Inertial navigation north-seeking device verification system and method of mobile metering vehicle and electronic equipment

Abstract

The invention relates to the technical field of inertial navigation north-seeking device verification software, discloses an inertial navigation north-seeking device verification system and method for a mobile metering vehicle and electronic equipment, and aims to solve the problem of low accuracy of an existing navigation system. The system comprises a communication connection module for setting communication connection; the north guiding calculation module is used for calculating the north orientation and the elevation angle of the measurement axis of the positioning and orienting device and calculating the north angle data of the measurement base line of the theodolite; the initial calibration module is used for measuring azimuth data of three mark points on the outer side of the positioning and orienting device and calculating spatial position relation parameters of a plane where the three mark points are located and a measurement axis of the positioning and orienting device; the inertial navigation measurement module is used for calculating an inertial navigation north-seeking precision error of the inertial navigation system; and the pseudo-range differential module is used for comparing the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north orientation device to obtain a horizontal positioning error and an elevation positioning error. The precision and the reliability of the inertial navigation north-seeking device are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation north-seeking device calibration software, and in particular to an inertial navigation north-seeking device calibration system, method and electronic equipment for a mobile metrology vehicle. Background Art

[0002] In the application of mobile measurement vehicles, the accuracy of the inertial navigation north-seeking device is crucial to the positioning and navigation of the vehicle. Existing inertial navigation north-seeking devices may have errors in complex environments, affecting the accuracy of the navigation system. In the application scenarios of mobile measurement vehicles, the accuracy of the inertial navigation (inertial navigation system) north-seeking device plays a vital role in ensuring the precise positioning and reliable navigation of the vehicle. Since such vehicles are usually used to perform high-precision measurement tasks such as road condition monitoring, geographic information collection, and environmental parameter detection, the requirements for positioning and navigation are extremely high. The task of the inertial navigation north-seeking device is to provide a stable reference direction, which is essential for maintaining the correct heading of the vehicle, achieving accurate path planning and data synchronization. However, in actual operation, existing inertial navigation north-seeking devices may encounter challenges in complex environments, resulting in errors of varying degrees, thus affecting the accuracy of the entire navigation system.

[0003] Therefore, a calibration system for the inertial navigation north-seeking device of a mobile metrology vehicle is developed. Summary of the invention

[0004] The present invention provides a calibration system, method and electronic equipment for an inertial navigation north-seeking device of a mobile measurement vehicle, which are used to solve the problem that the existing inertial navigation north-seeking device may encounter challenges in complex environments, resulting in errors of varying degrees, thereby affecting the accuracy of the entire navigation system.

[0005] A first aspect of the present invention provides a calibration system for an inertial navigation north-seeking device of a mobile metrology vehicle, the system comprising:

[0006] The communication connection module is used to set the communication connection between the theodolite, the north-finding instrument, the north-finding instrument base station and the reinforced laptop computer;

[0007] The north guidance calculation module is used to collect the north direction data of the north surveying instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite;

[0008] An initial calibration module is used to measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measurement axis of the positioning and orientation device based on the azimuth data;

[0009] Inertial navigation measurement module, used to calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the orientation positioning device;

[0010] The pseudo-range differential module is used to record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

[0011] In a preferred embodiment, the theodolite includes a left theodolite and a right theodolite.

[0012] In a preferred embodiment, the process of the north-guiding calculation module calculating the north azimuth and the elevation angle of the measurement axis of the positioning and orientation device includes:

[0013] Use the theodolite with the North Finder Mobile Station to aim at the North Finder Base Station to set the theodolite zero position;

[0014] Then use the theodolite to penetrate the measuring axis of the positioning and orientation device, and calculate the north azimuth and elevation angle of the axis of the positioning and orientation device based on the measuring axis.

[0015] In a preferred embodiment, the process of the north-guiding calculation module calculating the north angle data of the measurement baseline of the theodolite includes:

[0016] The two theodolites are aligned to establish a measurement baseline. The north angle data of the measurement baseline of the two theodolites are calculated through the angle measurement function and angle transfer function of the theodolite.

[0017] In a preferred embodiment, the process of calculating the spatial position relationship parameters between the plane where the three marking points are located and the measuring axis of the positioning and orientation device by the initial calibration module includes:

[0018] Use the left and right theodolites to measure the azimuth data of the three marked points respectively. After the azimuth data of each marked point is measured, add it to the data list;

[0019] Select the azimuth data of each marking point in the data list, and calculate the spatial position relationship parameters of the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the north azimuth and the elevation angle of the measuring axis.

[0020] In a preferred embodiment, the inertial navigation measurement module calculates the inertial navigation north-seeking accuracy error of the inertial navigation system based on the positioning and orientation device, including:

[0021] Two theodolites respectively observe the three marking points outside the positioning and orientation device and then calculate the initial axis position of the positioning and orientation device;

[0022] Then rotate the positioning and orientation device to any direction of 0 to 360 degrees, and calculate the absolute pointing position of the positioning and orientation device at this time according to the pointing data of the sighting and marking points of the two theodolites;

[0023] The difference between the absolute pointing position of the positioning and orientation device and the set value is the inertial navigation north-seeking accuracy error.

[0024] In a preferred embodiment, the pseudo-range differential module compares the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding orienteering instrument, and obtains the horizontal positioning error and the elevation positioning error of the two, including:

[0025] Set up the North Surveyor Base Station on the known point coordinates, open the North Surveyor Base Station Setting Interface, enter the known point coordinates, select the known point to set up the station, and the North Surveyor Base Station sends phase differential data to the North Surveyor Mobile Station;

[0026] The north finder mobile station is placed at the point to be detected, the north finder mobile station obtains the phase differential signal of the north finder base station, and reads the differential positioning coordinate value of the north finder mobile station;

[0027] Stop the vehicle-mounted Beidou at the point to be measured, read the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou, enter it into the corresponding column of the interface according to the format, and add it to the data list;

[0028] The difference between the horizontal coordinates of the differential positioning coordinate values ​​of the north-finding instrument mobile station and the horizontal coordinates of the pseudo-range differential positioning coordinate values ​​of the vehicle-mounted Beidou is the horizontal positioning error; the difference between the elevation coordinates of the differential positioning coordinate values ​​of the north-finding instrument mobile station and the elevation coordinates of the pseudo-range differential positioning coordinate values ​​of the vehicle-mounted Beidou is the elevation positioning error.

[0029] In a preferred embodiment, the system further comprises an exit module, and the exit module is used to exit the inertial navigation north-seeking device calibration system of the mobile measurement vehicle.

[0030] A second aspect of the present invention provides a method for calibrating an inertial navigation north-seeking device of a mobile measurement vehicle, the method comprising:

[0031] Set up the communication connection between theodolite, north finder, north finder base station and ruggedized laptop computer;

[0032] Collect the north direction data of the north-finding instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite;

[0033] Measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the azimuth data;

[0034] Calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the directional positioning device;

[0035] Record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

[0036] The third aspect of the present invention provides an electronic device, comprising: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-mentioned method for calibrating the inertial navigation north-seeking device of the mobile measurement vehicle.

[0037] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0038] The communication connection module establishes a stable data transmission channel between the theodolite, the north finder, the north finder base station and the reinforced laptop computer. It ensures the real-time and consistency of data exchange between all devices. The north guidance calculation module is responsible for collecting the north data of the north finder base station and the angle measurement data of the theodolite, and calculating the north azimuth and elevation angle of the measurement axis of the positioning and orientation device, and determining the north angle data of the theodolite measurement baseline, which is the basis for establishing an accurate reference frame, thereby greatly improving the accuracy of positioning. The initial calibration module measures the azimuth of the three marking points on the outside of the positioning and orientation device, and calculates the spatial position relationship parameters between the plane where they are located and the axis of the device. This provides an initial calibration point for the inertial navigation system, helps to eliminate installation errors and environmental interference, and further improves the measurement accuracy. The inertial navigation measurement module focuses on evaluating the north-seeking accuracy of the inertial navigation system, which can quantitatively analyze the possible error sources of the inertial navigation system, thereby improving the accuracy of the inertial navigation north-seeking. The range differential module records the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compares it with the phase differential positioning data provided by the north finder, which effectively reduces the potential deviation caused by a single positioning method and achieves more accurate position determination. In summary, the present invention integrates multiple functional modules to form a complete set of inertial navigation north-seeking device calibration solutions. It not only overcomes the problems that may arise in traditional methods in complex environments, but also significantly improves the accuracy and reliability of inertial navigation north-seeking devices. It enhances the ability of mobile measurement vehicles to maintain the correct heading under various conditions, and can adapt to the needs of future technological advances and changes in application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 A schematic diagram of an inertial navigation north-seeking device calibration system for a mobile measurement vehicle provided in one embodiment of this specification;

[0041] Figure 2 A schematic diagram of a method for calibrating an inertial navigation north-seeking device of a mobile measurement vehicle provided in one embodiment of the present specification. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0043] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0044] Figure 1 An inertial navigation north-seeking device calibration system for a mobile metrology vehicle is provided in one embodiment of this specification, and the system comprises:

[0045] The communication connection module is used to set the communication connection between the theodolite, the north-finding instrument, the north-finding instrument base station and the reinforced laptop computer;

[0046] The north guidance calculation module is used to collect the north direction data of the north surveying instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite;

[0047] An initial calibration module is used to measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measurement axis of the positioning and orientation device based on the azimuth data;

[0048] Inertial navigation measurement module, used to calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the orientation positioning device;

[0049] The pseudo-range differential module is used to record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

[0050] In order to specifically illustrate the inertial navigation north-seeking device calibration system of the mobile measurement vehicle of the present invention, a specific description is given below;

[0051] The following is a specific description of a verification system for an inertial navigation north-seeking device of a mobile measurement vehicle of the present invention, the system comprising:

[0052] The communication connection module is used to set the communication connection between the theodolite, the north-finding instrument, the north-finding instrument base station and the reinforced laptop computer;

[0053] In this embodiment, the theodolite includes a left theodolite and a right theodolite. The communication connection module has the functions of device connection serial port identification, serial port manual refresh, baud rate setting, communication connection and disconnection, connection success status prompt, saving communication connection configuration parameters and closing. It is used to set the communication interface between the left theodolite, the right theodolite, the north surveying instrument mobile station, the north surveying instrument base station and the reinforced laptop computer, and can be connected for communication after setting.

[0054] The north guidance calculation module is used to collect the north direction data of the north surveying instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite;

[0055] In this embodiment, the process of the north-guiding calculation module calculating the north azimuth and elevation angles of the measuring axis of the positioning and orientation device includes: aiming a theodolite with a north-finding mobile station at a north-finding base station to set the theodolite zero position; then aiming the theodolite at the measuring axis of the positioning and orientation device, and calculating the north azimuth and elevation angles of the axis of the positioning and orientation device based on the measuring axis.

[0056] The process of calculating the north angle data of the measurement baseline of the theodolite by the north-guiding calculation module includes: aiming two theodolites to establish the measurement baseline, and calculating the north angle data of the measurement baseline of the two theodolites through the angle measurement function and angle transfer function of the theodolite.

[0057] In this embodiment, the north-guiding calculation module has the functions of axis north-guiding and baseline north-guiding. Axis north-guiding means: first aim the theodolite with a north-finding mobile station (left or right theodolite can be selected) at the north-finding base station to set the theodolite zero position, then use the theodolite to measure the axis through the positioning and orientation device, and calculate the north azimuth and elevation angle of the axis of the positioning and orientation device. Baseline north-guiding means: aiming two theodolites to establish a measurement baseline, and obtaining the north azimuth of the double theodolite measurement baseline through the angle measurement function and angle transfer function of the theodolite.

[0058] An initial calibration module is used to measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measurement axis of the positioning and orientation device based on the azimuth data;

[0059] In this embodiment, the process of the initial calibration module calculating the spatial position relationship parameters of the plane where the three marking points are located and the measurement axis of the positioning and orientation device includes:

[0060] Use the left and right theodolites to measure the azimuth data of the three marking points respectively. After the azimuth data of each marking point is measured, it is added to the data list; select the azimuth data of each marking point in the data list, and calculate the spatial position relationship parameters of the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the north azimuth and elevation angle of the measuring axis. Specifically: the initial calibration module has the functions of initial calibration pointing measurement, initial calibration measurement data recording and management, initial calibration calculation and initial calibration parameter saving and management. Initial calibration pointing measurement means: use the left and right theodolites to measure the marking points 1-2-3 in sequence, send the measurement data to the software measurement interface, and add each set of data to the data list automatically or manually after the measurement is completed. Initial calibration measurement data recording and management means: manage the measurement data recorded in the data list, modify, delete the selected, delete all, save the file, and import data from the file to the list. Initial calibration calculation means: manage the data line selected for measurement in the data list, enter the baseline north value, the known axis elevation and azimuth values, and calculate the spatial position parameter values ​​of the plane where the three marking points are located and the axis. Initial calibration parameter storage and management refers to: storing the initial calibration calculation results (3 calibration parameters), updating the parameter list, and updating and managing the parameter list.

[0061] Inertial navigation measurement module, used to calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the orientation positioning device;

[0062] In this embodiment, the inertial navigation measurement module calculates the inertial navigation north-seeking accuracy error of the inertial navigation system based on the positioning and orientation device, including: two theodolites respectively observe and aim at the three marking points outside the positioning and orientation device to calculate the initial axis position of the positioning and orientation device; then the positioning and orientation device is rotated and set to any direction of 0 to 360°, and the absolute pointing position of the positioning and orientation device at this time is calculated according to the pointing data of the marked points observed by the two theodolites; the difference between the absolute pointing position of the positioning and orientation device and the set value is the inertial navigation north-seeking accuracy error.

[0063] The inertial navigation measurement module has the functions of inertial navigation pointing measurement, inertial navigation measurement data recording and management, initial calibration parameter import, inertial navigation north-seeking accuracy calculation and inertial navigation north-seeking verification result statistics. Inertial navigation pointing measurement refers to: using the left and right theodolites to measure the three marking points of the positioning and orientation device in turn, collecting and measuring the elevation angle and horizontal azimuth of each marking point, and recording the inertial navigation north-seeking data at the same time, manually entering it into the corresponding position of the software, and repeating the north-seeking record 7 times. Inertial navigation measurement data recording and management refers to: summarizing the entire set of measurement data collected in order into a list, the data can be modified, deleted, saved to the corresponding file, and the corresponding data can be imported from the file. Initial calibration parameter import refers to: opening the initial calibration parameter management list, selecting the initial calibration parameters of the corresponding numbered equipment, and sending them to the corresponding position column of the inertial navigation measurement interface. The calculation of INS north-seeking accuracy means: according to one or more sets of INS measurement data, baseline north angle data, and the initial calibration parameters of the equipment, the actual true north azimuth angle of the positioning and orientation device is calculated, and the azimuth angle given by the INS is compared to calculate the INS north-seeking accuracy error value. The statistics of INS north-seeking verification results means: according to the INS north-seeking accuracy calculation results, press the statistics button to generate the INS north-seeking error verification result table (including equipment number, detection time, detection process data, and north-seeking error calculation result data).

[0064] The pseudo-range differential module is used to record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

[0065] In this embodiment, the pseudo-range differential module compares the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding orienteering instrument to obtain the horizontal positioning error and elevation positioning error of the two, including: setting up the north-finding instrument base station on the known point coordinates, opening the north-finding instrument base station setting interface, entering the known point coordinates, selecting the known point to set up the station, and the north-finding instrument base station sends phase differential data to the north-finding instrument mobile station; placing the north-finding instrument mobile station on the point to be detected, and the north-finding instrument mobile station obtains the phase differential signal of the north-finding instrument base station, and reads Get the differential positioning coordinate value of the north-finding instrument mobile station; stop the vehicle-mounted Beidou at the point to be measured, read the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou, enter it into the corresponding column of the interface according to the format, and add it to the data list; the difference between the horizontal coordinates of the differential positioning coordinate value of the north-finding instrument mobile station and the horizontal coordinates of the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou is the horizontal positioning error; the difference between the elevation coordinates of the differential positioning coordinate value of the north-finding instrument mobile station and the elevation coordinates of the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou is the elevation positioning error. Specifically, the pseudo-range differential module has the functions of setting up the north-finding instrument base station, importing phase differential positioning data, entering pseudo-range differential positioning data, recording and managing pseudo-range differential measurement data, calculating pseudo-range differential accuracy, and statistically analyzing pseudo-range differential calibration results. The north-finding instrument base station setting means: setting up the north-finding instrument base station on the known point coordinates, opening the base station setting interface, entering the known point coordinates, selecting the known point to set up the station, and clicking the "Set" button. The north-finding instrument base station sends phase differential data to the mobile station. The phase differential positioning data import means: placing the north-finding instrument mobile station on the point to be tested, and the mobile station obtains the phase differential signal of the base station. After the work is stable, read the differential positioning coordinate value of the mobile station. The pseudo-range differential positioning data entry means: stopping the vehicle-mounted Beidou at the point to be tested, reading the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou, entering it into the corresponding column of the interface according to the format, and adding the data to the data list through the "Add" button. The pseudo-range differential measurement data recording and management means: summarizing the entire set of measurement data collected and measured in order into a list, and the data can be modified, deleted, saved to the corresponding file, and the corresponding data can be imported from the file. Pseudorange differential accuracy calculation refers to: calculating the pseudorange differential accuracy error value based on one or more sets of pseudorange differential measurement data. Pseudorange differential verification result statistics refers to: according to the pseudorange differential error calculation results, press the statistics button to generate a pseudorange differential error verification result table; including equipment number, detection time, detection process data, pseudorange differential calculation result data.

[0066] In this embodiment, the system further includes an exit module, which is used to exit the inertial navigation north-finding device calibration system of the mobile measurement vehicle and has the functions of clearing cached data and exiting the software.

[0067] A second aspect of the present invention provides a method for calibrating an inertial navigation north-seeking device of a mobile measurement vehicle, such as Figure 2 As shown, the method includes:

[0068] Set up the communication connection between theodolite, north finder, north finder base station and ruggedized laptop computer;

[0069] Collect the north direction data of the north-finding instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite;

[0070] Measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the azimuth data;

[0071] Calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the directional positioning device;

[0072] Record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

[0073] A third aspect of the present invention provides an electronic device, comprising: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-mentioned method for calibrating the inertial navigation north-seeking device of the mobile measurement vehicle.

[0074] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A calibration system for an inertial navigation north-seeking device of a mobile metrology vehicle, characterized in that: The system comprises: The communication connection module is used to set the communication connection between the theodolite, the north-finding instrument, the north-finding instrument base station and the reinforced laptop computer; The north guidance calculation module is used to collect the north direction data of the north surveying instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite; An initial calibration module is used to measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measurement axis of the positioning and orientation device based on the azimuth data; Inertial navigation measurement module, used to calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the orientation positioning device; The pseudo-range differential module is used to record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

2. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 1, characterized in that: The theodolite includes a left theodolite and a right theodolite.

3. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 2, characterized in that: The process of calculating the north azimuth and elevation angle of the measuring axis of the positioning and orientation device by the north-guiding calculation module includes: Use the theodolite with the North Finder Mobile Station to aim at the North Finder Base Station to set the theodolite zero position; Then use the theodolite to penetrate the measuring axis of the positioning and orientation device, and calculate the north azimuth and elevation angle of the axis of the positioning and orientation device based on the measuring axis.

4. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 3, characterized in that: The process of calculating the north angle data of the measurement baseline of the theodolite by the north-guiding calculation module includes: The two theodolites are aligned to establish a measurement baseline. The north angle data of the measurement baseline of the two theodolites are calculated through the angle measurement function and angle transfer function of the theodolite.

5. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 4, characterized in that: The process of calculating the spatial position relationship parameters between the plane where the three marking points are located and the measurement axis of the positioning and orientation device by the initial calibration module includes: Use the left and right theodolites to measure the azimuth data of the three marked points respectively. After the azimuth data of each marked point is measured, add it to the data list; Select the azimuth data of each marking point in the data list, and calculate the spatial position relationship parameters of the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the north azimuth and the elevation angle of the measuring axis.

6. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 5, characterized in that: The inertial navigation measurement module calculates the inertial navigation north-seeking accuracy error of the inertial navigation system based on the positioning and orientation device, including: Two theodolites respectively observe the three marking points outside the positioning and orientation device and then calculate the initial axis position of the positioning and orientation device; Then rotate the positioning and orientation device to any direction of 0 to 360 degrees, and calculate the absolute pointing position of the positioning and orientation device at this time according to the pointing data of the sighting and marking points of the two theodolites; The difference between the absolute pointing position of the positioning and orientation device and the set value is the inertial navigation north-seeking accuracy error.

7. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 6, characterized in that: The pseudo-range differential module compares the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north finder, and obtains the horizontal positioning error and elevation positioning error of the two, including: Set up the North Surveyor Base Station on the known point coordinates, open the North Surveyor Base Station Setting Interface, enter the known point coordinates, select the known point to set up the station, and the North Surveyor Base Station sends phase differential data to the North Surveyor Mobile Station; The north finder mobile station is placed at the point to be detected, the north finder mobile station obtains the phase differential signal of the north finder base station, and reads the differential positioning coordinate value of the north finder mobile station; Stop the vehicle-mounted Beidou at the point to be measured, read the pseudo-range differential positioning coordinate value of the vehicle-mounted Beidou, enter it into the corresponding column of the interface according to the format, and add it to the data list; The difference between the horizontal coordinates of the differential positioning coordinate values ​​of the north-finding instrument mobile station and the horizontal coordinates of the pseudo-range differential positioning coordinate values ​​of the vehicle-mounted Beidou is the horizontal positioning error; the difference between the elevation coordinates of the differential positioning coordinate values ​​of the north-finding instrument mobile station and the elevation coordinates of the pseudo-range differential positioning coordinate values ​​of the vehicle-mounted Beidou is the elevation positioning error.

8. The inertial navigation north-seeking device calibration system for a mobile measurement vehicle according to claim 7, characterized in that: The system further comprises an exit module, and the exit module is used for exiting the inertial navigation north-seeking device calibration system of the mobile measurement vehicle.

9. A method for calibrating an inertial navigation north-seeking device of a mobile measurement vehicle, characterized in that: The method comprises: Set up the communication connection between theodolite, north finder, north finder base station and ruggedized laptop computer; Collect the north direction data of the north-finding instrument base station and the angle measurement data of the theodolite, and calculate the north direction azimuth and elevation angle of the measurement axis of the positioning and orientation device based on the north direction data and the angle measurement data, and calculate the north direction angle data of the measurement baseline of the theodolite; Measure the azimuth data of three marking points outside the positioning and orientation device, and calculate the spatial position relationship parameters between the plane where the three marking points are located and the measuring axis of the positioning and orientation device based on the azimuth data; Calculate the inertial navigation north-seeking accuracy error of the inertial navigation system based on the directional positioning device; Record the Beidou pseudo-range differential positioning data of the positioning and orientation device itself, and compare the Beidou pseudo-range differential positioning data with the phase differential positioning data of the north-finding and orientation instrument to obtain the horizontal positioning error and elevation positioning error of the two.

10. An electronic device, characterized in that: include: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being used to be executed by the processor to implement the method for calibrating the inertial navigation north-seeking device of a mobile measurement vehicle as claimed in claim 9.

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