A leveling and plumb calibration system and calibration method for a dual-axis servo temperature-controlled turntable

Abstract

This invention provides a leveling and plumb calibration system and method for a dual-axis servo temperature-controlled turntable, belonging to the field of inertial navigation calibration technology. In this system, the inertial navigation unit (INS) is located on a worktable, which is fixed to the inner ring shaft platform of the dual-axis servo temperature-controlled turntable. The inner ring shaft platform, worktable, and INS are all within a temperature chamber. The temperature chamber is fixedly connected to the outer ring shaft of the dual-axis servo temperature-controlled turntable, and the temperature chamber also has a door. The inner ring shaft platform is connected to a ring shaft motor. The dual-axis servo temperature-controlled turntable controller is located on one side of the turntable and is electrically connected to it. The INS testing equipment is located on the other side of the turntable and is electrically connected to the INS through the turntable. This system allows for multiple fixations of the INS on the worktable to measure the horizontal and vertical errors of the worktable, completing the leveling and plumb calibration of the dual-axis servo temperature-controlled turntable and improving the accuracy of INS calibration.

Description

Technical Field

[0001] This invention belongs to the field of inertial navigation calibration technology, and particularly relates to a leveling and plumb calibration system and calibration method for a dual-axis servo temperature-controlled turntable. Background Technology

[0002] Inertial navigation system calibration refers to the precise measurement of various parameters in the mathematical model of a system using specific methods and effective experimental means, followed by compensation of the calibrated parameters through system algorithms to reduce the error of the inertial sensor and improve the system accuracy.

[0003] The main calibration equipment for inertial navigation system calibration includes dual-axis rate turntables and temperature-controlled turntables. Before using dual-axis rate turntables and temperature-controlled turntables for inertial navigation system calibration, turntable accuracy measurement, turntable north reference calibration, and turntable level and heading calibration must be performed. Among them, the common method for turntable level and heading calibration is to use a level to calibrate the level of the worktable surface and the verticality (heading) of the worktable surface. However, since the dual-axis follower temperature-controlled turntable is a dual-axis rate turntable + temperature chamber structure, after the dual-axis follower temperature-controlled turntable is powered on and servo-operated, the temperature chamber door must be closed, and the turntable worktable surface is inside the temperature chamber, which has the following problems: (1) Generally, the level has no fixed hole and cannot be fixed on the worktable surface of the dual-axis follower temperature-controlled turntable; (2) Generally, the level cannot be fixed on the turntable worktable surface and the measurement value cannot be read outside the dual-axis follower temperature-controlled turntable; (3) The level measuring axis cannot be rotated 180° at any time on the turntable worktable surface.

[0004] The aforementioned dual-axis servo temperature control turntable cannot be calibrated for horizontal and vertical (heading) orientation using a general level. Summary of the Invention

[0005] To address the technical problem that existing dual-axis servo temperature control turntables cannot be calibrated for horizontal and vertical (heading) alignment using a general level, this invention provides a leveling and vertical alignment calibration system and method for dual-axis servo temperature control turntables. This system can repeatedly fix and install an inertial navigation system (INS) on the worktable to measure the horizontal and vertical (heading) errors of the worktable, thereby completing the leveling and vertical alignment calibration of the dual-axis servo temperature control turntable and improving the calibration accuracy of the INS.

[0006] In the first aspect, a leveling and plumb calibration system for a dual-axis servo temperature-controlled turntable is provided, comprising: a dual-axis servo temperature-controlled turntable 1, a worktable surface 3, an inertial navigation system 4, an inertial navigation system testing device 6, and a dual-axis servo temperature-controlled turntable controller 9.

[0007] An accelerator measurement axis 5 is installed inside the inertial group 4. The inertial group 4 is located on the worktable 3, which is fixed to the inner ring shaft platform of the dual-axis follower temperature control turntable 1. The inner ring shaft platform, worktable 3, and inertial group 4 are all inside the temperature chamber of the dual-axis follower temperature control turntable 1. The temperature chamber is fixedly connected to the outer ring shaft of the dual-axis follower temperature control turntable 1. The temperature chamber is also equipped with a door 2. The inner ring shaft platform of the turntable is connected to the ring shaft motor inside the dual-axis follower temperature control turntable 1.

[0008] The dual-axis follow-up temperature control turntable controller 9 is located on one side of the dual-axis follow-up temperature control turntable 1 and is electrically connected to the dual-axis follow-up temperature control turntable 1, and is used to control the dual-axis follow-up temperature control turntable 1;

[0009] The inertial navigation system test equipment 6 is located on the other side of the dual-axis servo temperature control turntable 1, and is electrically connected to the inertial navigation system 4 through the dual-axis servo temperature control turntable 1, and is used to control the inertial navigation system 4.

[0010] Among them, the dual-axis follow-up temperature control turntable controller 9 is used to control the power supply, servo, rotation, speed and temperature control of the dual-axis follow-up temperature control turntable 1.

[0011] Among them, the inertial group test equipment 6 is used to control the power supply and normal operation of the inertial group 4, and to monitor the output data of the accelerator measurement axis 5 inside the inertial group 4.

[0012] Among them, the accuracy of the measuring axis 5 is less than or equal to 10 arcseconds.

[0013] Optionally, the inertial group 4 and the worktable 3, and the worktable 3 and the inner ring shaft of the turntable in the dual-axis follow-up temperature control turntable 1 are all fixedly connected by screws 8.

[0014] Secondly, a leveling and plumb calibration method for a dual-axis servo temperature-controlled turntable is provided, for use in the leveling and plumb calibration system of the dual-axis servo temperature-controlled turntable described in the first aspect. The method includes: horizontal calibration and vertical calibration of the worktable surface 3.

[0015] The horizontal calibration process is as follows:

[0016] The inner ring shaft of the dual-axis follow-up temperature control turntable 1 is rotated by the dual-axis follow-up temperature control turntable controller 9, so that the worktable 3 returns to zero horizontally.

[0017] The first angle value of the worktable 3 is acquired by the inertial measurement device 6 through the accelerometer measurement axis 5;

[0018] After rotating the inertial group 4 vertically by 180° around the worktable 3, the inner ring shaft of the dual-axis follower temperature control turntable 1 is controlled to rotate through the dual-axis follower temperature control turntable controller 9, so that the worktable 3 returns to zero horizontally.

[0019] The current second angle value of the worktable surface 3 is obtained by the inertial measurement device 6 through the accelerometer measurement axis 5;

[0020] The horizontal calibration of the worktable 3 is completed based on the first and second angle values;

[0021] The vertical calibration process is as follows:

[0022] The inner ring shaft of the dual-axis follow-up temperature control turntable 1 is rotated by the dual-axis follow-up temperature control turntable controller 9, so that the worktable surface 3 is perpendicular to the horizontal plane.

[0023] The current third angle value of the worktable 3 is obtained by the inertial measurement device 6 through the accelerometer measurement axis 5;

[0024] After rotating the inertial group 4 vertically by 180° around the worktable surface 3, the inner ring shaft of the dual-axis follower temperature control turntable 1 is controlled to rotate through the dual-axis follower temperature control turntable controller 9, so that the worktable surface 3 is perpendicular to the horizontal plane.

[0025] The current fourth angle value of the worktable surface 3 is obtained by the inertial measurement device 6 through the accelerometer measurement axis 5;

[0026] The vertical calibration of the worktable 3 is completed based on the third and fourth angle values.

[0027] Optionally, the horizontal calibration of the worktable 3 is performed based on the first angle value and the second angle value, including:

[0028] The horizontal calibration value is determined by the inertial navigation test equipment 6 and stored in the dual-axis servo temperature control turntable controller 9. The horizontal calibration value = (first angle value + second angle value) / 2.

[0029] The inner ring shaft of the dual-axis servo temperature-controlled turntable 1 is rotated by the dual-axis servo temperature-controlled turntable controller 9, causing the worktable 3 to rotate; when the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the horizontal calibration value, the worktable 3 stops rotating.

[0030] Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3.

[0031] The inner ring axis of the dual-axis servo temperature-controlled turntable 1 is rotated by the dual-axis servo temperature-controlled turntable controller 9, causing the worktable 3 to rotate; when the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the horizontal calibration value, the worktable 3 stops rotating.

[0032] Optionally, the vertical calibration of the worktable 3 is performed based on the third and fourth angle values, including:

[0033] The vertical calibration value is determined by the inertial navigation test equipment 6 and stored in the dual-axis servo temperature control turntable controller 9. The vertical calibration value = (third angle value + fourth angle value) / 2.

[0034] The inner ring shaft of the dual-axis servo temperature control turntable 1 is rotated by the dual-axis servo temperature control turntable controller 9, so that the worktable 3 rotates. When the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the vertical calibration value, the worktable 3 stops rotating.

[0035] Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3.

[0036] The inner ring shaft of the dual-axis servo temperature control turntable 1 is rotated by the dual-axis servo temperature control turntable controller 9, causing the worktable 3 to rotate. When the output data of the accelerometer measurement axis 5 obtained by the inertial navigation system test equipment 6 is equal to the vertical calibration value, the worktable 3 stops rotating.

[0037] The beneficial effects of this invention are at least as follows:

[0038] By repeatedly fixing the inertial navigation system (INS) on the worktable and measuring the horizontal and vertical (heading) errors of the worktable, the leveling and vertical calibration of the dual-axis servo temperature control turntable can be completed. This solves the problem that the dual-axis servo temperature control turntable cannot be leveled and calibrated using a general level, thus improving the calibration accuracy of the INS. Attached Figure Description

[0039] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0040] Figure 1 This is a schematic diagram of a leveling and plumb calibration system for a dual-axis servo temperature-controlled turntable, provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0042] Figure 1 A schematic diagram of a leveling and plumb calibration system for a dual-axis servo temperature-controlled turntable provided in an embodiment of the present invention includes: a dual-axis servo temperature-controlled turntable 1, a worktable surface 3, an inertial navigation system 4, an inertial navigation system testing device 6, and a dual-axis servo temperature-controlled turntable controller 9;

[0043] The inertial measurement unit 4 is equipped with an accelerator measurement axis 5. The inertial measurement unit 4 is located on the worktable 3, which is fixed to the inner ring shaft platform of the dual-axis follow-up temperature control turntable 1. The inner ring shaft platform, worktable 3, and inertial measurement unit 4 are all inside the temperature chamber of the dual-axis follow-up temperature control turntable 1. The temperature chamber is fixedly connected to the outer ring shaft of the dual-axis follow-up temperature control turntable 1. The temperature chamber is also equipped with a door 2. The inner ring shaft platform of the turntable is connected to the ring shaft motor inside the dual-axis follow-up temperature control turntable 1.

[0044] The dual-axis follow-up temperature control turntable controller 9 is located on one side of the dual-axis follow-up temperature control turntable 1 and is electrically connected to the dual-axis follow-up temperature control turntable 1. It is used to control the dual-axis follow-up temperature control turntable 1, such as controlling the power supply, servo, indexing, speed, and temperature control of the dual-axis follow-up temperature control turntable 1.

[0045] The inertial navigation system (INS) test equipment 6 is located on the other side of the dual-axis servo temperature-controlled turntable 1, and is electrically connected to the INS 4 through the dual-axis servo temperature-controlled turntable 1. It is used to control the INS 4, such as controlling the INS 4 to be powered on and to work normally, and to monitor the output data of the accelerator measurement axis 5 inside the INS 4.

[0046] In this embodiment, in order to further improve the inertial navigation calibration accuracy, the accuracy of the accelerator measurement axis 5 is less than or equal to 10 arcseconds.

[0047] In one possible implementation, the inertial group 4 and the worktable 3, and the worktable 3 and the inner ring shaft of the turntable in the dual-axis follow-up temperature control turntable 1 are all fixedly connected by screws 8.

[0048] In one possible implementation, the inertial navigation system test equipment 6 and the dual-axis servo temperature-controlled turntable 1, and the dual-axis servo temperature-controlled turntable 1 and the inertial navigation system 4 are all connected via the inertial navigation system test cable 7.

[0049] In this embodiment of the invention, the functions of each component are as follows:

[0050] Dual-axis servo temperature-controlled turntable 1: Provides indexing, speed, and temperature environment settings for inertial navigation temperature modeling and calibration. Before calibration, turntable accuracy measurement, turntable north-facing reference calibration, and turntable leveling and heading calibration must be performed.

[0051] Door 2: This is a component of the temperature chamber of the dual-axis servo temperature control turntable. When opened, it is used to install the work surface and inertial navigation system products, and to observe the status of the products and the environment inside the temperature chamber. When closed, it is used to seal the high and low temperature environment inside the temperature chamber.

[0052] Worktable 3: A component of the dual-axis follower temperature control turntable, fixed on the inner ring shaft table surface of the turntable within the dual-axis follower temperature control turntable 1, used to mount the product under test, such as inertial navigation system, inertial navigation system, etc.

[0053] Inertial Measurement Unit 4 (INS): Inertial navigation system, etc., used to measure and output navigation information such as angular rate and acceleration;

[0054] Accelerometer measurement axis 5: This is the accelerometer sensor inside the inertial navigation system 4, used to collect the angle of the worktable surface 3;

[0055] The inertial navigation system (INS) testing equipment 6 mainly consists of a DC power supply, a test computer, RS232 and RS422 serial ports, and test cables. The INS testing equipment 6 supplies power to the INS 4 via the INS test cable 7, the conductive ring of the dual-axis servo temperature-controlled turntable 1, and the inner ring shaft of the dual-axis servo temperature-controlled turntable 1, enabling the INS 4 to power on and operate normally, and monitoring its input and output data, including the input and output data of the accelerometer measurement axis 5.

[0056] Screw 8: Used to fix the inertial group 4 to the worktable 3, and to fix the worktable 3 to the inner ring shaft table surface of the turntable in the dual-axis follow-up temperature control turntable 1;

[0057] Dual-axis follow-up temperature control turntable controller 9: used to control the power supply, servo function, indexing, speed, and temperature control of the dual-axis follow-up temperature control turntable 1.

[0058] Another embodiment of the present invention provides a calibration method for the leveling and plumb calibration system of the dual-axis servo temperature-controlled turntable provided by the present invention. The method includes horizontal calibration of the worktable surface 3 and vertical (heading) calibration of the worktable surface 3. The specific process is as follows:

[0059] (1) Horizontal calibration of workbench 3:

[0060] Step 1: Control the dual-axis servo temperature control turntable 1 to power off and disconnect the servo via the dual-axis servo temperature control turntable controller 9;

[0061] Step 2: Open the incubator door 2;

[0062] Step 3: Install the inertial group 4 on the workbench 3 and tighten it with screws 8;

[0063] Step 4: Connect the inertial navigation system test equipment 6 and the dual-axis servo temperature control turntable 1, and connect the dual-axis servo temperature control turntable 1 and the inertial navigation system 4 through the inertial navigation system test cable 7;

[0064] Step 5: Close the incubator door 2;

[0065] Step 6: Power on and activate inertial group 4 using inertial group testing equipment 6;

[0066] Step 7: Control the dual-axis follow-up temperature control turntable 1 to power on via the dual-axis follow-up temperature control turntable controller 9, connect the servo, and rotate the inner ring shaft of the turntable 1 so that the worktable 3 returns to zero horizontally.

[0067] Step 8: Obtain the output data of the accelerometer measurement axis 5 through the inertial measurement equipment 6. The output data is the current first angle value A of the worktable 3.

[0068] Step 9: Control the dual-axis servo temperature control turntable 1 to power off and disconnect the servo via the dual-axis servo temperature control turntable controller 9;

[0069] Step 10: Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3 and tighten it with screw 8.

[0070] Step 11: Control the dual-axis follow-up temperature control turntable 1 to power on via the dual-axis follow-up temperature control turntable controller 9, connect the servo, and rotate the inner ring shaft of the turntable 1 so that the worktable 3 returns to zero horizontally.

[0071] Step 12: Obtain the output data of the accelerometer measurement axis 5 through the inertial navigation system test equipment 6. The output data is the current second angle value B of the worktable 3.

[0072] Step 13: Determine the horizontal calibration value C using the inertial navigation test equipment 6, and store the horizontal calibration value C in the dual-axis servo temperature control turntable controller 9. The horizontal calibration value = (first angle value A + second angle value B) / 2.

[0073] Step 14: Control the inner ring shaft of the dual-axis servo temperature control turntable 1 to rotate again through the dual-axis servo temperature control turntable controller 9, so that the worktable 3 rotates; when the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the horizontal calibration value C, stop the rotation of the worktable 3.

[0074] Step 15: Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3 and tighten it with screw 8.

[0075] Step 16: Control the inner ring shaft of the dual-axis servo temperature control turntable 1 to rotate through the dual-axis servo temperature control turntable controller 9, so that the worktable 3 rotates; when the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the horizontal calibration value C, stop the rotation of the worktable 3.

[0076] This completes the horizontal calibration of workbench 3.

[0077] (2) Vertical (heading) calibration of worktable 3:

[0078] Step 1: Control the dual-axis servo temperature control turntable 1 to power off and disconnect the servo via the dual-axis servo temperature control turntable controller 9;

[0079] Step 2: Open the incubator door 2;

[0080] Step 3: Install the inertial group 4 on the workbench 3 and tighten it with screws 8;

[0081] Step 4: Connect the inertial navigation system test equipment 6 and the dual-axis servo temperature control turntable 1, and connect the dual-axis servo temperature control turntable 1 and the inertial navigation system 4 through the inertial navigation system test cable 7;

[0082] Step 5: Close the incubator door 2;

[0083] Step 6: Power on and activate inertial group 4 using inertial group testing equipment 6;

[0084] Step 7: Control the dual-axis follow-up temperature control turntable 1 to be powered on by the dual-axis follow-up temperature control turntable controller 9, connect the servo, and rotate the inner ring shaft of the turntable 1 so that the worktable surface 3 is perpendicular to the horizontal plane.

[0085] Step 8: Obtain the output data of the accelerometer measurement axis 5 through the inertial navigation system test equipment 6. The output data is the current third angle value M of the worktable 3.

[0086] Step 9: Control the dual-axis servo temperature control turntable 1 to power off and disconnect the servo via the dual-axis servo temperature control turntable controller 9;

[0087] Step 10: Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3 and tighten it with screw 8.

[0088] Step 11: Control the dual-axis follow-up temperature control turntable 1 to be powered on by the dual-axis follow-up temperature control turntable controller 9, connect the servo, and rotate the inner ring shaft of the turntable 1 so that the worktable surface 3 is perpendicular to the horizontal plane.

[0089] Step 12: Obtain the output data of the accelerometer measurement axis 5 through the inertial measurement equipment 6. The output data is the current fourth angle value N of the worktable 3.

[0090] Step 13: Determine the vertical calibration value L using the inertial navigation test equipment 6, and store the vertical calibration value L in the dual-axis servo temperature control turntable controller 9. The vertical calibration value L = (third angle value M + fourth angle value N) / 2.

[0091] Step 14: Control the inner ring shaft of the dual-axis servo temperature control turntable 1 to rotate again through the dual-axis servo temperature control turntable controller 9, so that the worktable 3 rotates. When the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the vertical calibration value L, the worktable 3 stops rotating.

[0092] Step 15: Remove the inertial group 4, rotate the inertial group 4 vertically 180° around the worktable 3, and then fix the inertial group 4 on the worktable 3 and tighten it with screw 8.

[0093] Step 16: Control the inner ring shaft of the dual-axis servo temperature control turntable 1 to rotate through the dual-axis servo temperature control turntable controller 9, so that the worktable 3 rotates. When the output data of the accelerometer measurement axis 5 obtained by the inertial measurement equipment 6 is equal to the vertical calibration value L, the worktable 3 stops rotating.

[0094] At this point, the vertical (heading) calibration of worktable 3 is complete.

[0095] The above description merely illustrates the embodiments of this application, and while it is quite specific and detailed, it should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Furthermore, any parts not detailed in this application are conventional techniques.

Claims

1. A method for leveling and calibrating a dual-axis servo temperature-controlled turntable, characterized in that, A leveling and plumb calibration system for a dual-axis servo temperature-controlled turntable, the system comprising: a dual-axis servo temperature-controlled turntable, a worktable surface, an inertial navigation system (INS), INS testing equipment, and a dual-axis servo temperature-controlled turntable controller; the INS is equipped with an accelerator measurement axis, and the INS is located on the worktable surface, which is fixed to the inner ring-shaped surface of the turntable within the dual-axis servo temperature-controlled turntable; the inner ring-shaped surface, the worktable surface, and the INS are all located inside the temperature chamber of the dual-axis servo temperature-controlled turntable; the temperature chamber is connected to the dual-axis servo temperature-controlled turntable... The outer ring shaft of the dual-axis temperature control turntable is fixedly connected, and the temperature chamber is also equipped with a door. The inner ring shaft platform of the turntable is connected to the ring shaft motor inside the dual-axis temperature control turntable. The dual-axis temperature control turntable controller is located on one side of the dual-axis temperature control turntable and is electrically connected to the dual-axis temperature control turntable for controlling the dual-axis temperature control turntable. The inertial navigation system (INS) testing equipment is located on the other side of the dual-axis temperature control turntable and is electrically connected to the INS through the dual-axis temperature control turntable for controlling the INS. The method includes: horizontal and vertical calibration of the worktable surface. The horizontal calibration process is as follows: The inner ring shaft of the dual-axis temperature-controlled turntable is rotated by the dual-axis follower temperature-controlled turntable controller, so that the worktable surface returns to zero horizontally. The first angle value of the worktable surface is obtained by the accelerometer measurement axis through the inertial measurement equipment. The inertial navigation system is rotated 180° vertically around the worktable surface, and then the inner ring shaft of the dual-axis servo temperature control turntable is controlled to rotate through the dual-axis servo temperature control turntable controller, so that the worktable surface returns to zero horizontally. The current second angle value of the worktable surface is obtained by the accelerometer measurement axis through the inertial measurement equipment. The horizontal calibration of the worktable is completed based on the first and second angle values; The vertical calibration process is as follows: The inner ring shaft of the dual-axis temperature-controlled turntable is rotated by the dual-axis follower temperature-controlled turntable controller, so that the worktable surface is perpendicular to the horizontal plane. The current third angle value of the worktable surface is obtained by the accelerometer measurement axis through the inertial measurement equipment. The inertial navigation system is rotated 180° vertically around the worktable surface, and then the inner ring axis of the dual-axis servo temperature control turntable is controlled to rotate through the dual-axis servo temperature control turntable controller, so that the worktable surface is perpendicular to the horizontal plane. The current fourth angle value of the worktable surface is obtained by acquiring the measurement axis of the inertial navigation system using inertial measurement equipment. Vertical calibration of the worktable surface is completed based on the third and fourth angle values.

2. The method according to claim 1, characterized in that, The horizontal calibration of the worktable surface is completed based on the first angle value and the second angle value, including: The horizontal calibration value is determined by the inertial navigation system test equipment and stored in the dual-axis servo temperature control turntable controller. The horizontal calibration value = (first angle value + second angle value) / 2. The inner ring axis of the dual-axis servo temperature-controlled turntable is controlled to rotate by the dual-axis servo temperature-controlled turntable controller, so that the worktable surface rotates; when the output data of the accelerometer measurement axis obtained by the inertial navigation system test equipment is equal to the horizontal calibration value, the worktable surface stops rotating. Remove the inertial navigation system (INS), rotate it 180° vertically around the worktable, and then fix it to the worktable. The inner ring axis of the dual-axis servo temperature-controlled turntable is controlled to rotate by the dual-axis servo temperature-controlled turntable controller, causing the worktable to rotate; when the output data of the accelerometer measurement axis obtained by the inertial navigation system test equipment is equal to the horizontal calibration value, the worktable stops rotating.

3. The method according to claim 1, characterized in that, Vertical calibration of the worktable surface is performed based on the third and fourth angle values, including: The vertical calibration value is determined by the inertial navigation system test equipment and stored in the dual-axis servo temperature control turntable controller. The vertical calibration value = (third angle value + fourth angle value) / 2. The inner ring axis of the dual-axis servo temperature-controlled turntable is controlled to rotate by the dual-axis servo temperature-controlled turntable controller, so that the worktable rotates. When the output data of the accelerometer measurement axis obtained by the inertial navigation system test equipment is equal to the vertical calibration value, the worktable stops rotating. Remove the inertial navigation system (INS), rotate it 180° vertically around the worktable, and then fix it to the worktable. The inner ring axis of the dual-axis servo temperature-controlled turntable is controlled to rotate by the dual-axis servo temperature-controlled turntable controller, causing the worktable to rotate. When the output data of the accelerometer measurement axis obtained by the inertial navigation system test equipment is equal to the vertical calibration value, the worktable stops rotating.

4. The method according to claim 1, characterized in that, The dual-axis servo temperature control turntable controller is used to control the power supply, servo function, indexing, speed, and temperature control of the dual-axis servo temperature control turntable.

5. The method according to claim 1, characterized in that, The inertial navigation system (INS) testing equipment is used to control the INS to be powered on and to operate normally, as well as to monitor the output data of the accelerometer's measurement axes within the INS.

6. The method according to claim 1, characterized in that, The accuracy of the measuring axis is less than or equal to 10 arcseconds.

7. The method according to claim 1, characterized in that, The inertial navigation system is fixed to the worktable, and the worktable is fixed to the inner ring shaft of the dual-axis temperature control turntable by screws.

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