fixed by screws or buckles. When necessary, it can be quickly opened to inspect, repair or replace internal components.

[0106] A dial 20 is provided on the surface of the box body 18. The dial 20 is marked with precise angle scales for intuitively displaying the rotation angle of the alignment theodolite 17. An indicator block 21 is connected to one side of the alignment theodolite 17 and located above the dial 20. The indicator block 21 moves on the dial 20 as the alignment theodolite 17 rotates. By reading the scale value indicated by the indicator block 21, the rotation angle of the alignment theodolite 17 can be accurately known.

[0107] A support block 22 is connected between the box body 18 and the dial 20. The support block 22 plays a role of reinforcement and support, which can ensure that the dial 20 remains stable during the rotation of the alignment theodolite 17 and will not be displaced or deformed due to vibration or external force, thereby ensuring the accuracy of angle measurement.

[0108] A controller 25 is installed on the top of the inner wall of the box body 18, and the controller 25 is used to control the operation of the motor 191. It can receive external control signals and control the start, stop, speed adjustment and other operations of the motor 191 according to a preset program or an operator's instruction through wireless or wired connection, thereby achieving precise control of the rotation of the alignment theodolite 17.

[0109] When the angle of the alignment theodolite 17 needs to be adjusted, the controller 25 starts the motor 191 after receiving the control signal, and the output shaft of the motor 191 starts to rotate, and the power is transmitted to the rotating rod 192 through the coupling. The rotating rod 192 drives the first gear 193 to rotate, and the meshing action of the first gear 193 and the second gear 194 causes the second gear 194 to start rotating, thereby driving the rotating rod 195 to rotate.

[0110] The rotation of the rotating rod 195 directly drives the alignment theodolite 17 to rotate. During the rotation of the alignment theodolite 17, the indicator block 21 connected to one side thereof moves on the scale plate 20 along with the alignment theodolite 17. By observing the scale value on the scale plate 20 pointed by the indicator block 21, the operator can obtain the rotation angle of the alignment theodolite 17 in real time, thereby achieving accurate angle measurement and positioning operations.

[0111] During long-term use, if the rotating device 19 fails or needs regular maintenance, the internal motor 191, gears and other components can be accessed by removing the disassembly cover 23 at the bottom of the box body 18, so that the internal components can be easily inspected, repaired or replaced to ensure the normal operation and long-term stability of the entire device.

[0112] Compared with the related art, the method for calibrating the heading reference of a mobile platform provided by the present invention has the following beneficial effects:

[0113] The present invention provides a method for calibrating the heading reference of a mobile platform. A box body 18 with a rotating device 19 is arranged at the bottom of the alignment theodolite 17 to cooperate with an indicator block 21 and a dial plate 20 to display and control the angle when the alignment theodolite 17 is automatically adjusted.

[0114] Third embodiment

[0115] Please refer to Fig.14 Based on the method for calibrating the heading reference of a mobile platform provided in the first embodiment of the present application, the third embodiment of the present application proposes another method for calibrating the heading reference of a mobile platform. The third embodiment is only a preferred method of the first embodiment, and the implementation of the third embodiment will not affect the independent implementation of the first embodiment.

[0116] Specifically, the difference of a method for calibrating a heading reference of a mobile platform provided in the third embodiment of the present application is that, in a method for calibrating a heading reference of a mobile platform, the bottom of the disassembly cover 23 is connected to a fixing component 24, and the fixing component 24 includes a fixing block 241, and the bottom of the fixing block 241 is connected to a magnetic block 242.

[0117] The fixing block 241 and the magnetic block 242 are used for installing and fixing the alignment theodolite 17 .

[0118] The working principle of the method for calibrating the heading reference of a mobile platform provided by the present invention is as follows:

[0119] When in use, the fixing block 241 with the magnetic block 242 at the bottom of the entire device is connected to the metal bracket, and the magnetic block 242 is magnetically connected to the metal bracket.

[0120] Compared with the related art, the method for calibrating the heading reference of a mobile platform provided by the present invention has the following beneficial effects:

[0121] The present invention provides a method for calibrating a heading reference of a mobile platform. A fixing block 241 with a magnetic block 242 is arranged at the bottom of a disassembly cover 23 to facilitate installation of the entire device and a bracket.

[0122] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for calibrating a heading reference of a mobile platform, characterized in that: The following steps are involved: S1. Equipment preparation and initial setup; S11. Equipment confirmation: S111. Ensure that the inertial device and the device that needs to be calibrated are installed on the mobile platform; S112, confirming that the heading reference of the inertial device is the first heading reference, and the heading reference of the device that needs to be calibrated is the second heading reference; S12, collimation theodolite erection; A collimation theodolite is set up at point B and point A respectively, point B is located at the intersection of the first heading reference of the inertial device, and point A is located at the intersection of the second heading reference of the device to be calibrated; S2. Collimation theodolite aiming operation; S21. Aiming inertial device: The collimation theodolite set up at point B is operated to aim at the first heading reference of the inertial device. At this time, the aiming direction of the theodolite is the first aiming direction. S22. Aiming device to be calibrated: The collimating theodolite set up at point A is operated to aim at the second heading reference of the device to be calibrated. At this time, the aiming direction of the theodolite is the second aiming direction; S3. Align the theodolite and aim at each other; S31, mutual aiming operation; S311, operate two collimating theodolites respectively so that they are aimed at each other; S312, aiming the collimator at point A at the collimator at point B, where the aiming direction is a third aiming direction, and the horizontal angle at which the collimator at point A rotates is b1; S313, aiming the collimator at point B at the collimator at point A, where the aiming direction is the fourth aiming direction, and the horizontal angle at which the collimator at point B rotates is a1; S32, alignment operation: During the mutual aiming process, ensure that the two alignment theodolites are aligned, that is, ensure that the aiming line is accurate; S4, measuring the rotation angle: measuring and recording the rotation angles of the two collimating theodolites after they are aimed at each other, the rotation angle b1 of the collimating theodolite at point A, and the rotation angle a1 of the collimating theodolite at point B; S5. Measuring heading angle: using an inertial device to complete the measurement of heading angle b0; S6, reference angle calculation; S61, calculating the heading angle difference: calculating the heading angle difference a2 between the inertial device and the device to be calibrated according to the formula: a2=a1-b1; S62, calculating the heading angle of the device to be calibrated: according to the formula: a0=a2+b0, calculating the heading angle a0 of the device to be calibrated.

2. The method for calibrating the heading reference of a mobile platform according to claim 1, characterized in that: A box body is provided at the bottom of the alignment theodolite in S311, a rotating device is provided inside the box body, and the rotating device includes a motor, one end of the motor output shaft is fixedly connected to a rotating rod through a coupling, and one end of the rotating rod is connected to a first gear.

3. The method for calibrating the heading reference of a mobile platform according to claim 2, characterized in that: One side of the first gear is meshed with a second gear, one side of the second gear is connected to a rotating rod, and one end of the rotating rod penetrates the box body and is connected to the center position of the bottom of the alignment theodolite.

4. The method for calibrating the heading reference of a mobile platform according to claim 2, characterized in that: A disassembly cover is arranged at the bottom of the box body.

5. The method for calibrating the heading reference of a mobile platform according to claim 2, characterized in that: A scale plate is arranged on the surface of the box body.

6. The method for calibrating the heading reference of a mobile platform according to claim 5, characterized in that: An indicating block is connected to one side of the collimating theodolite and located above the scale plate.

7. The method for calibrating the heading reference of a mobile platform according to claim 5, characterized in that: A supporting block is connected between the box body and the scale plate.

8. The method for calibrating the heading reference of a mobile platform according to claim 2, characterized in that: A controller is installed on the top of the inner wall of the box body.

9. The method for calibrating the heading reference of a mobile platform according to claim 4, characterized in that: The bottom of the disassembly cover is connected with a fixing assembly, and the fixing assembly comprises a fixing block, and the bottom of the fixing block is connected with a magnetic attraction block.

10. The method for calibrating the heading reference of a mobile platform according to claim 9, characterized in that: The fixing block and the magnetic block are used for installing and fixing the alignment theodolite.

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