A method and system for correcting inertial navigation errors based on photoelectric sensing

Abstract

The application provides a method and system for correcting inertial navigation error based on photoelectric sensing, which measures the relative position of the ship position and the target position, calibrates the installation error angle between the photoelectric sensing system and the inertial navigation, adopts AIS interpolation method to register the time between the photoelectric sensing system and the inertial navigation, measures and compensates the rod arm error between the photoelectric sensing system and the inertial navigation, converts the positioning result of the photoelectric sensing system to the inertial navigation reference to correct the inertial navigation error, and realizes the function of correcting the inertial navigation error. The application solves the problem that the inertial navigation error correction technology of satellite navigation is easily affected by external electromagnetic interference, and realizes the correction of the inertial navigation error in the satellite navigation denial environment. The application provides the inertial navigation correction parameters for the long-time satellite navigation denial of the ship inertial navigation, and has obvious 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 operating in pure inertial or autonomous navigation mode is subject to technical constraints, and its navigation errors accumulate over time. When the divergence reaches a certain level, it will become unsuitable for actual use. Therefore, to meet the navigation needs of ships, it is necessary to improve the accuracy of the inertial navigation equipment itself and extend the accuracy maintenance period. At the same time, external reference information such as satellite navigation can be used to readjust the inertial navigation errors and suppress them.

[0003] Currently, the primary means of inertial navigation correction for active ships is satellite navigation, but satellite navigation correction technology is susceptible to external electromagnetic interference. However, when ships navigate near the coast, islands and reefs, lighthouses, and navigation marks, by expanding the optical ranging function based on the capabilities of existing optical reconnaissance equipment, they can track and measure targets. Based on the navigation attitude and heading data provided by the inertial navigation, the relative position of the target can be calculated, and the ship's inertial navigation position error can be obtained. Providing inertial navigation correction parameters for ship 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 inertial navigation correction methods based on measurement of landmarks such as islands and reefs and lighthouses 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.

[0005] 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:

[0006] S1: The optoelectronic sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the optoelectronic sensing system and the inertial navigation system;

[0007] S2: AIS interpolation method is used to align the time between the photoelectric sensing system and the inertial navigation system;

[0008] S3: Measure the arm error between the photoelectric sensing system and the inertial navigation system;

[0009] S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error.

[0010] According to the above scheme, in step S1, the specific steps are:

[0011] S11: Set The coordinate system of the optoelectronic perception system is used to obtain the ship position and the target position data of at least three targets through the optoelectronic perception system, and calculate the relative position between the ship and the target in the optoelectronic perception system coordinate system. ;

[0012] S12: Set The system is the inertial navigation base coordinate system, The system is the navigation coordinate system, and the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system is obtained through inertial navigation ;

[0013] S13: Obtain the ship position and target position in the navigation coordinate system through inertial navigation, and calculate the relative position between the ship and the target in the navigation coordinate system ;

[0014] S14: According to the relative positioning formula Calculate the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system , the least square method is used to calculate the installation error angle between the photoelectric sensing system and the inertial navigation.

[0015] Furthermore, in step S1, the position data of the ship and the target include latitude, longitude and altitude respectively.

[0016] According to the above scheme, in step S2, the specific steps are: calculating the ship position at the interpolation moment based on the ship position at the previous moment and the next moment of interpolation, thereby aligning the time between the photoelectric sensing system and the inertial navigation.

[0017] According to the above scheme, in step S3, the specific steps are:

[0018] S31: Calculate the arm velocity error between the photoelectric sensing system and the inertial navigation system;

[0019] S32: Calculate the arm position error between the photoelectric sensing system and the inertial navigation system.

[0020] Furthermore, in step S31, the specific steps are:

[0021] Assume that the arm between the photoelectric sensing system and the inertial navigation is the vector of the photoelectric reference relative to the inertial navigation. ; The vector of the photoelectric reference relative to the center of the earth For the lever arm The vector of the inertial navigation relative to the center of the earth The sum of ;

[0022] The arm is a constant vector in the inertial coordinate system. Taking the derivative of both sides of the above equation with respect to the earth coordinate system, we can get the ground speed of the photoelectric reference base: is the ground speed of the inertial navigation and system noise The sum of ;

[0023] Project the above formula to the inertial navigation coordinate system;

[0024] The lever arm velocity error is the velocity error between the inertial navigation system and the photoelectric sensing system.

[0025] Furthermore, in step S32, the specific steps are:

[0026] Calculate the geographic position deviation between the inertial navigation system and the optoelectronic perception system based on the easting, northing, and celestial projection components of the boom 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;

[0027] Calculate the arm position error between the inertial navigation and electro-optical sensing systems.

[0028] According to the above scheme, in step S4, the specific steps are:

[0029] According to the distance R, azimuth angle A and altitude angle E of a certain point of the target in the photoelectric perception system coordinate system relative to the origin, the representation of the target point in the photoelectric perception system coordinate system is obtained:

[0030] ;

[0031] Assuming that the ship position reference point, the inertial navigation base coordinate system reference point and the optoelectronic perception system coordinate system coincide with each other, the projection of the target vector in the navigation coordinate system is calculated as follows:

[0032]

[0033] in is the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system, is the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system;

[0034] Obtaining the position of the photoelectric sensing system according to the projection of the target vector in the navigation coordinate system and the position of the target in the navigation coordinate system;

[0035] Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the position of the photoelectric sensing system is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to achieve inertial navigation correction.

[0036] A system based on photoelectric sensing to assist in correcting inertial navigation errors.

[0037] 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;

[0038] The registration submodule is used to align the time between the photoelectric sensing system and the inertial navigation system using the AIS interpolation method;

[0039] The lever arm submodule is used to measure the lever arm error between the optoelectronic sensing system and the inertial navigation system;

[0040] The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error.

[0041] 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.

[0042] The beneficial effects of the present invention are:

[0043] 1. The present invention provides a method and system for correcting inertial navigation errors using photoelectric sensing. This method calibrates the installation error angle between the photoelectric sensing system and the inertial navigation system by measuring the relative position of the ship and the target. It also uses AIS interpolation to align the time between the photoelectric sensing system and the inertial navigation system. Furthermore, it measures and compensates for the arm error between the photoelectric sensing system and the inertial navigation system, and transfers the positioning results of the photoelectric sensing system to the inertial navigation system reference to correct the inertial navigation error, thereby achieving the function of correcting the inertial navigation error.

[0044] 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.

[0045] 3. The present invention provides inertial navigation correction parameters for ship inertial navigation under long-term satellite navigation denial, which has significant practical significance.

[0046] 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

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to 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 any creative work.

[0048] Figure 1 is a flow chart of an embodiment of the present invention.

[0049] Figure 2 2 is a diagram of the relative positioning coordinate system of the photoelectric sensing system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 intended to limit the present invention.

[0051] Example 1

[0052] See also Figure 1 The specific steps of a method and system for correcting inertial navigation errors based on photoelectric sensing are as follows:

[0053] S1: The optoelectronic sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the optoelectronic sensing system and the inertial navigation system;

[0054] S2: AIS interpolation method is used to align the time between the photoelectric sensing system and the inertial navigation system;

[0055] S3: Measure the arm error between the photoelectric sensing system and the inertial navigation system;

[0056] S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error.

[0057] Furthermore, in step S1, the specific steps are:

[0058] S11: Set The coordinate system of the optoelectronic perception system is used to obtain the ship position and the target position data of at least three targets through the optoelectronic perception system, and calculate the relative position between the ship and the target in the optoelectronic perception system coordinate system. ;

[0059] S12: Set The system is the inertial navigation base coordinate system, The system is the navigation coordinate system, and the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system is obtained through inertial navigation ;

[0060] S13: Obtain the ship position and target position in the navigation coordinate system through inertial navigation, and calculate the relative position between the ship and the target in the navigation coordinate system ;

[0061] S14: According to the relative positioning formula Calculate the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system , the least square method is used to calculate the installation error angle between the photoelectric sensing system and the inertial navigation.

[0062] Furthermore, in step S1, the position data of the ship and the target include latitude, longitude and altitude respectively.

[0063] In step S2, the specific steps are: calculating the ship position at the interpolation moment according to the ship positions at the previous moment and the next moment of interpolation, thereby aligning the time between the photoelectric sensing system and the inertial navigation.

[0064] According to the above scheme, in step S3, the specific steps are:

[0065] S31: Calculate the arm velocity error between the photoelectric sensing system and the inertial navigation system;

[0066] S32: Calculate the arm position error between the photoelectric sensing system and the inertial navigation system.

[0067] Furthermore, in step S31, the specific steps are:

[0068] Assume that the arm between the photoelectric sensing system and the inertial navigation is the vector of the photoelectric reference relative to the inertial navigation. ; The vector of the photoelectric reference relative to the center of the earth For the lever arm The vector of the inertial navigation relative to the center of the earth The sum of ;

[0069] The arm is a constant vector in the inertial coordinate system. Taking the derivative of both sides of the above equation with respect to the earth coordinate system, we can get the ground speed of the photoelectric reference base: is the ground speed of the inertial navigation and system noise The sum of ;

[0070] Project the above formula to the inertial navigation coordinate system;

[0071] The lever arm velocity error is the velocity error between the inertial navigation system and the photoelectric sensing system.

[0072] Furthermore, in step S32, the specific steps are:

[0073] Calculate the geographic position deviation between the inertial navigation system and the optoelectronic perception system based on the easting, northing, and celestial projection components of the boom 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;

[0074] Calculate the arm position error between the inertial navigation and electro-optical sensing systems.

[0075] According to the above scheme, in step S4, the specific steps are:

[0076] According to the distance R, azimuth angle A and altitude angle E of a certain point of the target in the photoelectric perception system coordinate system relative to the origin, the representation of the target point in the photoelectric perception system coordinate system is obtained:

[0077] ;

[0078] Assuming that the ship position reference point, the inertial navigation base coordinate system reference point and the optoelectronic perception system coordinate system coincide with each other, the projection of the target vector in the navigation coordinate system is calculated as follows:

[0079]

[0080] in is the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system, is the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system;

[0081] The position of the photoelectric sensing system is obtained based on the projection of the target vector in the navigation coordinate system and the position of the target in the navigation coordinate system;

[0082] Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the position of the photoelectric sensing system is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to achieve inertial navigation correction.

[0083] This embodiment calibrates the installation error angle between the photoelectric 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 photoelectric sensing system and the inertial navigation system; measures and compensates for the arm error between the photoelectric sensing system and the inertial navigation system, and transfers the positioning result of the photoelectric sensing system to the inertial navigation reference to correct the inertial navigation error, thereby realizing the function of correcting the inertial navigation error.

[0084] Example 2

[0085] 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:

[0086] S1: Calibrate the installation error angle between the photoelectric sensing system and the inertial navigation system to unify the spatial reference of the two. The specific steps are as follows:

[0087] According to the relative positioning formula,

[0088]

[0089] in, The system is the navigation coordinate system (selected as the Northeast 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.

[0090] Assume that the ship position and target position are 、 , the symbols represent the order of latitude, longitude, and altitude, and the following formula can be used to calculate :

[0091]

[0092]

[0093] In the above formula, 、 、 are the differences between the latitude, longitude and altitude of the ship and the target respectively.

[0094] set up , so , the detailed derivation process of installation error calculation is as follows:

[0095]

[0096]

[0097]

[0098]

[0099] Therefore:

[0100]

[0101] After collecting multiple sets of photoelectric measurement data of at least 3 targets, the installation error angle can be calculated using the least squares method using the above formula. value.

[0102] 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:

[0103] The AIS interpolation method is used to realize the time registration between the photoelectric sensing system and the inertial navigation system, that is, the ship position information at the interpolation time is obtained based on the ship position information at the previous moment and the next moment. , The collected location information is and , at the interpolation moment AIS target position information As shown in the following formula:

[0104]

[0105] S3: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, transfer the positioning results of the photoelectric sensing system to the inertial navigation reference to correct the inertial navigation error and achieve inertial navigation calibration; the specific steps are:

[0106] Assume that the inertial navigation is relative to the center of the earth The vector is , the vector of the photoelectric reference relative to the center of the earth is , the vector of the photoelectric reference relative to the inertial navigation is , the vector relationship between the three satisfies

[0107]

[0108] Considering that the installation position between the optoelectronic system and the inertial navigation 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) to obtain

[0109]

[0110] Right now

[0111]

[0112] Among them, is the ground speed of 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. However, 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. 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 " ”, can be obtained

[0113]

[0114] In practical applications, due to and The effect is very small and can be approximated or The velocity error between the inertial navigation system and the optoelectronic system is defined as the lever arm velocity error, that is,

[0115]

[0116] If you remember

[0117]

[0118] in 、 and are the east, north and sky projection components of the arm respectively, then the geographical location deviation between the inertial navigation and the optoelectronic system approximately satisfies

[0119]

[0120] in, and They are respectively the principal curvature radius of the meridian circle and the principal curvature radius of the meridional circle calculated by the inertial navigation (or optoelectronic system) position.

[0121] The arm position error vector between the inertial navigation system and the optoelectronic system can be calculated from the above two equations and recorded as

[0122]

[0123] in, , ,matrix for:

[0124]

[0125] Thus, the arm vector between the optoelectronic system and the inertial navigation 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.

[0126] Define the relative positioning coordinate system of the photoelectric sensing system as follows 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 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 .

[0127] 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.

[0128] Visual coordinate system Internal target point Expressed as:

[0129]

[0130] Visual coordinate system relative to ship deck system The installation error angle is , attitude transformation matrix , the deck system is relative to the geographical system The attitude angle is , the posture matrix is , assuming that the ship position reference point, the deck position reference point and the vision system position coincide with each other, the projection of the target vector in the geographic system is:

[0131]

[0132] Where, Obtained by photoelectric measurement and joint positioning calculation, Obtained by calibration during installation of the photoelectric system, Provided by the ship's inertial navigation. Define the ship's geographic position as , the target geography department location is , the component form of the target vector in the geographic system is , the corresponding longitude increment , latitude increment , height increment for:

[0133]

[0134] Where, is the meridian curvature radius, is the radius of curvature of the Maoyou circle, is the ship's altitude.

[0135] Similarly, the expression for finding the position of the photoelectric measurement device from the target geographic position is:

[0136]

[0137] The position of the optoelectronic system is obtained by the above formula, and then converted into the position under the inertial navigation 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.

[0138] This embodiment solves the problem that satellite-based inertial navigation error correction technology is susceptible to external electromagnetic interference, achieving inertial navigation error correction in satellite-denied environments. It also provides inertial navigation correction parameters for ship inertial navigation under long-term satellite-denied environments, which has significant practical significance.

[0139] 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 this application.

[0140] Example 3

[0141] This embodiment is used to implement the principles of the above method embodiment to construct a system for correcting inertial navigation errors based on photoelectric sensing assistance, including a calibration submodule, a registration submodule, a lever arm submodule, and a correction submodule;

[0142] 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;

[0143] The registration submodule is used to align the time between the photoelectric sensing system and the inertial navigation system using the AIS interpolation method;

[0144] The lever arm submodule is used to measure the lever arm error between the optoelectronic sensing system and the inertial navigation system;

[0145] The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error.

[0146] Each sub-module is mainly used to implement each step of the method embodiment, which will not be described in detail here.

[0147] 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, or 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.

[0148] 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; the memory stores a computer program, 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.

[0149] This embodiment also provides a computer-readable storage medium having executable instructions stored thereon. When the instructions are executed by a processor, the processor implements a method for correcting inertial navigation errors based on photoelectric sensing assistance.

[0150] 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 an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware.

[0151] 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.

[0152] This application is described with reference to the flowchart of the method and computer program product according to Embodiment 1 of the 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.

[0153] 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 produce the instructions for implementing the process Figure 1 A system based on photoelectric sensing to assist in correcting inertial navigation errors, which performs specified functions in one or more processes.

[0154] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 Steps of a method for correcting inertial navigation errors based on photoelectric sensing assistance specified in a process or multiple processes.

[0156] The above embodiments are intended only to illustrate the design concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of protection of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design concepts disclosed in the present invention are within the scope of protection of the present invention.

Claims

1. A method for correcting inertial navigation errors based on photoelectric sensing, characterized by: The following steps are involved: S1: The optoelectronic sensing system measures the relative position of the ship and the target, and calibrates the installation error angle between the optoelectronic sensing system and the inertial navigation system; S2: AIS interpolation method is used to align the time between the photoelectric sensing system and the inertial navigation system; S3: Measure the arm error between the photoelectric sensing system and the inertial navigation system; S4: Compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error. The specific steps are as follows: According to the distance R, azimuth angle A and altitude angle E of the target relative to the origin in the photoelectric perception system coordinate system, the representation of the target point in the photoelectric perception system coordinate system is obtained: Assuming that the ship position reference point, the inertial navigation base coordinate system reference point and the optoelectronic perception system coordinate system coincide with each other, the projection of the target vector in the navigation coordinate system is calculated as follows: in is the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system, is the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system; Obtaining the position of the photoelectric sensing system according to the projection of the target vector in the navigation coordinate system and the position of the target in the navigation coordinate system; Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the position of the photoelectric sensing system is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to achieve inertial navigation correction.

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

3. The method for correcting inertial navigation errors based on photoelectric sensing according to claim 2, characterized in that: In 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 according to claim 1, characterized in that: In the step S2, the specific steps are: calculating the ship position at the interpolation moment based on the ship position at the previous moment and the next moment of interpolation, thereby aligning the time between the photoelectric sensing system and the inertial navigation.

5. The method for correcting inertial navigation errors based on photoelectric sensing 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 system.

6. The method for correcting inertial navigation errors based on photoelectric sensing according to claim 5, 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 relative to the inertial navigation. ; Vector of the photoelectric reference relative to the center of the earth For the lever arm The vector of the inertial navigation relative to the center of the earth The sum of ; The arm is a constant vector in the inertial coordinate system. Taking the derivative of both sides of the above equation with respect to the earth coordinate system, we can get the ground speed of the photoelectric reference base: is the ground speed of the inertial navigation and system noise The sum of ; 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 according to claim 6, characterized in that: In the step S32, the specific steps are: Calculate the geographic position deviation between the inertial navigation system and the optoelectronic perception system based on the easting, northing, 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. A system for correcting inertial navigation errors based on photoelectric sensing, characterized by: 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 align the time between the photoelectric 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 photoelectric sensing system and the inertial navigation system; The correction submodule is used to compensate for the arm error between the photoelectric sensing system and the inertial navigation system, convert the positioning result of the photoelectric sensing system into the position under the inertial navigation reference, and correct the inertial navigation error; Specifically include: According to the distance R, azimuth angle A and altitude angle E of the target relative to the origin in the photoelectric perception system coordinate system, the representation of the target point in the photoelectric perception system coordinate system is obtained: Assuming that the ship position reference point, the inertial navigation base coordinate system reference point and the optoelectronic perception system coordinate system coincide with each other, the projection of the target vector in the navigation coordinate system is calculated as follows: in is the attitude transformation matrix of the photoelectric sensing system coordinate system relative to the inertial navigation base coordinate system, is the attitude matrix of the inertial navigation base coordinate system relative to the navigation coordinate system; Obtaining the position of the photoelectric sensing system according to the projection of the target vector in the navigation coordinate system and the position of the target in the navigation coordinate system; Based on the arm compensation method between the photoelectric sensing system and the inertial navigation, the position of the photoelectric sensing system is converted into the position in the inertial navigation base coordinate system, and the inertial navigation error is corrected to achieve inertial navigation correction.

9. A computer memory, characterized in that: A computer program that can be executed 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 7.

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