Universal static base self-alignment method, electronic equipment and storage medium

Abstract

The invention discloses a general static base self-alignment method, electronic equipment and a storage medium, and the general static base self-alignment method comprises the following steps: within a first set time, according to an actual measurement value of an inertial measurement unit IMU, adopting an equivalent speed sliding double-vector method to calculate attitude course data for coarse alignment; after coarse alignment is completed, within second set time, attitude course data are calculated by adopting an equivalent position sliding double-vector method according to an actual measurement value of an inertial measurement unit (IMU), and primary fine alignment is carried out; and after the first fine alignment is completed, within a third set time, obtaining a zero-offset estimated value according to the first fine alignment of the IMU, compensating an actual measurement value of the IMU by using the zero-offset estimated value, and calculating attitude course data by adopting an equivalent position sliding double-vector method according to the compensated actual measurement value to carry out second fine alignment. The problems that static base self-alignment cannot be achieved under the conditions of most course angles and no dependence on external information, and attitude course information cannot be output in real time in the static base self-alignment process are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of strapdown inertial navigation, and in particular relates to a universal static base self-alignment method for strapdown inertial navigation equipment. Background Art

[0002] At present, the strapdown inertial navigation device uses the three-axis angular rate and acceleration information measured by the inertial measurement unit, and solves the carrier's real-time, continuous, wide-band attitude, heading, speed and position and other motion information through integration and accumulation methods such as earth parameter calculation, specific force equation, and attitude update. The attitude and position update calculation of the inertial navigation adopts the principle of integration and accumulation. Under the condition of the static base at the external binding position, the initial attitude and heading information needs to be obtained through initial alignment. The existing static base alignment method has the following problems: long alignment time; low alignment accuracy; mainly for the case where the initial attitude angle is a small angle; under the initial condition of the external binding position, the initial attitude and heading information can only be obtained after initial alignment, that is, the attitude and heading information cannot be output in real time during the alignment process. Summary of the invention

[0003] The purpose of the present invention is to provide a universal static base self-alignment method, which solves the problem that the static base cannot be self-aligned under most heading angles and does not rely on external information, and the attitude and heading information cannot be output in real time during the static base self-alignment process.

[0004] The present invention is achieved through the following technical solutions:

[0005] A universal static base self-alignment method, comprising:

[0006] Step 1: within a first set time, the attitude and heading data are calculated by using an equivalent velocity sliding double vector method according to the measured value of the inertial measurement unit IMU for rough alignment;

[0007] Step 2: After the rough alignment is completed, within the second set time, the attitude and heading data are calculated using the equivalent position sliding double vector method according to the measured values ​​of the inertial measurement unit IMU for the first fine alignment;

[0008] Step 3: After the first precise alignment is completed, within the third set time, obtain the zero bias estimate of the inertial measurement unit IMU for the first precise alignment, use the zero bias estimate to compensate the measured value of the inertial measurement unit IMU, and use the equivalent position sliding dual vector method to calculate the attitude and heading data according to the compensated measured value of the inertial measurement unit IMU for the second precise alignment.

[0009] In some embodiments, step 1 comprises:

[0010] Step 11, in the initial carrier coordinate system b0, use the inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained;

[0011] Step 12, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation in the initial inertial coordinate system i0, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0012] Step 13: According to the equivalent velocity vector and equivalent position vector obtained in step 11 and step 12, an equivalent velocity vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent velocity vector sequence and increases in natural order;

[0013] Step 14: Select an equivalent velocity vector pair of sequence index value ratio*k and index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method based on the equivalent velocity vector pair, and then obtain a quaternion qi0ib0 based on the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0014] Step 15, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity;

[0015] Step 16: Calculate the quaternion qnib0 using quaternion multiplication based on the quaternion qni0 and the quaternion qi0ib0 obtained in step 14, and then calculate the real-time attitude quaternion qnb for coarse alignment using quaternion multiplication based on the quaternion qnib0 and the quaternion qib0b obtained in step 11.

[0016] In some embodiments, step 2 comprises:

[0017] Step 21, in the initial carrier coordinate system b0, use the inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value;

[0018] Step 22, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0019] Step 23: According to the equivalent position vectors obtained in step 21 and step 22, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order;

[0020] Step 24: select an equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method according to the equivalent position vector pair, and then obtain a quaternion qi0ib0 according to the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0021] Step 25, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity;

[0022] Step 26: Use quaternion multiplication to calculate quaternion qnib0 based on quaternion qni0 and quaternion qi0ib0 obtained in step 24, and then use quaternion multiplication to calculate real-time attitude quaternion qnb for the first precise alignment based on quaternion qnib0 and quaternion qib0b obtained in step 21.

[0023] In some embodiments, step 3 comprises:

[0024] Step 31, in the initial carrier coordinate system b0, use the compensated inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value;

[0025] Step 32, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0026] Step 33: According to the equivalent position vectors obtained in step 31 and step 32, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order;

[0027] Step 34: select an equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method according to the equivalent position vector pair, and then obtain the quaternion qi0ib0 according to the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0028] Step 35, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity;

[0029] Step 36: Use quaternion multiplication to calculate quaternion qnib0 based on quaternion qni0 and quaternion qi0ib0 obtained in step 34, and then use quaternion multiplication to calculate real-time attitude quaternion qnb for the second precise alignment based on quaternion qnib0 and quaternion qib0b obtained in step 31.

[0030] In some embodiments, the method further includes, before the coarse alignment, the steps of performing initial position binding at an initial moment, initializing system parameters, and calculating earth parameters.

[0031] In some embodiments, when the first precise alignment is completed, the inertial measurement unit IMU zero bias estimate is calculated based on the accumulated angular velocity, the accumulated acceleration, the earth's rotation component and the earth's gravity vector, and the accumulated values ​​of the angular velocity and acceleration are cleared.

[0032] In some embodiments, when the second fine alignment is completed, a residual estimate of the zero bias of the inertial measurement unit IMU is calculated based on the accumulated angular velocity, the accumulated acceleration, the earth's rotation component and the earth's gravity vector.

[0033] In some embodiments, an electronic device includes: a processor and a memory; the memory is used to store executable instructions of the processor, and the processor is configured to perform the universal static base self-alignment method by executing the executable instructions.

[0034] In some embodiments, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the universal static base self-alignment method is implemented.

[0035] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0036] 1. The present invention adopts the measured value of the inertial measurement unit IMU to perform static base self-alignment, does not rely on external information, and realizes autonomous alignment; in the static base self-alignment process, the attitude and heading information is output in real time to realize the real-time output of heading and attitude data, and there is no data lag, delay, cutoff, etc., and it can be widely applied to various strapdown inertial navigation devices.

[0037] 2. The method of the present invention has a fast alignment speed. The self-alignment time of the static base can be controlled within 3 minutes, and the rapid self-alignment of the static base can be achieved.

[0038] 3. The heading accuracy of the static base self-alignment of the present invention is as high as 3-4 times the nominal value of the gyro zero bias stability, and can achieve high-precision static base self-alignment.

[0039] 4. The present invention can also achieve high-precision self-alignment in the scenario where the initial position binding accuracy has a default error of hundreds of meters. It is suitable for static base self-alignment under most heading angle conditions and does not have high requirements on the initial value. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a working timing diagram of the self-alignment of the static base in Example 1 of the present invention;

[0042] Figure 2 is the heading interval error between optical fiber strapdown inertial navigation groups in embodiment 2 of the present invention;

[0043] Figure 3 is the attitude modulus value of the optical fiber strapdown inertial navigation in Example 2 of the present invention;

[0044] Figure 4 is the heading interval error between laser strapdown inertial navigation groups in embodiment 3 of the present invention;

[0045] Figure 5 It is the laser strapdown inertial navigation attitude modulus value in embodiment 3 of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0047] Example 1

[0048] A universal static base self-alignment method is used to perform static base self-alignment on a strapdown inertial navigation device. The static base self-alignment working sequence diagram is as follows: Figure 1 The specific steps of static base self-alignment are as follows:

[0049] Step 1: Set the initial time to T0, the coarse alignment time to T1, the first fine alignment time to T2, and the second fine alignment time to T3. Perform initial position binding at time T0, initialize system parameters, and calculate earth parameters.

[0050] Step 2: Within the first set time, the attitude and heading data are calculated by using the equivalent velocity sliding double vector method according to the measured value of the inertial measurement unit IMU for rough alignment; the first set time, i.e., the alignment operation time t of the rough alignment, is set from T0 to T1, and the following steps are performed within the first set time:

[0051] Step 21, in the initial carrier coordinate system b0, use the inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value, which represents the unit orthogonal transformation of b relative to b0 in the i system;

[0052] Step 22, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation in the initial inertial coordinate system i0, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0053] Step 23, according to the equivalent velocity vector and equivalent position vector obtained in step 21 and step 22, an equivalent velocity vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent velocity vector sequence and increases in natural order;

[0054] Step 24, select an equivalent velocity vector pair of sequence index value ratio*k and index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method according to the equivalent velocity vector pair, and then obtain a quaternion qi0ib0 according to the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0055] Step 25, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time t and the earth's rotation angular velocity;

[0056] Step 26: Calculate the quaternion qnib0 using quaternion multiplication based on the quaternion qni0 and the quaternion qi0ib0 obtained in step 24, and then calculate the real-time attitude quaternion qnb for coarse alignment using quaternion multiplication based on the quaternion qnib0 and the quaternion qib0b obtained in step 21.

[0057] Step 3: After the rough alignment is completed, within the second set time, the attitude and heading data are calculated by using the equivalent position sliding double vector method according to the measured value of the inertial measurement unit IMU for the first fine alignment; the second set time, i.e., the alignment operation time t of the first fine alignment, is set from T1 to T2, and the following steps are performed within the second set time:

[0058] Step 31, in the initial carrier coordinate system b0, use the measured value of the inertial measurement unit IMU to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value, which represents the unit orthogonal transformation of b relative to b0 in the i system; the inertial measurement unit IMU outputs the angular velocity vector and the acceleration vector respectively.

[0059] Step 32, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0060] Step 33: According to the equivalent position vectors obtained in step 31 and step 32, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order;

[0061] Step 34: select an equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method according to the equivalent position vector pair, and then obtain the quaternion qi0ib0 according to the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0062] Step 35, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time t and the earth's rotation angular velocity;

[0063] Step 36: quaternion qnib0 is obtained by using quaternion multiplication based on quaternion qni0 and quaternion qi0ib0 obtained in step 34, and then quaternion qnib0 and quaternion qib0b obtained in step 31 are used to obtain real-time posture quaternion qnb for one-time precision reading by using quaternion multiplication;

[0064] At time T2, the IMU zero bias estimate is calculated based on the accumulated angular velocity, the accumulated acceleration, the Earth's rotation component, and the Earth's gravity vector, and the accumulated angular velocity and acceleration are cleared.

[0065] Step 4: After the first fine alignment is completed, within the third set time, the zero bias estimate of the inertial measurement unit IMU at the current moment is obtained, the zero bias estimate is used to compensate the measured value of the inertial measurement unit IMU, and the attitude and heading data are calculated by the equivalent position sliding double vector method according to the compensated measured value of the inertial measurement unit IMU for the second fine alignment; the third set time, i.e., the alignment operation time t of the second fine alignment is set to be from T2 to T3, and the following steps are performed within the third set time:

[0066] Step 41, in the initial carrier coordinate system b0, use the compensated inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value, which represents the unit orthogonal transformation of b relative to b0 in the i system; the inertial measurement unit IMU outputs the angular velocity vector and the acceleration vector respectively.

[0067] Step 42, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system;

[0068] Step 43: According to the equivalent position vectors obtained in step 41 and step 42, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order;

[0069] Step 44, select an equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method according to the equivalent position vector pair, and then obtain a quaternion qi0ib0 according to the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system;

[0070] Step 45, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time t and the earth's rotation angular velocity;

[0071] Step 46: Use quaternion multiplication to calculate quaternion qnib0 based on quaternion qni0 and quaternion qi0ib0 obtained in step 44, and then use quaternion multiplication to calculate real-time attitude quaternion qnb for the second precise alignment based on quaternion qnib0 and quaternion qib0b obtained in step 41.

[0072] At time T3, the residual estimate of the IMU zero bias is calculated based on the accumulated angular velocity, the accumulated acceleration, the Earth's rotation component, and the Earth's gravity vector.

[0073] After the strapdown inertial navigation device completes the self-alignment of the static base, the effect of the initial alignment of the strapdown inertial navigation device using the method in the embodiment of the present invention is verified.

[0074] A single-axis angular position vertical turntable is used as a reference device to perform static tests on the strapdown inertial navigation device and record the sequence of the inertial measurement unit (IMU) output.

[0075] The test steps include:

[0076] Step 11, start the single-axis angular position vertical turntable, adjust the horizontal position, and return to the zero position to maintain the attitude and heading;

[0077] Step 12: Install the strapdown inertial navigation device to be tested on the tooling and connect it to the turntable;

[0078] Step 13, fix the tooling on the single-axis angular position vertical turntable table, so that the inertial navigation X-axis and Y-axis are horizontal and the Z-axis is facing the sky;

[0079] Step 14: After the strapdown inertial navigation device is powered on and starts working normally, record the sequence output by the inertial measurement unit IMU, and output it continuously for more than 5 minutes;

[0080] Step 15, rotate the single-axis angular position vertical turntable 30°, repeat the operation of step 14, and rotate the azimuth by 30° each time until 12 sets of static tests are completed in a full week.

[0081] The 12 groups of static test data obtained from the test are used for index statistics, including the statistics of heading interval error and attitude modulus between groups and interval error and attitude modulus;

[0082] The inter-group heading interval error = the inter-group alignment heading difference - the inter-group reference heading difference 30°. The mean of the inter-group heading interval error and the root mean square value RMS of the inter-group heading interval error are calculated according to the inter-group heading interval error value.

[0083] Attitude module value = sqrt (heading angle ^2 + pitch angle ^2), calculate the mean value of the attitude module value and the root mean square value RMS of the attitude module value according to the attitude module value;

[0084] The mean of the heading interval error between groups determines the effectiveness of the heading alignment, the root mean square value (RMS) of the heading interval error between groups represents the heading accuracy, and the root mean square value (RMS) of the attitude modulus and the attitude modulus represents the attitude accuracy.

[0085] Example 2

[0086] The alignment method in Example 1 of the present invention is used to perform latitude-free static base self-alignment and verification on a 40-type optical fiber strapdown inertial navigation device.

[0087] 1. Initial Setup

[0088] Nominal value of gyro bias stability: 0.08° / h;

[0089] Initial alignment time setting (T3): 136 seconds;

[0090] The initial position binding value pos0 = [29.7593281719000*arcdeg; 106.643669940900*arcdeg; 369.430849073500]; the binding position accuracy is centimeter level.

[0091] 2. The verification results of 12 sets of static IMU data with a heading interval of 30° are shown in Table 1:

[0092] Table 1 Fiber-optic strapdown inertial navigation verification results

[0093]

[0094] 3. Heading interval error between groups = alignment heading difference between groups – reference heading difference between groups 30°; Heading interval error between fiber-optic strapdown inertial navigation groups, such as Figure 2 The statistics of heading interval error between fiber-optic strapdown inertial navigation groups are shown in Table 2:

[0095] Table 2 Statistics of heading interval errors between fiber-optic strapdown inertial navigation groups

[0096]

[0097] 4. Attitude modulus = sqrt (heading angle ^2 + pitch angle ^2); Fiber optic strapdown inertial navigation attitude modulus, such as Figure 3 The statistics of the optical fiber strapdown inertial navigation attitude modulus are shown in Table 3:

[0098] Table 3 Statistical table of attitude modulus values ​​of optical fiber strapdown inertial navigation

[0099]

[0100]

[0101] Example 3

[0102] The method in Example 1 of the present invention is used to perform latitude-free static base self-alignment and verification on a Type 90 laser strapdown inertial navigation device.

[0103] 1. Initial Setup

[0104] Nominal value of gyro bias stability: 0.003° / h;

[0105] Initial alignment time setting (T3): 136 seconds;

[0106] Initial position binding value: pos0 = [30.395*arcdeg; 114.348*arcdeg; 10]; Due to the default position, the binding position accuracy is at the hundred-meter level.

[0107] 2. The verification results of 12 sets of static IMU data with a heading interval of 30° are shown in Table 4:

[0108] Table 4 Laser strapdown inertial navigation verification results

[0109]

[0110] 3. Heading interval error between groups = alignment heading difference between groups – reference heading difference between groups 30°; Heading interval error between groups of laser strapdown inertial navigation, such as Figure 4 The statistics of the heading interval error between laser strapdown inertial navigation groups are shown in Table 5:

[0111] Table 5 Statistics of heading interval errors between laser strapdown inertial navigation groups

[0112]

[0113] 4. Attitude modulus = sqrt (heading angle ^2 + pitch angle ^2); laser strapdown inertial navigation attitude modulus, such as Figure 5 The statistics of laser strapdown inertial navigation attitude modulus are shown in Table 6:

[0114] Table 6 Statistics of attitude modulus values ​​of laser strapdown inertial navigation

[0115]

[0116] From Tables 1-6 in the above-mentioned Embodiments 2 and 3, it can be seen that the static base self-alignment method of the present invention is suitable for the initial alignment of a variety of strapdown inertial navigation devices. Under the condition of arbitrary heading angle and not relying on external information, high-precision and rapid static base self-alignment can be achieved, and heading attitude information can be output in real time during the static base self-alignment process, thereby achieving high-precision and rapid static base self-alignment of a variety of strapdown inertial navigation devices.

[0117] Example 4

[0118] An electronic device comprises: a processor and a memory; the memory is used to store executable instructions of the processor, and the processor is configured to execute the universal static base self-alignment method by executing the executable instructions.

[0119] Example 5

[0120] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the universal static base self-alignment method is implemented.

[0121] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A universal static base self-alignment method, characterized in that: include: Step 1: within a first set time, the attitude and heading data are calculated by using an equivalent velocity sliding double vector method according to the measured value of the inertial measurement unit IMU for rough alignment; Step 2: After the rough alignment is completed, within the second set time, the attitude and heading data are calculated using the equivalent position sliding double vector method according to the measured values ​​of the inertial measurement unit IMU for the first fine alignment; Step 3: After the first precise alignment is completed, within the third set time, a zero bias estimate is obtained based on the first precise alignment of the inertial measurement unit IMU, and the measured value of the inertial measurement unit IMU is compensated using the zero bias estimate. The attitude and heading data are calculated using the equivalent position sliding dual vector method based on the compensated measured value of the inertial measurement unit IMU for a second precise alignment.

2. A universal static base self-alignment method according to claim 1, characterized in that: The step 1 comprises: Step 11, in the initial carrier coordinate system b0, use the inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value; Step 12, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation in the initial inertial coordinate system i0, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system; Step 13: According to the equivalent velocity vector and equivalent position vector obtained in step 11 and step 12, an equivalent velocity vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent velocity vector sequence and increases in natural order; Step 14: Select an equivalent velocity vector pair of sequence index value ratio*k and index value k according to a certain ratio, obtain a unit orthogonal matrix using the Schmidt orthogonalization method based on the equivalent velocity vector pair, and then obtain a quaternion qi0ib0 based on the double vector method, which represents the attitude transformation of b0 relative to i in the i0 system; Step 15, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity; Step 16: Calculate the quaternion qnib0 using quaternion multiplication based on the quaternion qni0 and the quaternion qi0ib0 obtained in step 14, and then calculate the real-time attitude quaternion qnb for coarse alignment using quaternion multiplication based on the quaternion qnib0 and the quaternion qib0b obtained in step 11.

3. A universal static base self-alignment method according to claim 1, characterized in that: The step 2 comprises: Step 21, in the initial carrier coordinate system b0, use the inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value; Step 22, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system; Step 23: According to the equivalent position vectors obtained in step 21 and step 22, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order; Step 24, select the equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, use the Schmidt orthogonalization method to obtain the unit orthogonal matrix according to the equivalent position vector pair, and then use the double vector method to obtain the quaternion qi0ib0, which represents the attitude transformation of b0 relative to i in the i0 system; Step 25, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity; Step 26: Use quaternion multiplication to calculate quaternion qnib0 based on quaternion qni0 and quaternion qi0ib0 obtained in step 24, and then use quaternion multiplication to calculate real-time attitude quaternion qnb for the first precise alignment based on quaternion qnib0 and quaternion qib0b obtained in step 21.

4. A universal static base self-alignment method according to claim 1, characterized in that: The step 3 comprises: Step 31, in the initial carrier coordinate system b0, use the compensated inertial measurement unit IMU measured value to calculate the integral vector of the gravity acceleration measurement value changing with the rotation of the earth, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the attitude update quaternion qib0b is obtained by multiplying the attitude update quaternion of the previous moment and the quaternion of the current gyroscope measurement value; Step 32, in the initial inertial coordinate system i0, calculate the integral vector of the theoretical value of the earth's gravitational acceleration along with the earth's rotation, the first integral is the equivalent velocity vector, the second integral is the equivalent position vector, and the obtained integral vector subscript i0 represents the unit orthogonal transformation of i relative to i0 in the i0 system; Step 33: According to the equivalent position vectors obtained in step 31 and step 32, an equivalent position vector sequence with subscript ib0 and subscript i0 is formed, and a vector index is set for the equivalent position vector sequence and increases in natural order; Step 34, select the equivalent position vector pair of the sequence index value ratio*k and the index value k according to a certain ratio, use the Schmidt orthogonalization method to obtain the unit orthogonal matrix according to the equivalent position vector pair, and then use the double vector method to obtain the quaternion qi0ib0, which represents the attitude transformation of b0 relative to i in the i0 system; Step 35, obtaining the quaternion qni0 of the initial inertial coordinate system i0 relative to the navigation coordinate system n according to the alignment operation time and the earth's rotation angular velocity; Step 36: Use quaternion multiplication to calculate quaternion qnib0 based on quaternion qni0 and quaternion qi0ib0 obtained in step 34, and then use quaternion multiplication to calculate real-time attitude quaternion qnb for the second precise alignment based on quaternion qnib0 and quaternion qib0b obtained in step 31.

5. A universal static base self-alignment method according to claim 1, characterized in that: The method also includes the steps of performing initial position binding, system parameter initialization, and earth parameter calculation at an initial moment before the rough alignment.

6. A universal static base self-alignment method according to claim 3, characterized in that: When the first precise alignment is completed, the IMU zero bias estimate is calculated based on the accumulated angular velocity, the accumulated acceleration, the Earth's rotation component, and the Earth's gravity vector, and the accumulated angular velocity and acceleration are cleared.

7. A universal static base self-alignment method according to claim 4, characterized in that: When the second-level fine alignment is completed, the residual estimate of the IMU zero bias is calculated based on the accumulated angular velocity, the accumulated acceleration, the earth's rotation component and the earth's gravity vector.

8. An electronic device, characterized in that: include: Processor and memory; The memory is used to store executable instructions of the processor, and the processor is configured to perform a universal static base self-alignment method according to any one of claims 1 to 7 by executing the executable instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the universal static base self-alignment method according to any one of claims 1 to 7 is implemented.

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