Calibration method for quantum inertial navigation system

Abstract

The invention relates to a calibration method for a quantum inertial navigation system, the quantum inertial navigation system comprises a three-axis atom interference gyroscope and a three-axis atom interference accelerometer, and a calibration test is realized on a three-axis turntable; the calibration method comprises the following steps: according to a rotation scale factor, an output phase noise amplitude and a data updating frequency of the atomic interference gyroscope, calculating a maximum rotation angle acceleration of a Z axis of a rotary table; according to the linear acceleration scale factor, the output phase noise amplitude and the data updating frequency of the atomic interference accelerometer, calculating the maximum rotation angular velocity of the X axis and the Y axis of the rotary table; determining a rotation strategy of the rotary table in the calibration test according to the maximum rotation angular acceleration of the Z axis of the rotary table and the maximum rotation angular velocities of the X axis and the Y axis of the rotary table; according to the rotation strategy of the rotary table, the rotary table is controlled to carry out calibration tests on the atom interference gyroscope and the atom interference accelerometer respectively. According to the invention, the inertial navigation calibration precision of the quantum IMU can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of quantum inertial navigation, and in particular to a calibration method for a quantum inertial navigation system. Background Art

[0002] Atomic interferometer gyroscopes and atomic interferometer accelerometers are novel quantum inertial measurement devices. Compared with traditional gyroscopes and accelerometers, atomic interferometer gyroscopes and atomic interferometer accelerometers have higher theoretical accuracy and long-term stability, and have important strategic significance in the future field of inertial navigation. At present, the inertial navigation system based on atomic interferometer gyroscopes and atomic interferometer accelerometers (hereinafter referred to as "quantum IMU") is still in the research stage, and there are many difficulties in the inertial navigation calibration of quantum IMU. The main difficulties in the inertial navigation calibration of quantum IMU are as follows: The output of atomic interferometer gyroscopes and atomic interferometer accelerometers is the atomic interference phase, which has a 2π uncertainty. During the calibration process, when the turntable attitude changes too much, the output value of the atomic interferometer gyroscope and atomic interferometer accelerometer will jump out of the 2π range and cannot obtain accurate rotation and acceleration information, resulting in low inertial navigation calibration accuracy of quantum IMU. Summary of the invention

[0003] Based on the above description, the present application provides a calibration method for a quantum inertial navigation system to solve the problem of low inertial navigation calibration accuracy of the current quantum IMU.

[0004] According to a first aspect of the present application, a calibration method for a quantum inertial navigation system is provided, wherein the quantum inertial navigation system comprises a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer, and a calibration test is performed on a three-axis turntable; the calibration method comprises: Calculating the maximum rotational angular acceleration of the Z axis of the turntable according to the rotational scale factor, output phase noise amplitude and data update frequency of the atomic interferometer gyroscope; Calculate the maximum rotational angular velocity of the turntable X-axis and Y-axis according to the linear acceleration scale factor, output phase noise amplitude and data update frequency of the atomic interferometer accelerometer; Determine the rotation strategy of the turntable in the calibration test according to the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis; According to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively.

[0005] In one or more embodiments, the maximum angular acceleration of the turntable Z axis is , calculated according to the following formula:

[0006] in, Represents the rotation scale factor of the atomic interferometer gyroscope; represents the output phase noise amplitude of the atomic interferometer gyroscope; Indicates the data update frequency of the atomic interferometer gyroscope.

[0007] In one or more embodiments, the maximum rotational angular velocity of the turntable X-axis and Y-axis is , calculated according to the following formula:

[0008] in, It represents the linear acceleration scale factor of the atomic interferometer accelerometer; represents the output phase noise amplitude of the atomic interferometer accelerometer; Indicates the data update frequency of the atomic interferometer accelerometer, Represents the acceleration due to gravity.

[0009] In one or more embodiments, determining the rotation strategy of the turntable in the calibration test according to the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis includes: According to the maximum rotation angular velocity, controlling the X-axis or Y-axis rotation of the turntable to form different postures; In each of the postures, the Z-axis rotation of the turntable is controlled according to the maximum rotational angular acceleration.

[0010] In one or more embodiments, controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively according to the rotation strategy of the turntable includes: In the calibration test, the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are corrected to complete the calibration of the atomic interferometer gyroscope and the calibration of the atomic interferometer accelerometer.

[0011] In one or more embodiments, controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively according to the rotation strategy of the turntable includes: Controlling the turntable to complete three groups of unrelated rotation tests, and correcting the output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope; Calculating the scale coefficient matrix of the atomic interferometer gyroscope according to the rotation test data of the atomic interferometer gyroscope, the turntable reading and the calibration model of the atomic interferometer gyroscope; After completing the calibration of the scale coefficient matrix of the atomic interferometer gyroscope, controlling the turntable to complete a set of dual-position drift measurement method tests, and correcting the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope; Calculating a drift error matrix of the atomic interferometer gyroscope according to dual-position test data of the atomic interferometer gyroscope, turntable readings and a calibration model of the atomic interferometer gyroscope; Controlling the turntable to complete n≥4 groups of unrelated angular position tests, and correcting the output data of the atom interferometer accelerometer to obtain angular position test data of the atom interferometer accelerometer; According to the angular position test data of the atomic interference accelerometer, the turntable reading and the calibration model of the atomic interference accelerometer, the scale coefficient matrix and the equivalent bias matrix of the atomic interference acceleration are solved.

[0012] In one or more embodiments, controlling the turntable to complete three groups of unrelated rotation tests and correcting the output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z-axis rotation of the turntable is controlled according to the maximum rotation angular acceleration and the forward and reverse rotation strategy to complete a corresponding set of rotation tests; In each group of rotation tests, the output data of the atomic interference gyroscope during the forward rotation process and the reverse rotation process are intercepted and corrected, and the output correction data of the atomic interference gyroscope during the forward rotation process and the reverse rotation process are obtained and subtracted to obtain a group of rotation test data corresponding to the atomic interference gyroscope.

[0013] In one or more embodiments, controlling the turntable to complete a set of dual-position drift measurement tests and correcting the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate 180° according to the maximum rotation angular acceleration to complete a set of dual-position drift measurement method tests; In the current dual-position drift measurement test, the output data of the atomic interferometer gyroscope when the Z axis is at the initial position and when the Z axis is rotated 180° is obtained and corrected to obtain the dual-position test data corresponding to the atomic interferometer gyroscope.

[0014] In one or more embodiments, controlling the turntable to complete n≥4 groups of unrelated angular position tests and correcting the output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate by a preset angle according to the maximum rotational angular acceleration to complete a set of angular position tests; In each group of the angular position tests, the output data of the atom interferometer accelerometer is corrected to obtain a group of angular position test data corresponding to the atom interferometer accelerometer.

[0015] In one or more embodiments, the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are both atomic interferometer phases; and the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are respectively corrected, including: The atomic interference phase is phase unwrapped, and when When ;in, , Indicates the current atomic interference phase and the previous atomic interference phase. The value is An integer that holds.

[0016] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: In the calibration method for the quantum inertial navigation system described above, the maximum angular acceleration of the Z axis of the turntable and the maximum angular velocities of the X axis and Y axis of the turntable are calculated, and then the rotation strategy of the turntable in the calibration test is determined. According to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively. In this way, by limiting the maximum angular velocity and maximum angular acceleration of the three-axis turntable, the output phase jump of the atomic interferometer gyroscope or atomic interferometer accelerometer caused by excessive changes in the turntable attitude during the calibration process can be reduced, and the continuous effectiveness of the output phase of the atomic interferometer gyroscope and atomic interferometer accelerometer can be improved, thereby improving the inertial navigation calibration accuracy of the quantum IMU. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a flow chart of a calibration method for a quantum inertial navigation system provided in one embodiment of the present application; Figure 2 This is a flow chart of step S103 in the embodiment of the present application; Figure 3 Schematic diagram of the process of step S104 in the embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0020] It is understood that when used herein, the singular forms "a", "an" and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0021] See also Figure 1 , Figure 1 A flow chart of a calibration method for a quantum inertial navigation system provided by an embodiment of the present application is shown. It should be noted that the quantum inertial navigation system includes a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer, and a calibration test is performed on a three-axis turntable. A calibration method for a quantum inertial navigation system provided by an embodiment of the present application includes the following steps: S101, calculating the maximum rotational angular acceleration of the Z axis of the turntable according to the rotational scale factor, output phase noise amplitude and data update frequency of the atomic interferometer gyroscope; S102, calculating the maximum rotational angular velocity of the turntable X-axis and Y-axis according to the linear acceleration scale factor, output phase noise amplitude and data update frequency of the atomic interferometer accelerometer; S103, determining the rotation strategy of the turntable in the calibration test according to the maximum rotation angular acceleration of the turntable Z axis and the maximum rotation angular velocity of the turntable X axis and Y axis; S104. According to the rotation strategy of the turntable, control the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively.

[0022] It should be noted that the quantum inertial navigation system (also known as quantum IMU) as a whole includes a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer. The turntable includes an outer ring, a middle ring and an inner ring. The outer ring is fixed on the ground base, the middle ring is fixed on the outer ring, and is orthogonal to the outer ring axis. Similarly, the inner ring is fixed on the middle ring and is orthogonal to the middle ring axis. The three axes constitute an orthogonal coordinate system. The outer ring axis is also the Z axis, the middle ring axis is also the Y axis, and the inner ring axis is also the X axis. Install the quantum inertial navigation system on the inner ring, and point the Z axis to the sky.

[0023] Specifically, according to the rotation scale factor of the atomic interferometer gyroscope, the output phase noise amplitude of the atomic interferometer gyroscope and the data update frequency of the atomic interferometer gyroscope, the maximum rotation angular acceleration of the turntable Z axis is calculated, that is, the maximum angular acceleration of the turntable Z axis that can be rotated is determined. At the same time, according to the linear acceleration scale factor of the atomic interferometer accelerometer, the output phase noise amplitude of the atomic interferometer accelerometer and the data update frequency of the atomic interferometer accelerometer, the maximum rotation angular velocity of the turntable X axis and Y axis is calculated, that is, the maximum angular velocity of the turntable X axis and the maximum angular velocity of the turntable Y axis that can be rotated are determined.

[0024] In this embodiment, by calculating the maximum angular acceleration of the Z axis of the turntable and the maximum angular velocity of the X axis and Y axis of the turntable, the rotation strategy of the turntable in the calibration test is determined, and according to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively. In this way, by limiting the maximum angular velocity and maximum angular acceleration of the three-axis turntable, the output phase jump of the atomic interferometer gyroscope or atomic interferometer accelerometer caused by excessive changes in the turntable attitude during the calibration process can be reduced, and the continuous effectiveness of the output phase of the atomic interferometer gyroscope and atomic interferometer accelerometer is improved, thereby improving the inertial navigation calibration accuracy of the quantum IMU.

[0025] In some embodiments, the maximum angular acceleration of the turntable Z axis is , calculated according to the following formula: (1) in, It represents the rotation scale factor of the atomic interferometer gyroscope, and its unit is rad / (° / s); Represents the output phase noise amplitude of the atomic interferometer gyroscope, in rad; Indicates the data update frequency of the atomic interferometer gyroscope, in Hz.

[0026] Specifically, the rotation scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer gyroscope are all known parameters or can be obtained through measurement. According to the rotation scale factor, output phase noise amplitude, data update frequency, and formula (1), we can solve: The value is used as the maximum angular acceleration of the turntable Z axis to limit the rotation range of the turntable Z axis.

[0027] In some embodiments, the maximum rotational angular velocity of the turntable X-axis and Y-axis , calculated according to the following formula: (2) in, Indicates the linear acceleration scale factor of the atomic interferometer accelerometer, in rad / (m / s 2 ); Represents the output phase noise amplitude of the atomic interferometer accelerometer, in rad; Indicates the data update frequency of the atomic interferometer accelerometer, in Hz. Represents the acceleration due to gravity in m / s².

[0028] Specifically, the linear acceleration scale factor of atomic interference acceleration, the output phase noise amplitude, the data update frequency and the gravitational acceleration are all known parameters or can be obtained through measurement. According to the linear acceleration scale factor of atomic interference acceleration, the output phase noise amplitude, the data update frequency, the gravitational acceleration and formula (2), we can solve The values ​​are used as the maximum angular velocities of the X-axis and Y-axis of the turntable, respectively, and are used to limit the rotation amplitude of the X-axis and Y-axis of the turntable.

[0029] See also Figure 2 , Figure 2 A flow chart of step S103 in an embodiment of the present application is shown.

[0030] In some embodiments, in step S103, the rotation strategy of the turntable in the calibration test is determined according to the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis, including: S201, according to the maximum rotation angular velocity, controlling the X-axis or Y-axis rotation of the turntable to form different postures; S202. In each posture, control the Z-axis rotation of the turntable according to the maximum rotational angular acceleration.

[0031] Specifically, different postures are formed by controlling the rotation of the X-axis or the Y-axis. In each posture, the Z-axis is controlled to rotate, and the rotation amplitude of the turntable is limited by setting the maximum rotation angular acceleration and the maximum rotation angular velocity, which is conducive to reducing the 2π uncertainty problem generated by the quantum inertial navigation system during the calibration process.

[0032] In some embodiments, according to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively, including: In the calibration experiment, the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are corrected to complete the calibration of the atomic interferometer gyroscope and the calibration of the atomic interferometer accelerometer.

[0033] It should be noted that when the atomic interference gyroscope or atomic interference accelerometer is subjected to a calibration test, an input signal (characterizing angular velocity information or angular acceleration information) is provided to the excitation side of the atomic interference gyroscope or atomic interference accelerometer by rotating the turntable, and the atomic interference gyroscope or atomic interference accelerometer outputs the atomic interference phase on the detection side. In this embodiment, by limiting the maximum angular velocity and maximum angular acceleration of the three-axis turntable, the phase change of the adjacent input signals of the atomic interference gyroscope or atomic interference accelerometer on the excitation side does not exceed π, so that the atomic interference phase change of the adjacent output on the detection side can be made as far as possible not to exceed the range of π. However, after signal fitting, there may still be a small number of output phase jumps. In order to completely overcome this problem, it is necessary to correct the output data of the atomic interference gyroscope (that is, the atomic interference phase) and the output data of the atomic interference accelerometer (that is, the atomic interference phase) so that the atomic interference phase change of the adjacent output on the detection side does not exceed the range of π. In this way, the output correction data of the atomic interference gyroscope and the atomic interference accelerometer can be continuously valid, further improving the accuracy of the inertial navigation calibration of the quantum IMU.

[0034] In some embodiments, the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are both atomic interferometer phases; the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are respectively corrected, including: The atomic interference phase is phase unwrapped, and when When ;in, , Indicates the current atomic interference phase and the previous atomic interference phase. The value is An integer that holds.

[0035] Specifically, when the atomic interference phase output by the atomic interference gyroscope is obtained, the atomic interference phase is phase unwrapped, and when When , and obtain the output correction data of the corresponding atomic interferometer gyroscope, which refers to the phase after the atomic interference phase is unwound and corrected. When the atomic interference phase output by the atomic interferometer accelerometer is obtained, according to the above principle, the atomic interference phase output by the atomic interferometer accelerometer is unwound and corrected to obtain the corresponding output correction data of the atomic interferometer accelerometer. In this way, through phase unwrap and correction, the output correction data of the atomic interferometer gyroscope and the atomic interferometer accelerometer can be made continuous and effective, further improving the accuracy of the inertial navigation calibration of the quantum IMU.

[0036] See also Figure 3 , Figure 3 A flow chart of step S104 in an embodiment of the present application is shown.

[0037] In some embodiments, in step S104, according to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively, including the following steps: S301, controlling the turntable to complete three groups of unrelated rotation tests, and correcting the output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope.

[0038] In this embodiment, according to the rotation strategy of the turntable, in each posture of the turntable, the Z-axis rotation of the turntable is controlled according to the maximum rotation angular acceleration and the forward and reverse strategies to complete a corresponding set of rotation tests. In each set of rotation tests, the output data of the atomic interference gyroscope in the forward and reverse processes are intercepted and corrected, and the output correction data of the atomic interference gyroscope in the forward and reverse processes are obtained and subtracted to obtain a set of rotation test data corresponding to the atomic interference gyroscope.

[0039] It should be noted that the forward and reverse strategy includes controlling the Z axis of the turntable to accelerate first according to the maximum rotation angle acceleration, then decelerate at a constant speed, and then rotate a certain angle, and then control the Z axis of the turntable to reverse back to the original position in the same way, wherein the uniform speed of the Z axis of the turntable does not exceed the range (i.e., dynamic range) of the atomic interferometer gyroscope. The rotation angle can be set according to actual conditions, and this embodiment does not limit it here. In this way, the influence of the earth's rotation can be offset by the forward and reverse strategy.

[0040] Specifically, the turntable is controlled to complete three groups of unrelated rotation tests. In one group of rotation tests, the X-axis and Y-axis of the turntable are both located at an initial angle (for example, a zero degree angle), and the Z-axis of the turntable is controlled to rotate according to the maximum rotation angular acceleration and the forward and reverse strategy; in another group of angular position tests, the X-axis of the turntable is controlled to be located at the initial angle, and after the Y-axis is controlled to rotate a certain angle according to the maximum rotation angular velocity, the Z-axis of the turntable is controlled to rotate according to the maximum rotation angular acceleration and the forward and reverse strategy; in the remaining group of angular position tests, the Y-axis of the turntable is controlled to be located at the initial angle, and after the X-axis is controlled to rotate a certain angle according to the maximum rotation angular velocity, the Z-axis of the turntable is controlled to rotate according to the maximum rotation angular acceleration and the forward and reverse strategy.

[0041] In each set of rotation tests, the output data of the atomic interference gyroscope in the forward and reverse processes are intercepted, and the interception length of the forward and reverse data is required to be the same, and the turntable angular positions corresponding to the data start and end points are also the same. Then, the output data of the atomic interference gyroscope in the forward and reverse processes are corrected to obtain the output correction data of the atomic interference gyroscope in the forward and reverse processes and make a difference to obtain a set of rotation test data corresponding to the atomic interference gyroscope.

[0042] S302, calculating the scale coefficient matrix of the atomic interferometer gyroscope according to the rotation test data of the atomic interferometer gyroscope, the turntable reading and the calibration model of the atomic interferometer gyroscope.

[0043] In this embodiment, the calibration model for constructing a three-axis atomic interferometer gyroscope is: ,in, It is a 3×1 matrix, which represents the angular velocity of the three axes of the turntable in the turntable coordinate system; is a 3×3 matrix, representing the scale coefficient matrix of the atomic interferometer gyroscope, which is an unknown number; is a 3×1 matrix, representing the experimental data output by the atomic interferometer gyroscope; is a 3×1 matrix, representing the drift error matrix of the atomic interferometer gyroscope. In addition, , Represents the angular velocity of the earth's rotation. The effect of the earth's rotation can be offset by the forward and reverse strategies. It represents the angular velocity of the turntable surface relative to the base (i.e. the ground), which can be given by the turntable reading.

[0044] Specifically, three sets of rotation test data are obtained based on three sets of unrelated rotation tests, which are used to construct three sets of equations. In this embodiment, solving the set of equations belongs to conventional technology, and this embodiment is only briefly introduced here. Specifically, based on the three sets of rotation test data and three sets of turntable readings of the atomic interferometer gyroscope, and based on the calibration model of the atomic interferometer gyroscope, three sets of equations are constructed, each set of equations contains three equations, and by solving the three sets of equations, in the solution process, it is considered that the drift error matrix The term is a small amount and can be ignored, so the scale coefficient matrix of the atomic interferometer gyroscope can be solved .

[0045] S303, after completing the calibration of the scale coefficient matrix of the atomic interferometer gyroscope, controlling the turntable to complete a set of dual-position drift measurement method tests, and correcting the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope.

[0046] In this embodiment, according to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate 180° according to the maximum rotation angular acceleration to complete a set of dual-position drift measurement method tests. In the current dual-position drift measurement method test, the output data of the atomic interferometer gyroscope at the initial position of the Z axis and when the Z axis rotates 180° are obtained and corrected to obtain the output correction data of the atomic interferometer gyroscope at the dual position, and used as the dual-position test data corresponding to the atomic interferometer gyroscope.

[0047] S304, calculating the drift error matrix of the atomic interferometer gyroscope according to the dual-position test data of the atomic interferometer gyroscope, the turntable readings and the calibration model of the atomic interferometer gyroscope.

[0048] Specifically, according to the dual-position test data output by the atomic interferometer gyroscope, the turntable readings and the calibration model of the atomic interferometer gyroscope, a set of equations is constructed to solve the drift error matrix of the atomic interferometer gyroscope. .

[0049] S305 , controlling the turntable to complete n≥4 groups of unrelated angular position tests, and correcting the output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer.

[0050] In this embodiment, according to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate a preset angle according to the maximum rotation angular acceleration to complete a set of angular position tests. In each set of angular position tests, the output data of the atomic interferometer accelerometer is corrected to obtain the output correction data of the atomic interferometer accelerometer, which is used as a set of angular position test data corresponding to the atomic interferometer accelerometer.

[0051] S306, calculating the scale coefficient matrix and equivalent bias matrix of the atomic interference accelerometer according to the angular position test data of the atomic interference accelerometer, the turntable reading and the calibration model of the atomic interference accelerometer.

[0052] In this embodiment, a calibration model of a three-axis atomic interferometer accelerometer is constructed: ,in, is a 3×1 matrix, representing the three-axis specific force input of the atomic interferometer accelerometer caused by gravity acceleration in the turntable coordinate system; , The test data output by the atomic interferometer accelerometer; , is the scale coefficient matrix of the atomic interferometer accelerometer, is the equivalent bias matrix of the atomic interferometer accelerometer.

[0053] Specifically, according to the angular position test data of the atomic interferometer accelerometer, the turntable readings and the calibration model of the atomic interferometer accelerometer, multiple sets of equations are constructed. When the number of equations is greater than four, the least squares method can be used to solve the matrix , thus the scale coefficient matrix and equivalent bias matrix of the atomic interferometer accelerometer can be obtained.

[0054] In summary, this embodiment reduces the attitude change of the turntable by limiting the maximum angular velocity and maximum angular acceleration of the three-axis turntable, so that the phase of two consecutive outputs of the atomic interferometer gyroscope and the atomic interferometer accelerometer does not exceed π, and the phase jump of two consecutive outputs of the atomic interferometer gyroscope and the atomic interferometer accelerometer exceeds In this case, phase unwinding and correction adjustment are performed to make the output correction data phase of the atomic interferometer gyroscope and atomic interferometer accelerometer continuous and effective, completely solving the output phase In order to solve the uncertainty problem, the strapdown inertial navigation calibration method is finally used to calibrate the atomic interferometer gyroscope and atomic interferometer accelerometer, thereby effectively improving the accuracy of the inertial navigation calibration of the quantum IMU.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A calibration method for a quantum inertial navigation system, characterized in that: The quantum inertial navigation system includes a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer, and a calibration test is performed on a three-axis turntable; the calibration method includes: Calculating the maximum rotational angular acceleration of the Z axis of the turntable according to the rotational scale factor, output phase noise amplitude and data update frequency of the atomic interferometer gyroscope; Calculate the maximum rotational angular velocity of the turntable X-axis and Y-axis according to the linear acceleration scale factor, output phase noise amplitude and data update frequency of the atomic interferometer accelerometer; Determine the rotation strategy of the turntable in the calibration test according to the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis; According to the rotation strategy of the turntable, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively.

2. The calibration method for a quantum inertial navigation system according to claim 1, characterized in that: The maximum angular acceleration of the turntable Z axis , calculated according to the following formula: in, Represents the rotation scale factor of the atomic interferometer gyroscope; represents the output phase noise amplitude of the atomic interferometer gyroscope; Indicates the data update frequency of the atomic interferometer gyroscope.

3. The calibration method for a quantum inertial navigation system according to claim 1, characterized in that: The maximum rotational angular velocity of the turntable X-axis and Y-axis , calculated according to the following formula: in, It represents the linear acceleration scale factor of the atomic interferometer accelerometer; represents the output phase noise amplitude of the atomic interferometer accelerometer; Indicates the data update frequency of the atomic interferometer accelerometer, Represents the acceleration due to gravity.

4. The calibration method for a quantum inertial navigation system according to claim 1, characterized in that: Determining a rotation strategy of the turntable in a calibration test according to the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis includes: According to the maximum rotation angular velocity, controlling the X-axis or Y-axis rotation of the turntable to form different postures; In each of the postures, the Z-axis rotation of the turntable is controlled according to the maximum rotational angular acceleration.

5. The calibration method for a quantum inertial navigation system according to claim 1, characterized in that: According to the rotation strategy of the turntable, controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively includes: In the calibration test, the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are corrected to complete the calibration of the atomic interferometer gyroscope and the calibration of the atomic interferometer accelerometer.

6. The calibration method for a quantum inertial navigation system according to claim 1, characterized in that: According to the rotation strategy of the turntable, controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer respectively includes: Controlling the turntable to complete three groups of unrelated rotation tests, and correcting the output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope; Calculating the scale coefficient matrix of the atomic interferometer gyroscope according to the rotation test data of the atomic interferometer gyroscope, the turntable reading and the calibration model of the atomic interferometer gyroscope; After completing the calibration of the scale coefficient matrix of the atomic interferometer gyroscope, controlling the turntable to complete a set of dual-position drift measurement method tests, and correcting the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope; Calculating a drift error matrix of the atomic interferometer gyroscope according to dual-position test data of the atomic interferometer gyroscope, turntable readings and a calibration model of the atomic interferometer gyroscope; Controlling the turntable to complete n≥4 groups of unrelated angular position tests, and correcting the output data of the atom interferometer accelerometer to obtain angular position test data of the atom interferometer accelerometer; According to the angular position test data of the atomic interference accelerometer, the turntable reading and the calibration model of the atomic interference accelerometer, the scale coefficient matrix and the equivalent bias matrix of the atomic interference acceleration are solved.

7. The calibration method for a quantum inertial navigation system according to claim 6, characterized in that: The controlling the turntable to complete three groups of unrelated rotation tests and correcting the output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z-axis rotation of the turntable is controlled according to the maximum rotation angular acceleration and the forward and reverse rotation strategy to complete a corresponding set of rotation tests; In each set of rotation tests, the output data of the atomic interference gyroscope during the forward rotation process and the reverse rotation process are intercepted and corrected, and the output correction data of the atomic interference gyroscope during the forward rotation process and the reverse rotation process are obtained and subtracted to obtain a set of rotation test data corresponding to the atomic interference gyroscope.

8. The calibration method for a quantum inertial navigation system according to claim 6, characterized in that: The controlling the turntable to complete a set of dual-position drift measurement tests and correcting the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate 180° according to the maximum rotation angular acceleration to complete a set of dual-position drift measurement method tests; In the current dual-position drift measurement test, the output data of the atomic interferometer gyroscope when the Z axis is at the initial position and when the Z axis is rotated 180° is obtained and corrected to obtain the dual-position test data corresponding to the atomic interferometer gyroscope.

9. The calibration method for a quantum inertial navigation system according to claim 6, characterized in that: The controlling the turntable to complete n≥4 groups of unrelated angular position tests and correcting the output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer includes: According to the rotation strategy of the turntable, in each posture of the turntable, the Z axis of the turntable is controlled to rotate by a preset angle according to the maximum rotational angular acceleration to complete a set of angular position tests; In each group of the angular position tests, the output data of the atom interferometer accelerometer is corrected to obtain a group of angular position test data corresponding to the atom interferometer accelerometer.

10. The calibration method for a quantum inertial navigation system according to claim 5 or 6, characterized in that: The output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are both atomic interferometer phase; The output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are respectively corrected, including: The atomic interference phase is phase unwrapped, and when When ;in, , Indicates the current atomic interference phase and the previous atomic interference phase. The value is An integer that holds.

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