A method for calibrating a heading reference of a mobile platform

Abstract

The application provides a method for calibrating a heading reference of a mobile platform, comprising the following steps: device preparation and initial setting; ensuring that an inertial device and a device requiring reference calibration are installed on the mobile platform; confirming that the heading reference of the inertial device is a first heading reference and the heading reference of the device requiring reference calibration is a second heading reference; and erecting a collimating theodolite. The method for calibrating the heading reference of the mobile platform provided by the application can complete the calibration of the reference by only performing four aiming and collimating operations respectively by using a temporarily assumed collimating theodolite, and the operation process of the method is simple and clear, and the time and labor cost required for calibration are reduced, compared with the traditional method which may require complex landmark positioning, multiple measurements and complicated data processing.

Description

Technical Field

[0001] The present 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] After 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 inconvenient 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, it is usually necessary to use other fixed locations or landmarks to establish a heading reference for the inertial device and a precise direction device on the platform, but it is inconvenient for a mobile platform to use fixed locations or landmarks on the ground.

[0006] 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 requiring reference calibration 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 requiring reference calibration is the second heading reference;

[0011] S12, collimation theodolite installation;

[0012] Set up collimating theodolites at points B and 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 collimating 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. Collimation theodolite mutual aiming operation;

[0019] S31, mutual aiming operation;

[0020] S311. Operate the two collimating theodolites separately so that they are aligned with each other;

[0021] S312, aiming the collimator at point A at the collimator at point B. At this time, the aiming direction is the third aiming direction, and the horizontal angle of rotation of the collimator at point A is b1.

[0022] S313, aiming the collimator at point B at the collimator at point A. At this time, the aiming direction is the fourth aiming direction, and the horizontal angle of rotation of the collimator at point B is a1.

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

[0024] S4. Measure the rotation angle: Measure and record 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. Measure the heading angle: Use the inertial device to complete the measurement of the heading angle b0;

[0026] S6, calculation of reference angle;

[0027] S61. Calculate the heading angle difference: Calculate the heading angle difference a2 between the inertial device and the device requiring reference calibration according to the formula: a2 = a1 - b1;

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

[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, 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.

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

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

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

[0033] Preferably, an indicator block is connected to one side of the collimating 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 includes 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 collimating theodolite.

[0038] Compared with related technologies, 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 temporary hypothetical alignment theodolite and only requires four separate aiming and alignment operations to complete the calibration of the reference. Compared with traditional methods that may require complex landmark positioning, multiple measurements, and tedious data processing, the operational 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 diagram of the first working principle of the device;

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

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

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

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

[0046] Figure 7 It is a structural 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] Figure 9 for Figure 8 An enlarged schematic diagram of part A is shown;

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

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

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

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

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

[0054] Reference numerals in the figure: 1, mobile platform; 2, inertial unit; 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. Collimating theodolite; 18. Box;

[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 with reference to the accompanying drawings and embodiments.

[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 diagram of the first working principle of the device; Figure 3 It is a structural diagram of the second working principle of the device; Figure 4 It is a structural diagram of the third working principle of the device; Figure 5 It is a structural diagram of the fourth working principle of the device; Figure 6 It is a structural 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 requiring reference calibration is the second heading reference 5;

[0067] S12, collimation theodolite installation;

[0068] Collimation theodolites are set up at points B 6 and 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 collimating 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. At this time, the aiming direction of the theodolite is the second aiming direction 14;

[0074] S3. Collimation theodolite mutual aiming operation;

[0075] S31, mutual aiming operation;

[0076] S311. Operate the two collimating theodolites separately so that they are aligned with each other;

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

[0078] S313, aiming the collimator at point B 6 at the collimator at point A 7. At this time, 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. Collimation operation: During the mutual aiming process, ensure that the two collimating theodolites are aligned, that is, ensure that the aiming line is accurate;

[0080] S4. Measure the rotation angle: Measure and record the rotation angles of the two collimating theodolites after they are aligned with 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. Measure the heading angle: Use the inertial device 2 to complete the measurement of the heading angle (b0) 10;

[0082] S6, calculation of reference angle;

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

[0084] S62. Calculate the heading angle of the device to be calibrated: Calculate the heading angle (a0) 12 of the device 4 that needs to be calibrated based on the formula: a0 = a2 + b0.

[0085] The mobile platform 1 should have sufficient rigidity and stability to ensure that the inertial device 2 and the device 4 requiring reference calibration installed thereon will not be affected by vibration or deformation of the platform during operation, which may affect the measurement accuracy. The platform surface must be flat and have standard mounting interfaces to facilitate the precise installation of the above devices. During installation, it is necessary to ensure that the relative positions of the inertial device 2 and the device 4 requiring reference calibration and the platform are fixed and meet the design requirements, and the installation error should be controlled within a very small range.

[0086] The installation position and orientation of the inertial device 2 and the device requiring reference calibration 4 must be determined based on the design axis of the mobile platform 1 and the intended use. During installation, high-precision measurement tools, such as a laser interferometer, are used to ensure that the device's installation orientation 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 capabilities. When installing the collimation theodolite at points B6 and A7, use a stable tripod and use a spirit level and plumb line to ensure the horizontal and vertical accuracy of the theodolite. After installation, calibrate the theodolite to check its own line of 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 center of the target's crosshairs and the center of the theodolite's crosshairs are clearly seen to coincide in the theodolite's eyepiece. 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, achieving the collimated state.

[0089] To ensure angle measurement accuracy, when measuring the angles (b1)8 and (a1)9 resulting from the two collimating theodolites' rotation after aiming at each other, multiple measurements are taken and the average value is taken. The measurement environment is strictly controlled to prevent external factors such as airflow and vibration from influencing the measurement results. For the heading angle (b0)10 measured by inertial device 2, it is necessary to preheat and calibrate it before measurement to achieve optimal working conditions. The measurement data is also monitored and filtered in real time to remove noise and abnormal data, ensuring the accuracy of heading angle measurement.

[0090] Compared with related technologies, 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 temporary hypothetical alignment theodolite and only requires four separate aiming and alignment operations to complete the calibration of the reference. Compared with traditional methods that may require complex landmark positioning, multiple measurements, and tedious data processing, the operational 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 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 and Figure 13 Based on the method for calibrating a heading reference for a mobile platform provided in the first embodiment of this application, the second embodiment of this application provides another method for calibrating a heading reference for a mobile platform. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0094] Specifically, the difference of the method for calibrating the heading reference of a mobile platform provided in the second embodiment of the present application 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 collimation 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] One side of the first gear 193 is meshed with a second gear 194 , and one side of the second gear 194 is connected to a rotating rod 195 . 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 provided on the surface of the box body 18 .

[0098] An indicator block 21 is connected to one side of the collimating 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 it. The collimating theodolite 17 is the main measuring component, used for high-precision angle measurement and positioning. The box body 18 is the outer shell that carries and protects the rotating device 19. Its structure is sturdy and its design is reasonable, which can effectively prevent external factors from interfering with the internal rotating device.

[0102] Motor 191 is the power source of the rotating device 19. It uses a high-precision motor that can provide a stable and accurate rotation speed. The output shaft of motor 191 is connected to the rotating rod 19 through a coupling. This connection method can effectively transmit the power of the motor and reduce vibration and errors 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 engagement with other gears, thereby achieving stable power transmission.

[0104] The first gear 193 meshes with the second gear 194. The second gear 194 is designed to match 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 of the bottom of the alignment theodolite 17, thereby realizing 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 snaps. 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 collimating theodolite 17. An indicator block 21 is connected to one side of the collimating theodolite 17 and located above the dial 20. The indicator block 21 moves on the dial 20 as the collimating theodolite 17 rotates. By reading the scale value indicated by the indicator block 21, the rotation angle of the collimating 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 collimation 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 mounted on the top of the inner wall of the box 18. The controller 25 is used to control the operation of the motor 191. The controller 25 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 operator instructions through a 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, transmitting power to the rotating rod 192 through the coupling, and the rotating rod 192 drives the first gear 193 to rotate. 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 rotation of the collimator theodolite 17. During the rotation of the collimator theodolite 17, an indicator block 21 attached to one side moves along with the collimator 17 on the scale 20. By observing the scale value on the scale 20 pointed by the indicator block 21, the operator can obtain the rotation angle of the collimator 17 in real time, thereby achieving precise angle measurement and positioning operations.

[0111] During long-term use, if the rotating device 19 fails or requires 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. This allows the internal components to be easily inspected, repaired or replaced to ensure the normal operation and long-term stability of the entire device.

[0112] Compared with related technologies, 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 provided at the bottom of a collimating theodolite 17 and is used in conjunction with an indicator block 21 and a scale plate 20 to display and control the angle when the collimating theodolite 17 is automatically adjusted.

[0114] Third embodiment

[0115] Please refer to Figure 14 Based on the method for calibrating a heading reference for a mobile platform provided in the first embodiment of this application, the third embodiment of this application provides another method for calibrating a heading reference for a mobile platform. The third embodiment is merely a preferred embodiment 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 the method for calibrating the heading reference of a mobile platform provided in the third embodiment of the present application is that, in a method for calibrating the 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 to install and fix the collimating 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 related technologies, 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 provided 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 description 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 requiring reference calibration 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 requiring reference calibration is the second heading reference; S12, collimation theodolite installation; Set up collimating theodolites at points B and 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: A collimating 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. Collimation theodolite mutual aiming operation; S31, mutual aiming operation; S311. Operate the two collimating theodolites separately so that they are aligned with each other; S312, aiming the collimator at point A at the collimator at point B. At this time, the aiming direction is the third aiming direction, and the horizontal angle of rotation of the collimator at point A is b1. S313, aiming the collimator at point B at the collimator at point A. At this time, the aiming direction is the fourth aiming direction, and the horizontal angle of rotation of the collimator at point B is a1. S32. Collimation operation: During the mutual aiming process, ensure that the two collimating theodolites are aligned, that is, ensure that the aiming line is accurate; S4. Measure the rotation angle: Measure and record 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. Measure the heading angle: Use the inertial device to complete the measurement of the heading angle b0; S6, reference angle calculation; S61. Calculate the heading angle difference: Calculate the heading angle difference a2 between the inertial device and the device requiring reference calibration according to the formula: a2 = a1 - b1; S62. Calculate the heading angle of the device to be calibrated: Calculate the heading angle a0 of the device to be calibrated according to the formula: a0=a2+b0.

2. The method for calibrating the heading reference of a mobile platform according to claim 1, wherein: A box body is provided at the bottom of the alignment theodolite in S311, and 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.

3. The method for calibrating the heading reference of a mobile platform according to claim 2, wherein: 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 passes through the box body and is connected to the center position of the bottom of the collimating theodolite.

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

5. The method for calibrating the heading reference of a mobile platform according to claim 2, wherein: A scale plate is provided 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 indicator 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 a heading reference of a mobile platform according to claim 2, wherein: 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, wherein: The bottom of the disassembly cover is connected with a fixing assembly, and the fixing assembly includes a fixing block, and the bottom of the fixing block is connected with a magnetic 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 collimating theodolite.

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