A calibration method for quantum inertial navigation system

Abstract

The present application relates to a calibration method for a quantum inertial navigation system, which 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 turntable's Z axis based on the rotation scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer gyroscope; calculating the maximum rotational angular velocity of the turntable's X and Y axes based on the linear acceleration scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer accelerometer; determining the turntable's rotation strategy during the calibration test based on the turntable's maximum rotational angular acceleration of the Z axis and the maximum rotational angular velocity of the turntable's X and Y axes; and controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer according to the turntable's rotation strategy. The present application can improve the inertial navigation calibration accuracy of a quantum IMU.

Description

Technical Field

[0001] The present application relates to the field of quantum inertial navigation technology, 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, they offer higher theoretical accuracy and long-term stability, and hold significant strategic significance in the future field of inertial navigation. Currently, inertial navigation systems based on these devices (hereinafter referred to as "quantum IMUs") are still in the research phase, and the calibration of these quantum IMUs presents numerous challenges. The main challenges in quantum IMU calibration are as follows: the output of these devices is the atomic interferometer phase, which has a 2π uncertainty. During calibration, if the turntable's attitude changes significantly, the output values ​​of these devices may exceed the 2π range, making it impossible to obtain accurate rotation and acceleration information. This results in low quantum IMU calibration accuracy. Summary of the Invention

[0003] Based on the above description, this 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. 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:

[0005] Calculating the maximum rotational angular acceleration of the turntable Z axis according to the rotation scale factor, output phase noise amplitude and data update frequency of the atomic interferometer gyroscope;

[0006] Calculating the maximum angular velocity of the turntable about the X-axis and the Y-axis according to the linear acceleration scale factor, the output phase noise amplitude, and the data update frequency of the atomic interferometer accelerometer;

[0007] Determining a rotation strategy for the turntable in a calibration test based on the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis;

[0008] 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.

[0009] In one or more embodiments, the maximum angular acceleration of the turntable Z axis is , calculated according to the following formula:

[0010]

[0011] 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.

[0012] In one or more embodiments, the maximum angular velocity of the turntable X-axis and Y-axis is , calculated according to the following formula:

[0013]

[0014] 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.

[0015] In one or more embodiments, determining a rotation strategy of the turntable in a calibration test based on 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:

[0016] According to the maximum rotation angular velocity, controlling the X-axis or Y-axis rotation of the turntable to form different postures;

[0017] In each of the postures, the Z-axis rotation of the turntable is controlled according to the maximum rotational angular acceleration.

[0018] 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:

[0019] 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.

[0020] 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:

[0021] Controlling the turntable to complete three sets of unrelated rotation tests, and correcting output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope;

[0022] Calculating a scale coefficient matrix of the atomic interferometer gyroscope based on rotation test data of the atomic interferometer gyroscope, turntable readings, and a calibration model of the atomic interferometer gyroscope;

[0023] 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;

[0024] Calculating a drift error matrix of the atomic interferometer gyroscope based on dual-position test data of the atomic interferometer gyroscope, turntable readings, and a calibration model of the atomic interferometer gyroscope;

[0025] Controlling the turntable to complete n≥4 groups of unrelated angular position tests, and correcting output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer;

[0026] According to the angular position test data of the atomic interferometer accelerometer, the turntable reading and the calibration model of the atomic interferometer accelerometer, the scale coefficient matrix and the equivalent bias matrix of the atomic interferometer accelerometer are calculated.

[0027] In one or more embodiments, controlling the turntable to complete three sets 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:

[0028] 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 rotational angular acceleration and the forward and reverse rotation strategy to complete a corresponding set of rotation tests;

[0029] In each set of rotation tests, the output data of the atomic interferometer gyroscope during the forward rotation process and the reverse rotation process are intercepted and corrected, and the output correction data of the atomic interferometer 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 interferometer gyroscope.

[0030] In one or more embodiments, controlling the turntable to complete a set of dual-position drift measurement tests and correcting output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope includes:

[0031] 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 degrees according to the maximum rotational angular acceleration to complete a set of dual-position drift measurement tests;

[0032] In the current dual-position drift measurement test, the output data of the atomic interferometer gyroscope when the Z axis is at its initial position and when the Z axis is rotated 180° are obtained and corrected to obtain dual-position test data corresponding to the atomic interferometer gyroscope.

[0033] In one or more embodiments, controlling the turntable to complete n≥4 groups of unrelated angular position tests and correcting output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer includes:

[0034] 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;

[0035] In each set of the angular position tests, the output data of the atomic interferometer accelerometer is corrected to obtain a set of angular position test data corresponding to the atomic interferometer accelerometer.

[0036] 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:

[0037] 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 true.

[0038] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0039] In the calibration method for a quantum inertial navigation system, the maximum angular acceleration of the turntable's Z axis and the maximum angular velocities of its X and Y axes are calculated. The turntable's rotation strategy for the calibration test is then determined. Based on this rotation strategy, the turntable is controlled to perform calibration tests on the atomic interferometer gyroscope and atomic interferometer accelerometer, respectively. By limiting the maximum angular velocity and maximum angular acceleration of the three-axis turntable during the calibration process, it is possible to reduce phase jumps in the output of the atomic interferometer gyroscope or atomic interferometer accelerometer caused by excessive changes in the turntable's attitude, thereby improving the continuous effectiveness of the output phases of the atomic interferometer gyroscope and atomic interferometer accelerometer, and thereby increasing the inertial navigation calibration accuracy of the quantum IMU. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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;

[0041] Figure 2 This is a flow chart of step S103 in the embodiment of the present application;

[0042] Figure 3 Schematic diagram of the process of step S104 in the embodiment of the present application. DETAILED DESCRIPTION

[0043] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0044] 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 pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0045] It is understood that, when used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It is also understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0046] See Figure 1 , Figure 1A flow chart of a calibration method for a quantum inertial navigation system provided in one 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 the calibration test is carried out on a three-axis turntable. A calibration method for a quantum inertial navigation system provided in one embodiment of the present application includes the following steps:

[0047] S101, calculating the maximum rotational angular acceleration of the turntable Z axis according to the rotation scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer gyroscope;

[0048] 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;

[0049] S103, determining a rotation strategy for the turntable in the calibration test based on the maximum rotational angular acceleration of the turntable Z axis and the maximum rotational angular velocities of the turntable X axis and Y axis;

[0050] 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.

[0051] It's important to note that the quantum inertial navigation system (also known as a quantum IMU) as a whole consists of a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer. The turntable consists of an outer ring, a middle ring, and an inner ring. The outer ring is fixed to a ground base, the middle ring is fixed to the outer ring, orthogonal to the outer ring's axis. Similarly, the inner ring is fixed to the middle ring, orthogonal to the middle ring's axis. These three axes form an orthogonal coordinate system. The outer ring's axis is also the Z-axis, the middle ring's axis is the Y-axis, and the inner ring's axis is the X-axis. The quantum inertial navigation system is mounted on the inner ring, with the Z-axis pointing upward.

[0052] Specifically, the maximum angular acceleration of the turntable's Z axis is calculated based on the atomic interferometer gyroscope's rotation scale factor, the atomic interferometer gyroscope's output phase noise amplitude, and the atomic interferometer gyroscope's data update frequency. This determines the maximum angular acceleration of the turntable's Z axis. Simultaneously, the maximum angular velocities of the turntable's X and Y axes are calculated based on the atomic interferometer accelerometer's linear acceleration scale factor, the atomic interferometer accelerometer's output phase noise amplitude, and the atomic interferometer accelerometer's data update frequency. This determines the maximum angular velocities of the turntable's X and Y axes.

[0053] In this embodiment, the maximum angular acceleration of the turntable's Z axis and the maximum angular velocities of the turntable's X and Y axes are calculated, and then the turntable's rotation strategy during the calibration test is determined. Based on the turntable's rotation strategy, 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 jumps of the atomic interferometer gyroscope or atomic interferometer accelerometer caused by excessive changes in the turntable's attitude during the calibration process can be reduced, thereby improving the continuous effectiveness of the output phase of the atomic interferometer gyroscope and atomic interferometer accelerometer, thereby improving the inertial navigation calibration accuracy of the quantum IMU.

[0054] In some embodiments, the maximum angular acceleration of the turntable Z axis is , calculated according to the following formula:

[0055] (1)

[0056] 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, the unit is rad; Indicates the data update frequency of the atomic interferometer gyroscope, in Hz.

[0057] Specifically, the rotation scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer gyroscope are all known or can be measured. 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.

[0058] In some embodiments, the maximum angular velocity of the turntable X-axis and Y-axis , calculated according to the following formula:

[0059] (2)

[0060] in, Indicates the linear acceleration scale factor of the atomic interferometer accelerometer, the unit is rad / (m / s 2 ); Represents the output phase noise amplitude of the atomic interferometer accelerometer, the unit is rad; Indicates the data update frequency of the atomic interferometer accelerometer, the unit is Hz, Indicates the acceleration due to gravity in m / s².

[0061] Specifically, the linear acceleration scale factor of atomic interferometric acceleration, the output phase noise amplitude, the data update frequency, and the gravitational acceleration are all known or can be measured. Based on the linear acceleration scale factor of atomic interferometric 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, to limit the rotation amplitude of the X-axis and Y-axis of the turntable.

[0062] See Figure 2 , Figure 2 A flow chart of step S103 in an embodiment of the present application is shown.

[0063] In some embodiments, in step S103, determining the rotation strategy of the turntable in the calibration test based on 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:

[0064] S201, controlling the X-axis or Y-axis rotation of the turntable according to the maximum rotation angular velocity to form different postures;

[0065] S202 . In each posture, control the Z-axis rotation of the turntable according to the maximum rotational angular acceleration.

[0066] Specifically, different postures are formed by controlling the rotation of the X-axis or Y-axis. In each posture, the Z-axis is controlled to rotate. Furthermore, by setting the maximum angular acceleration and maximum angular velocity, the rotation amplitude of the turntable is limited, which helps to reduce the 2π uncertainty problem caused by the calibration process of the quantum inertial navigation system.

[0067] 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:

[0068] 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.

[0069] It should be noted that during calibration testing of an atomic interferometer gyroscope or atomic interferometer accelerometer, an input signal (representing angular velocity or angular acceleration information) is provided to the excitation side of the atomic interferometer gyroscope or atomic interferometer accelerometer via rotation of the turntable, and the atomic interferometer gyroscope or atomic interferometer accelerometer outputs an atomic interferometer 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 variation of adjacent input signals on the excitation side of the atomic interferometer gyroscope or atomic interferometer accelerometer is limited to no more than π, thereby minimizing the atomic interferometer phase variation of adjacent outputs on the detection side. However, after signal fitting, a small number of output phases may still experience jumps. To fully overcome this problem, it is necessary to correct the output data of the atomic interferometer gyroscope (i.e., the atomic interferometer phase) and the output data of the atomic interferometer accelerometer (i.e., the atomic interferometer phase) so that the atomic interferometer phase variation of adjacent outputs on the detection side does not exceed π. In this way, the output correction data of the atomic interferometer gyroscope and atomic interferometer accelerometer can be continuously valid, further improving the accuracy of the inertial navigation calibration of the quantum IMU.

[0070] 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; and the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer are respectively corrected, including:

[0071] 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 true.

[0072] Specifically, when the atomic interference phase output by the atomic interferometer gyroscope is obtained, the atomic interference phase is phase unwrapped, and when When , obtaining the corresponding output correction data of the atomic interferometer gyroscope. This output correction data refers to the phase after the atomic interferometer phase is unwound and corrected. When the atomic interferometer phase output of the atomic interferometer accelerometer is obtained, the atomic interferometer phase output of the atomic interferometer accelerometer is unwound and corrected according to the above principle 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 atomic interferometer accelerometer can be made continuous and valid, further improving the accuracy of the inertial navigation calibration of the quantum IMU.

[0073] See Figure 3 , Figure 3A flow chart of step S104 in an embodiment of the present application is shown.

[0074] 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:

[0075] 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.

[0076] In this embodiment, based on the turntable's rotation strategy, the turntable's Z-axis rotation is controlled according to the maximum angular acceleration and the forward and reverse rotation strategy at each turntable position to complete a corresponding set of rotation tests. In each set of rotation tests, the output data of the atomic interferometer gyroscope during both the forward and reverse rotation processes are intercepted and corrected. The corrected output data for the atomic interferometer gyroscope during the forward and reverse rotation processes are then subtracted to produce a set of rotation test data corresponding to the atomic interferometer gyroscope.

[0077] It should be noted that the forward and reverse rotation strategy involves controlling the turntable's Z-axis to accelerate at maximum angular acceleration, then to a constant speed, and then to decelerate to rotate to a certain angle. The turntable's Z-axis is then reversed in the same manner back to its original position. The constant speed of the turntable's Z-axis does not exceed the range (i.e., dynamic range) of the atomic interferometer gyroscope. The rotation angle can be set based on actual conditions and is not limited in this embodiment. In this way, the forward and reverse rotation strategy can offset the effects of the Earth's rotation.

[0078] 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 rotation strategy; in another group of angular position tests, the X-axis of the turntable is controlled to be located at the initial angle, and the Y-axis is controlled to rotate a certain angle according to the maximum rotation angular velocity, and then the Z-axis of the turntable is controlled to rotate according to the maximum rotation angular acceleration and the forward and reverse rotation 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 the X-axis is controlled to rotate a certain angle according to the maximum rotation angular velocity, and then the Z-axis of the turntable is controlled to rotate according to the maximum rotation angular acceleration and the forward and reverse rotation strategy.

[0079] In each rotation test, the output data of the atomic interferometer gyroscope is intercepted during both the forward and reverse rotation processes. The intercepted data lengths for both forward and reverse rotations are required to be identical, and the start and end points of the data correspond to the same turntable angular positions. The output data of the atomic interferometer gyroscope during both forward and reverse rotations are then corrected. The corrected output data for the forward and reverse rotations are then subtracted to produce the corresponding set of rotation test data.

[0080] S302 , calculating the scale coefficient matrix of the atomic interferometer gyroscope according to the rotation test data of the atomic interferometer gyroscope, the turntable readings and the calibration model of the atomic interferometer gyroscope.

[0081] 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 indicates the angular velocity of the turntable surface relative to the base (ie the ground), which can be given by the turntable reading.

[0082] Specifically, based on three sets of unrelated rotation tests, three sets of rotation test data are obtained, 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 small and can be ignored, so the scale coefficient matrix of the atomic interferometer gyroscope can be solved .

[0083] S303. After completing the calibration of the scale coefficient matrix of the atomic interferometer gyroscope, control the turntable to complete a set of dual-position drift measurement method tests, and correct the output data of the atomic interferometer gyroscope to obtain dual-position test data of the atomic interferometer gyroscope.

[0084] In this embodiment, based on the turntable's rotation strategy, the turntable's Z-axis is controlled to rotate 180° at each turntable position according to the maximum angular acceleration to complete a set of dual-position drift measurement experiments. In this dual-position drift measurement experiment, the output data of the atomic interferometer gyroscope is obtained and corrected for the initial Z-axis position and the 180° rotation of the Z-axis. The corrected output data for the dual-position atomic interferometer gyroscope is then used as the corresponding dual-position test data.

[0085] S304 , calculating the drift error matrix of the atomic interferometer gyroscope based on the dual-position test data of the atomic interferometer gyroscope, the turntable readings, and the calibration model of the atomic interferometer gyroscope.

[0086] Specifically, based on 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. .

[0087] 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.

[0088] In this embodiment, based on the turntable's rotation strategy, the turntable's Z-axis is controlled to rotate by a preset angle according to the maximum angular acceleration at each turntable position 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 corrected output data, which serves as the corresponding set of angular position test data.

[0089] S306 , calculating the scale coefficient matrix and equivalent bias matrix of the atomic interferometer accelerometer based on the angular position test data of the atomic interferometer accelerometer, the turntable reading, and the calibration model of the atomic interferometer accelerometer.

[0090] 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 experimental 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.

[0091] Specifically, based on 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.

[0092] 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 difference between two adjacent outputs of the atomic interferometer gyroscope and the atomic interferometer accelerometer does not exceed π, and the phase difference between two adjacent outputs of the atomic interferometer gyroscope and the atomic interferometer accelerometer exceeds π. The output correction data phase of the atomic interferometer gyroscope and atomic interferometer accelerometer is made continuous and effective through phase unwrapping and correction adjustment, which completely solves 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.

[0093] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection 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 turntable Z axis according to the rotation scale factor, output phase noise amplitude and data update frequency of the atomic interferometer gyroscope; Calculating the maximum angular velocity of the turntable about the X-axis and the Y-axis according to the linear acceleration scale factor, the output phase noise amplitude, and the data update frequency of the atomic interferometer accelerometer; Determining a rotation strategy for the turntable in a calibration test based on 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 based on 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 sets of unrelated rotation tests, and correcting output data of the atomic interferometer gyroscope to obtain rotation test data of the atomic interferometer gyroscope; Calculating a scale coefficient matrix of the atomic interferometer gyroscope based on rotation test data of the atomic interferometer gyroscope, turntable readings, and a 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 based on 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 output data of the atomic interferometer accelerometer to obtain angular position test data of the atomic interferometer accelerometer; According to the angular position test data of the atomic interferometer accelerometer, the turntable reading and the calibration model of the atomic interferometer accelerometer, the scale coefficient matrix and the equivalent bias matrix of the atomic interferometer accelerometer are calculated.

7. The calibration method for a quantum inertial navigation system according to claim 6, characterized in that: The controlling the turntable to complete three sets 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 rotational 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 interferometer gyroscope during the forward rotation process and the reverse rotation process are intercepted and corrected, and the output correction data of the atomic interferometer 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 interferometer 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 degrees according to the maximum rotational angular acceleration to complete a set of dual-position drift measurement tests; In the current dual-position drift measurement test, the output data of the atomic interferometer gyroscope when the Z axis is at its initial position and when the Z axis is rotated 180° are obtained and corrected to obtain 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 set of the angular position tests, the output data of the atomic interferometer accelerometer is corrected to obtain a set of angular position test data corresponding to the atomic 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 phases; Correcting the output data of the atomic interferometer gyroscope and the output data of the atomic interferometer accelerometer respectively includes: 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 true.

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