Method and system for auxiliary correction of inertial navigation error based on photoelectric sensing

Abstract

The invention provides a photoelectric sensing-based inertial navigation error auxiliary correction method and system, and the method comprises the steps: calibrating an installation error angle between a photoelectric sensing system and inertial navigation by measuring the relative position of a ship position and a target position; registering time between the photoelectric sensing system and inertial navigation by adopting an AIS interpolation method; the lever arm error between the photoelectric sensing system and the inertial navigation is measured and compensated, and the positioning result of the photoelectric sensing system is transferred to the inertial unit reference to correct the inertial navigation error, so that the function of correcting the inertial navigation error is realized. According to the method, the problem that the satellite navigation inertial navigation error correction technology is easily influenced by external electromagnetic interference is solved, and inertial navigation error correction in a satellite navigation denial environment is realized. The method provides inertial navigation correction parameters for ship inertial navigation under the condition of long-time satellite navigation rejection, and has remarkable practical significance.

Description

Technical Field

[0001] The present invention belongs to the field of surveying and mapping technology, and specifically relates to a method and system for correcting inertial navigation errors based on photoelectric sensing assistance. Background Art

[0002] Inertial navigation equipment works in pure inertial or autonomous navigation mode. Constrained by technical principles, its navigation error accumulates over time. When it diverges to a certain extent, it will not meet the actual use requirements. Therefore, in order to meet the navigation needs of ships, on the one hand, it is necessary to improve the accuracy of the inertial navigation equipment itself and extend the accuracy maintenance working cycle; on the other hand, external reference information such as satellite navigation can be used to readjust the inertial navigation error and suppress the inertial navigation error.

[0003] At present, the main means of correction of inertial navigation for active ships is satellite navigation, but satellite navigation correction technology is susceptible to external electromagnetic interference. When ships are sailing in various scenarios such as near the coast, near islands and reefs, near lighthouses, and near navigation marks, based on the capabilities of existing optical reconnaissance equipment, by expanding the optical ranging function, it is possible to track and measure the target; then, based on the navigation attitude and heading data provided by the inertial navigation, the relative position information of the target can be calculated, and then the position error of the ship's inertial navigation can be obtained. Providing inertial navigation correction parameters for the ship's inertial navigation under long-term satellite navigation denial through stable and continuous target tracking and measurement has significant practical significance. Therefore, it is necessary to study the inertial navigation correction method based on the measurement scenario of markers such as islands and reefs, lighthouses, etc., as a supplementary means of satellite navigation correction. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for correcting inertial navigation errors based on photoelectric sensing. The technical solution adopted by the present invention to solve the above technical problems is: a method for correcting inertial navigation errors based on photoelectric sensing assistance, comprising the following steps: S1: The photoelectric sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the photoelectric sensing system and the inertial navigation system; S2: AIS interpolation method is used to align the time between the optoelectronic sensing system and the inertial navigation system; S3: Measure the arm error between the optoelectronic sensing system and the inertial group; S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

[0005] According to the above scheme, in step S1, the specific steps are: S11: obtaining the position data of the ship and at least three targets through the optoelectronic sensing system, and calculating the relative position between the ship and the target in the optoelectronic sensing system coordinate system; S12: Obtain the matrix of the inertial navigation base coordinate system relative to the navigation coordinate system through inertial navigation; S13: obtaining the ship position and the target position in the navigation coordinate system through inertial navigation, and calculating the relative position between the ship and the target in the navigation coordinate system; S14: According to the relative positioning formula, the least square method is used to calculate the installation error angle between the photoelectric sensing system and the inertial navigation through the matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system.

[0006] Furthermore, in step S1, the position data of the ship and the target include latitude, longitude and altitude respectively.

[0007] According to the above scheme, in step S2, the specific steps are: calculating the ship position at the interpolation moment according to the ship position at the previous moment and the next moment of interpolation so as to align the time between the photoelectric sensing system and the inertial navigation.

[0008] According to the above scheme, in step S3, the specific steps are: S31: Calculate the arm velocity error between the photoelectric sensing system and the inertial navigation system; S32: Calculate the arm position error between the photoelectric sensing system and the inertial navigation.

[0009] Furthermore, in the step S31, the specific steps are: Assume that the arm between the photoelectric sensing system and the inertial navigation is the vector of the photoelectric reference datum relative to the inertial navigation; the vector of the photoelectric reference datum relative to the center of the earth is the sum of the vectors of the arm and the inertial navigation relative to the center of the earth; The lever arm is a constant vector in the inertial coordinate system. By differentiating both sides of the above equation relative to the earth coordinate system, we can obtain the ground speed of the photoelectric reference datum, which is the sum of the ground speed of the inertial navigation and the system noise. Project the above formula to the inertial navigation coordinate system; The lever arm velocity error is the velocity error between the inertial navigation system and the photoelectric sensing system.

[0010] Furthermore, in step S32, the specific steps are: The geographical position deviation between the inertial navigation system and the optoelectronic perception system is calculated based on the east, north and celestial projection components of the arm, the principal curvature radius of the meridian circle and the principal curvature radius of the meridian circle calculated from the position of the inertial navigation system or optoelectronic perception system, and the altitude of the ship; Calculate the arm position error between the inertial navigation and electro-optical sensing systems.

[0011] According to the above scheme, in step S4, the specific steps are: Calculate the distance of the target relative to the ship based on the distance, azimuth and altitude of a certain point of the target in the coordinate system of the optoelectronic perception system relative to the origin; Measure the longitude, latitude and altitude of the ship in the navigation coordinate system, and calculate the longitude, latitude and altitude of the target in the navigation coordinate system; Give the representation of the target point in the coordinate system of the photoelectric sensing system; According to the installation error angle and attitude conversion matrix of the optoelectronic perception system coordinate system relative to the inertial navigation base coordinate system, and the attitude angle and attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system, assuming that the ship position reference point, the inertial navigation base coordinate system position reference point and the optoelectronic perception system coordinate system position coincide with each other, then according to the projection of the target vector in the navigation coordinate system, the relative position between the ship and the target in the optoelectronic perception system coordinate system is obtained by optoelectronic measurement and joint positioning calculation; Define the navigation coordinate system positions of the ship and the target respectively; The position of the optoelectronic sensing system is calculated from the navigation coordinate system position of the target; Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the above position is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to realize the inertial navigation correction.

[0012] A system based on photoelectric sensing to assist in correcting inertial navigation errors. The calibration submodule is used for the photoelectric sensing system to measure the relative position of the ship and the target, and to calibrate the installation error angle between the photoelectric sensing system and the inertial navigation system; The registration submodule is used to register the time between the optoelectronic sensing system and the inertial navigation system using the AIS interpolation method; The lever arm submodule is used to measure the lever arm error between the optoelectronic sensing system and the inertial group; The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

[0013] A computer memory stores a computer program that can be executed by a computer processor. The computer program executes a method for correcting inertial navigation errors based on photoelectric sensing assistance.

[0014] The beneficial effects of the present invention are: 1. The present invention provides a method and system for correcting inertial navigation errors based on photoelectric sensing assistance, which calibrates the installation error angle between the photoelectric sensing system and the inertial navigation by measuring the relative position of the ship position and the target position; uses the AIS interpolation method to align the time between the photoelectric sensing system and the inertial navigation; measures and compensates for the arm error between the photoelectric sensing system and the inertial navigation, and transfers the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error, thereby realizing the function of correcting the inertial navigation error.

[0015] 2. The present invention solves the problem that the satellite navigation error correction technology is easily affected by external electromagnetic interference, and realizes the correction of inertial navigation errors in a satellite navigation denial environment.

[0016] 3. The present invention provides inertial navigation correction parameters for ship inertial navigation under long-term satellite navigation denial, which has significant practical significance.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a flow chart of an embodiment of the present invention.

[0020] Figure 2 It is a relative positioning coordinate system diagram of the photoelectric sensing system of an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] Example 1 See also Figure 1 , a method and system for correcting inertial navigation errors based on photoelectric sensing assistance, with specific steps as follows: S1: The photoelectric sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the photoelectric sensing system and the inertial navigation system; S2: AIS interpolation method is used to align the time between the optoelectronic sensing system and the inertial navigation system; S3: Measure the arm error between the optoelectronic sensing system and the inertial group; S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

[0023] Furthermore, in step S1, the specific steps are: S11: obtaining the position data of the ship and at least three targets through the optoelectronic sensing system, and calculating the relative position between the ship and the target in the optoelectronic sensing system coordinate system; S12: Obtain the matrix of the inertial navigation base coordinate system relative to the navigation coordinate system through inertial navigation; S13: obtaining the ship position and the target position in the navigation coordinate system through inertial navigation, and calculating the relative position between the ship and the target in the navigation coordinate system; S14: According to the relative positioning formula, the least square method is used to calculate the installation error angle between the photoelectric sensing system and the inertial navigation through the matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system.

[0024] Furthermore, in step S1, the position data of the ship and the target include latitude, longitude and altitude respectively.

[0025] In step S2, the specific steps are: calculating the ship position at the interpolation time according to the ship position at the previous moment and the next moment of interpolation, so as to align the time between the photoelectric sensing system and the inertial navigation.

[0026] According to the above scheme, in step S3, the specific steps are: S31: Calculate the arm velocity error between the photoelectric sensing system and the inertial navigation system; S32: Calculate the arm position error between the photoelectric sensing system and the inertial navigation.

[0027] Furthermore, in step S31, the specific steps are: Assume that the arm between the photoelectric sensing system and the inertial navigation is the vector of the photoelectric reference datum relative to the inertial navigation; the vector of the photoelectric reference datum relative to the center of the earth is the sum of the vectors of the arm and the inertial navigation relative to the center of the earth; The lever arm is a constant vector in the inertial coordinate system. By differentiating both sides of the above equation relative to the earth coordinate system, we can obtain the ground speed of the photoelectric reference datum, which is the sum of the ground speed of the inertial navigation and the system noise. Project the above formula to the inertial navigation coordinate system; The lever arm velocity error is the velocity error between the inertial navigation system and the photoelectric sensing system.

[0028] Further, in step S32, the specific steps are: The geographical position deviation between the inertial navigation system and the optoelectronic perception system is calculated based on the east, north and celestial projection components of the arm, the principal curvature radius of the meridian circle and the principal curvature radius of the meridian circle calculated from the position of the inertial navigation system or optoelectronic perception system, and the altitude of the ship; Calculate the arm position error between the inertial navigation and electro-optical sensing systems.

[0029] According to the above scheme, in step S4, the specific steps are: Calculate the distance of the target relative to the ship based on the distance, azimuth and altitude of a certain point of the target in the coordinate system of the optoelectronic perception system relative to the origin; Measure the longitude, latitude and altitude of the ship in the navigation coordinate system, and calculate the longitude, latitude and altitude of the target in the navigation coordinate system; Give the representation of the target point in the coordinate system of the photoelectric sensing system; According to the installation error angle and attitude conversion matrix of the optoelectronic perception system coordinate system relative to the inertial navigation base coordinate system, and the attitude angle and attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system, assuming that the ship position reference point, the inertial navigation base coordinate system position reference point and the optoelectronic perception system coordinate system position coincide with each other, then according to the projection of the target vector in the navigation coordinate system, the relative position between the ship and the target in the optoelectronic perception system coordinate system is obtained by optoelectronic measurement and joint positioning calculation; Define the navigation coordinate system positions of the ship and the target respectively; The position of the optoelectronic sensing system is calculated from the navigation coordinate system position of the target; Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the above position is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to realize the inertial navigation correction.

[0030] This embodiment calibrates the installation error angle between the optoelectronic sensing system and the inertial navigation system by measuring the relative position of the ship position and the target position; uses the AIS interpolation method to align the time between the optoelectronic sensing system and the inertial navigation system; measures and compensates for the arm error between the optoelectronic sensing system and the inertial navigation system, and transfers the positioning result of the optoelectronic sensing system to the inertial group reference to correct the inertial navigation error, thereby realizing the function of correcting the inertial navigation error.

[0031] Example 2 The steps of this embodiment are the same as those of embodiment 1, except that each step is applied to a specific example. Specifically, the following steps are included: S1: Calibrate the installation error angle between the optoelectronic sensing system and the inertial navigation system to unify the spatial reference of the two. The specific steps are: According to the relative positioning formula,

[0032] in, The system is the navigation coordinate system (selected as the Northeastern Sky Geographic Coordinate System), The system is the inertial navigation base coordinate system. Provided by inertial navigation. The coordinate system is the photoelectric sensing system.

[0033] Assume that the ship position and target position are , , the symbols represent the order of latitude, longitude, and altitude, then the following formula can be used to calculate :

[0034]

[0035] In the above formula, , , are the differences between the latitude, longitude and altitude of the ship and the target respectively.

[0036] set up , so , the detailed derivation process of installation error calculation is as follows:

[0037]

[0038]

[0039]

[0040] Therefore, there are:

[0041] After collecting multiple sets of photoelectric measurement data of at least 3 targets, the installation error angle can be calculated using the above formula with the least squares method. The value of .

[0042] S2: Align the time between the optoelectronic sensing system and the inertial navigation system to unify the time base of the two. The specific steps are as follows: The AIS interpolation method is used to realize the time alignment between the optoelectronic sensing system and the inertial navigation system, that is, the ship position information at the interpolation time is obtained according to the ship position information at the previous moment and the next moment. , The collected location information is and , at the interpolation time AIS target position information As shown below:

[0043] S3: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error, and realize the inertial navigation correction; the specific steps are: Assume that the inertial group is relative to the center of the earth The vector is , the vector of the photoelectric reference datum relative to the center of the earth is , the vector of the photoelectric reference relative to the inertial group is , the vector relationship between the three satisfies

[0044] Considering that the installation position between the optoelectronic system and the inertial group is generally relatively fixed, that is, the arm In the inertial coordinate system ( System) is a constant vector, and both sides of the above formula are relative to the earth coordinate system ( System), we can get

[0045] Right now

[0046] Among them, The ground speed is the photoelectric reference; is the ground speed of the inertial navigation. Theoretically, due to the existence of the arm distance, the navigation coordinate systems defined by the two ground speeds (i.e., the photoelectric coordinate system and the inertial navigation coordinate system) are different, but the arm length is generally in the order of meters (or even smaller), and the angle difference between the two navigation coordinate systems is very small, so they can be considered to be parallel to each other. Project the above formula to the inertial navigation coordinate system, and omit the right subscript " ”,

[0047] In practical applications, due to and The influence of or The velocity error between the inertial navigation system and the optoelectronic system is defined as the lever arm velocity error, that is,

[0048] If you remember

[0049] in , and are the east, north and celestial projection components of the arm respectively. Then the geographical position deviation between the inertial navigation and the optoelectronic system approximately satisfies

[0050] in, and They are respectively the principal curvature radius of the meridian circle and the principal curvature radius of the meridian circle calculated by the inertial navigation (or optoelectronic system) position.

[0051] The arm position error vector between the inertial navigation system and the optoelectronic system can be calculated from the above two equations and is expressed as

[0052] in, , ,matrix for:

[0053] Therefore, the arm vector between the optoelectronic system and the inertial group is obtained through actual measurement After that, the arm position error vector between the inertial navigation system and the optoelectronic system can be compensated by the above two equations.

[0054] Define the relative positioning coordinate system of the photoelectric sensing system as Figure 2 As shown. The axis points to the positive direction of the pitch axis. The axis points to the positive direction of the azimuth axis. Axis and Axis and The axes form a right-handed coordinate system, with the pitch axis and the azimuth axis intersecting at is the origin of the visual coordinate system. The axis points to the zero azimuth of the visual device, and the azimuth of the visual device is positive clockwise. The target to be measured is in the visual coordinate system point , the distance relative to the origin of the visual system , azimuth , Altitude angle ; The distance between the target to be measured and the device .

[0055] Given the longitude, latitude and altitude of the active measurement device in the geographic system, the longitude, latitude and altitude of the target in the geographic system can be calculated.

[0056] Visual coordinate system Internal target point It is expressed as:

[0057] Visual coordinate system relative to the ship deck system The installation error angle is , the attitude transformation matrix , deck system relative to geography system The attitude angle is , the attitude matrix is , assuming that the ship position reference point, the deck position reference point and the visual system position coincide, the projection of the target vector in the geographic system is:

[0058] In the formula, Obtained by photoelectric measurement and joint positioning calculation, Obtained by calibration during installation of the optoelectronic system, Provided by the ship's inertial navigation. Define the ship's geographic position as , the target geographic department location is , the component form of the target vector in the geographic system is , the corresponding longitude increment , Latitude increment , Height increment for:

[0059] In the formula, is the meridian curvature radius, is the radius of curvature of the Maoyou circle, is the ship's altitude.

[0060] Similarly, the expression for the location of the photoelectric measurement device from the target geographic location is:

[0061] The position of the optoelectronic system is obtained through the above formula, and then converted into the position under the inertial group reference based on the lever arm compensation method between the optoelectronic system and the inertial navigation, and used to correct the inertial navigation error, thereby realizing the correction of the inertial navigation.

[0062] This embodiment solves the problem that the satellite navigation correction inertial navigation error technology is easily affected by external electromagnetic interference, and realizes the correction of inertial navigation errors in a satellite navigation denial environment. At the same time, the present invention provides inertial navigation correction parameters for ship inertial navigation under long-term satellite navigation denial, which has significant practical significance.

[0063] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0064] Example 3 This embodiment is used to implement the principle of the above method embodiment to construct a system based on photoelectric sensing to assist in correcting inertial navigation errors, including a calibration submodule, a registration submodule, a lever arm submodule and a correction submodule; The calibration submodule is used for the photoelectric sensing system to measure the relative position of the ship and the target, and to calibrate the installation error angle between the photoelectric sensing system and the inertial navigation system; The registration submodule is used to register the time between the optoelectronic sensing system and the inertial navigation system using the AIS interpolation method; The lever arm submodule is used to measure the lever arm error between the optoelectronic sensing system and the inertial group; The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

[0065] Each sub-module is mainly used to implement each step of the method embodiment, which will not be described in detail here.

[0066] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0067] This embodiment also includes a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of a method for correcting inertial navigation errors based on photoelectric sensing assistance.

[0068] This embodiment also provides a computer-readable storage medium on which executable instructions are stored. When the instructions are executed by a processor, the processor implements a method for correcting inertial navigation errors based on photoelectric sensing assistance.

[0069] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0070] Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0071] The present application is described with reference to the flowchart of the method and computer program product according to Embodiment 1 of the present application. It should be understood that each process in the flowchart or block diagram and the combination of processes in the flowchart can be implemented by computer program instructions.

[0072] These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process Figure 1 A system based on photoelectric sensing to assist in correcting inertial navigation errors, which performs functions specified in one or more processes.

[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A function specified in a process or multiple processes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 The invention relates to steps of a method for correcting inertial navigation errors based on photoelectric sensing assistance specified in a process or multiple processes.

[0075] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. A method for correcting inertial navigation errors based on photoelectric sensing, characterized in that: The following steps are involved: S1: The photoelectric sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the photoelectric sensing system and the inertial navigation system; S2: AIS interpolation method is used to align the time between the optoelectronic sensing system and the inertial navigation system; S3: Measure the arm error between the optoelectronic sensing system and the inertial group; S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

2. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 1, characterized in that: In the step S1, the specific steps are: S11: obtaining the position data of the ship and at least three targets through the optoelectronic sensing system, and calculating the relative position between the ship and the target in the optoelectronic sensing system coordinate system; S12: Obtain the matrix of the inertial navigation base coordinate system relative to the navigation coordinate system through inertial navigation; S13: obtaining the ship position and the target position in the navigation coordinate system through inertial navigation, and calculating the relative position between the ship and the target in the navigation coordinate system; S14: According to the relative positioning formula, the least square method is used to calculate the installation error angle between the photoelectric sensing system and the inertial navigation through the matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system.

3. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 2, characterized in that: In the step S1, the position data of the ship and the target include latitude, longitude and altitude respectively.

4. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 1, characterized in that: In the step S2, the specific steps are: calculating the ship position at the interpolation time according to the ship position at the previous moment and the next moment of interpolation so as to align the time between the photoelectric sensing system and the inertial navigation.

5. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 1, characterized in that: In the step S3, the specific steps are: S31: Calculate the arm velocity error between the photoelectric sensing system and the inertial navigation system; S32: Calculate the arm position error between the photoelectric sensing system and the inertial navigation.

6. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 5 is characterized in that: In the step S31, the specific steps are: Assume that the arm between the photoelectric sensing system and the inertial navigation is the vector of the photoelectric reference datum relative to the inertial navigation; the vector of the photoelectric reference datum relative to the center of the earth is the sum of the vectors of the arm and the inertial navigation relative to the center of the earth; The lever arm is a constant vector in the inertial coordinate system. By differentiating both sides of the above equation relative to the earth coordinate system, we can obtain the ground speed of the photoelectric reference datum, which is the sum of the ground speed of the inertial navigation and the system noise. Project the above formula to the inertial navigation coordinate system; The lever arm velocity error is the velocity error between the inertial navigation system and the photoelectric sensing system.

7. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 6 is characterized in that: In the step S32, the specific steps are: Calculate the geographic location deviation between the inertial navigation system and the optoelectronic perception system based on the east, north and celestial projection components of the arm, the principal curvature radius of the meridian circle and the principal curvature radius of the meridian circle calculated from the position of the inertial navigation system or optoelectronic perception system, and the altitude of the ship; Calculate the arm position error between the inertial navigation and electro-optical sensing systems.

8. The method for correcting inertial navigation errors based on photoelectric sensing assistance according to claim 1, characterized in that: In the step S4, the specific steps are: Calculate the distance of the target relative to the ship based on the distance, azimuth and altitude of a certain point of the target in the coordinate system of the optoelectronic perception system relative to the origin; Measure the longitude, latitude and altitude of the ship in the navigation coordinate system, and calculate the longitude, latitude and altitude of the target in the navigation coordinate system; Give the representation of the target point in the coordinate system of the photoelectric sensing system; According to the installation error angle and attitude conversion matrix of the optoelectronic perception system coordinate system relative to the inertial navigation base coordinate system, as well as the attitude angle and attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system, assuming that the ship position reference point, the inertial navigation base coordinate system position reference point and the optoelectronic perception system coordinate system position coincide, then according to the projection of the target vector in the navigation coordinate system, the relative position between the ship and the target in the optoelectronic perception system coordinate system is obtained by optoelectronic measurement and joint positioning calculation; Define the navigation coordinate system positions of the ship and the target respectively; The position of the optoelectronic sensing system is calculated from the navigation coordinate system position of the target; Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the above position is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to realize the inertial navigation correction.

9. A system for correcting inertial navigation errors based on photoelectric sensing, characterized in that: The calibration submodule is used for the photoelectric sensing system to measure the relative position of the ship and the target, and to calibrate the installation error angle between the photoelectric sensing system and the inertial navigation system; The registration submodule is used to register the time between the optoelectronic sensing system and the inertial navigation system using the AIS interpolation method; The lever arm submodule is used to measure the lever arm error between the optoelectronic sensing system and the inertial group; The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, and transfer the positioning result of the photoelectric sensing system to the inertial group reference to correct the inertial navigation error.

10. A computer memory, characterized in that: A computer program executable by a computer processor is stored therein, and the computer program executes a method for correcting inertial navigation errors based on photoelectric sensing assistance as described in any one of claims 1 to 8.

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