Inertial navigation attitude and heading data error correction method

Abstract

The invention relates to an inertial navigation attitude and heading data error correction method, which is characterized in that a low-frequency recording technology and a high-frequency calculation technology are combined, attitude and heading data are recorded at low frequency so as to reduce system burden, and when accurate data are needed, the method is switched to a high-frequency calculation mode so as to correct the attitude and heading data. And calculating a carrier attitude and heading angular rate based on the attitude and heading data at the current moment and the previous moment. At a synchronization moment, an internal clock is utilized to accurately measure the time difference with an external time synchronization signal, and then the current attitude and heading data, the attitude and heading angular rate and the time difference are combined to correct the attitude and heading data at the synchronization moment in real time through high-frequency calculation. And finally, outputting the corrected heading attitude data in an efficient structured data packet form. According to the method, the real-time performance and accuracy of attitude and heading information output are remarkably improved, the data processing flow is optimized, the transmission burden is reduced, and high-performance operation of inertial navigation equipment is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation, and in particular to an inertial navigation attitude data error correction method. Background Art

[0002] In the field of inertial navigation technology, the accuracy and real-time performance of attitude data are crucial to navigation accuracy and system reliability. Inertial navigation products play an irreplaceable role in areas such as ship navigation due to their wide measurement dynamic range, good linearity, stable performance, and all-weather navigation. Its core function is to collect the angular motion information and apparent acceleration information of the carrier through sensitive devices, calculate the angular velocity and acceleration of the carrier using mathematical models, and further derive attitude information, speed information, and position information. However, the accuracy and reliability of inertial navigation products are highly dependent on the precise processing of inertial sensor errors.

[0003] In the actual application of existing technologies of inertial navigation products, a key technical challenge is how to ensure that the attitude data output by the inertial navigation device is synchronized with the external synchronization signal in real time. Due to the difference in accuracy between the system clock source and the internal clock source of the inertial navigation device, as well as the power-on sequence of the system synchronization device and the inertial navigation device, the internal solution time of the navigation device is often not completely synchronized with the external synchronization time signal time. The data output time difference caused by this asynchrony will seriously affect the real-time and accuracy of the navigation data.

[0004] In the case of low-frequency recording of attitude data, although it can reflect the basic trend of the carrier's movement, it is difficult to capture small changes in a short period of time, thus affecting navigation accuracy. In addition, when an external system requests precise attitude data, if it only relies on low-frequency recording data for output, it may not meet the real-time requirements. In response to these problems, although the method in the authorization document has improved the real-time and accuracy of attitude data to a certain extent, it still faces challenges in practical applications. Summary of the invention

[0005] The present invention aims at the technical problems existing in the prior art and provides a method for compensating the synchronization error of the attitude data by combining low-frequency recording and high-frequency calculation. On the basis of the low-frequency recording of the attitude data, when the external system requests accurate attitude data, the inertial navigation device switches to the high-frequency calculation mode, calculates the attitude angular rate using the attitude data at the latest low-frequency recording moment, and performs real-time correction on the attitude data at the synchronization moment in combination with the time difference between the internal clock and the external time synchronization signal. This method not only retains the advantage of low-frequency recording data in reflecting the movement trend of the carrier, but also improves the real-time and accuracy of the attitude data by using high-frequency calculation, effectively making up for the shortcomings of the prior art.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: an inertial navigation attitude data error correction method, comprising:

[0007] S101, the inertial navigation device records the heading data of the carrier at each navigation solution moment at a low frequency;

[0008] S102, when the requesting device requests current accurate heading data, the inertial navigation device prepares to perform high-frequency calculation;

[0009] S103, the inertial navigation device switches to high-frequency calculation, and calculates the carrier's heading angular rate for the period according to the heading data of the current time and the previous time at the two low-frequency recording times;

[0010] S104, at the synchronization moment, the inertial navigation device uses the internal clock to measure the time difference with the external time synchronization signal;

[0011] S105, using high-frequency calculation to correct the heading data of the carrier at the synchronization time according to the heading data, heading angular rate and synchronization time difference at the current navigation solution time;

[0012] S106, outputting the corrected heading data to the requesting device.

[0013] Preferably, the S101, low-frequency recording of the attitude data of the carrier at each navigation solution moment, includes:

[0014] The low frequency is defined as recording attitude data less than or equal to 10 Hz, that is, the carrier attitude information of the current heading, pitch angle, and roll angle is recorded up to 10 times per second.

[0015] Preferably, the S103, high frequency calculation, includes:

[0016] High frequency calculation is defined as greater than or equal to 100 Hz, which means at least 100 calculations per second.

[0017] Preferably, the S102 further includes:

[0018] S201, selecting data within a specific time range before and after the request time on the inertial navigation device according to the request time;

[0019] S202, packaging the filtered data into a structured data packet according to a predetermined format;

[0020] S203, the requesting device receives a data packet from the inertial navigation device and parses the data packet;

[0021] S204, extracting the counts, the time nodes of the counts and the original data to perform specific error correction calculations.

[0022] Preferably, the step S201 of selecting data within a specific time range before and after the request time includes:

[0023] Based on the request time, a time range is defined, namely 3 seconds before and after the request time. Within the set time range, relevant data points are screened from the storage medium of the inertial navigation device.

[0024] Preferably, the S202 includes:

[0025] S301, classifying the motion law of the carrier, matching a unique number to each calculation formula of the classification, and outputting it as a law calculation list;

[0026] S302, using the carrier high frequency calculation area to compare data changes;

[0027] S303, sending a data packet of the calculation formula number and the endpoint data of the corresponding time period to the requesting device;

[0028] S304, requesting the device to call a calculation formula to perform data error correction.

[0029] Preferably, the step S301, classifying the movement law of the carrier, includes:

[0030] When a carrier equipped with inertial navigation attitude performs a new action, it will have fixed state characteristics in terms of speed, trajectory, and angle. According to the historical laws of carrier movement, various indicators of the carrier during the movement are collected, the data sampling frequency is set, and the key change points and change laws of the carrier movement are captured to define them as motion pattern laws.

[0031] Preferably, the movement pattern law includes:

[0032] In motion pattern recognition, observe the changing trends of angular velocity and acceleration change factors under different motion patterns;

[0033] Get the relationship between the change factor and the time and space position;

[0034] Based on the change relationship, the calculation formula and error correction model describing the movement pattern are constructed and compiled into a list;

[0035] Assign a unique number to each calculation formula and error correction model, forming a list containing multiple motion modes and their corresponding calculation formulas and error correction models, each model has a unique number, and the list serves as a regular calculation list.

[0036] Preferably, the data packet format in S303 includes:

[0037] Start character|Data packet length|Calculation formula number|Start time and end time|Start position and end position|Error correction model encoding|Motion mode|Check code|End character.

[0038] Preferably, the S301 includes:

[0039] S401, refine the motion law calculation list of the carrier;

[0040] S402, limiting the parameter threshold variation range of the calculation formula.

[0041] The beneficial effects of the present invention are:

[0042] 1. In the low-frequency recording stage, the system stores data at a lower frequency, reducing the burden of data storage and processing, thereby reducing system energy consumption and extending the service life of the equipment. At the same time, when the requesting device requests precise data, the system can quickly switch to high-frequency calculation mode to capture small changes in data in a short period of time, ensuring the real-time and accuracy of the data. This flexible calculation method not only improves the response speed of the system, but also optimizes the efficiency of resource use.

[0043] 2. This solution greatly reduces the burden of data transmission by carefully selecting and sending only data within the critical time period. This approach not only reduces the time and resources required for data transmission, but also enables the requesting device to receive the required data more quickly. Therefore, the timeliness of the data is significantly improved, and the requesting device can obtain the latest status information of the carrier in almost real time, providing a strong guarantee for rapid response to the carrier's actions.

[0044] 3. By carefully classifying the movement patterns of the carriers and generating corresponding calculation formulas and threshold change intervals, the data processing process is significantly optimized. The core is to reduce the amount of unnecessary data transmission, which not only reduces the delay in the data transmission process, but also effectively reduces the risk of data being stolen or tampered with, thereby greatly improving the security of data transmission. In addition, through the real-time comparison and matching technology of the high-frequency calculation area, the accuracy and integrity of the data are further ensured, providing a solid guarantee for the subsequent application of the data.

[0045] 4. The setting of the core parameter threshold variation range makes the calculation formula highly flexible and adaptable. This innovation not only allows the calculation formula to be dynamically adjusted in the actual motion environment of the carrier to accurately match various complex scenarios, but also greatly enhances the accuracy and practicality of the data. In addition, through the carefully set parameter range, the technology can effectively filter abnormal data and ensure the stability and reliability of the calculation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1The present invention is a flowchart of an inertial navigation attitude data error correction method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0048] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0049] In the description of the present application, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0050] Embodiment 1: Figure 1 FIG. 1 is a flow chart of an inertial navigation attitude data error correction method according to an embodiment of the present invention. Figure 1 As shown, an inertial navigation attitude data error correction method according to an embodiment of the present invention comprises the following steps:

[0051] S101, the inertial navigation device records the navigation attitude data of the carrier at each navigation solution moment at a low frequency.

[0052] Among them, the low frequency in the above steps refers to the inertial navigation system recording the heading data of the carrier on which the inertial navigation device is installed at a lower frequency. The data recorded at this frequency is not continuous, but is sufficient to reflect the basic trend of the carrier's movement. The carriers in this article are all carriers on which the inertial navigation device is installed;

[0053] Define low frequency as recording attitude data less than or equal to 10Hz, that is, record the current heading, pitch angle, roll angle and other information up to 10 times per second, and record it as the attitude data corresponding to the first attitude data at time t1 , the heading data corresponding to the second heading data at time t2 , ..., recorded as the Nth heading data corresponding to the time tn .

[0054] The current navigation solution time and its corresponding carrier attitude information are obtained through navigation solution of carrier angular motion and apparent acceleration information, and the carrier angular motion and apparent acceleration information are obtained by using gyroscopes and accelerometers that are maturely used in the prior art.

[0055] S102, when the requesting device requests current accurate heading data, the inertial navigation device prepares to perform high-frequency calculation.

[0056] The requesting device is a device that sends a request for heading data to the inertial navigation system.

[0057] Specifically, the requesting device sends a request signal to the inertial navigation system through the communication interface, and after receiving the request signal, the system immediately prepares to switch to the high-frequency calculation mode.

[0058] S103, the inertial navigation device switches to high-frequency calculation, and calculates the carrier's heading angular rate for the period according to the heading data of the current moment and the previous moment recorded at the low frequency.

[0059] Among them, the high frequency in the above steps refers to the calculation frequency higher than the normal recording frequency used by the inertial navigation system for attitude angular rate calculation and attitude data correction. The calculation of this frequency can capture the slight changes of attitude data in a short time;

[0060] High frequency calculation is defined as greater than or equal to 100 Hz, which means at least 100 calculations per second.

[0061] The calculation formula of heading angular rate is as follows:

[0062]

[0063] Where Ω1 and Ω2 are the heading angles at time t1 and t2 respectively, and Δt is the time interval (t2-t1).

[0064] S104, at the synchronization moment, the inertial navigation device uses the internal clock to measure the time difference with the external time synchronization signal.

[0065] Specifically, in an inertial navigation system, the internal clock and the external time synchronization signal together constitute the system's time reference system. The internal clock is responsible for recording the system's internal time, providing a basis for data recording, processing, and error correction; while the external time synchronization signal is used to calibrate and correct the deviation of the internal clock to ensure that the system time is consistent with the external time.

[0066] For example, in a ship's inertial navigation system, the internal clock may record the timestamp of the heading data at a frequency of 1Hz, while the external time synchronization signal comes from the GPS satellite navigation system. When the ship is sailing, the system will periodically receive GPS signals and compare the time information in them with the internal clock. If a deviation is found, the system will adjust the frequency or phase of the internal clock accordingly to ensure that the internal time is consistent with the GPS time. In this way, the ship can obtain more accurate heading data, thereby navigating and positioning more accurately.

[0067] At the synchronization time tout, latch the data and performance of the cache counter Counter, and calculate the time difference between the synchronization time and the current navigation solution time ; The time difference between the synchronization time and the current navigation solution time Calculated by the following formula:

[0068]

[0069] Where Counter is the value of the cache counter corresponding to the time difference between the internal clock and the external time synchronization signal, which is cleared at each navigation solution moment. is the timing frequency, It is the time difference between the synchronization time and the current navigation solution time.

[0070] S105, using high-frequency calculation to correct the heading data of the carrier at the synchronization time according to the heading data, heading angular rate and synchronization time difference at the current navigation solution time.

[0071] Among them, the formula for correcting the carrier's heading information at the synchronization time is as follows:

[0072]

[0073] in is the corrected heading data, is the heading data at the current navigation solution moment, is the heading angular rate, It is the time difference between the synchronization time and the current navigation solution time.

[0074] S106, outputting the corrected heading data to the requesting device.

[0075] For example, we simulate the actual application case of the ship's inertial navigation system and define the low frequency as 1Hz, that is, recording the heading data once per second;

[0076] At t1=0 seconds, the heading data is: heading = 0 degrees, pitch angle = 0 degrees, roll angle = 0 degrees;

[0077] At t2=1 second, the heading data is: heading = 5 degrees, pitch angle = 1 degree, roll angle = 0.5 degrees... (and so on, recorded once per second);

[0078] Assume that at t = 1.5 seconds, the autonomous driving system sends a request signal to the inertial navigation system through the communication interface;

[0079] Switch to high frequency 100Hz, that is, calculate 100 times per second. Use the heading data of t1=1 second and t2=2 seconds to calculate (because when t=1.5 seconds, the latest low-frequency data is t2=2 seconds);

[0080] The calculation formula of attitude angular rate is: , heading angular rate = (5 degrees - 0 degrees) / 1 second = 5 degrees / second, pitch angular rate = (1 degree - 0 degrees) / 1 second = 1 degree / second, roll angular rate = (0.5 degrees - 0 degrees) / 1 second = 0.5 degrees / second;

[0081] The internal clock is assumed to record timestamps at 1 Hz, and the external time synchronization signal comes from GPS. It is assumed that the GPS signal is received at t = 1.5 seconds;

[0082] The internal clock records a timestamp at t = 1 second and will record another timestamp at t = 2 seconds. At t = 1.5 seconds, the time difference between the internal clock and GPS time is seconds (because the internal clock last recorded t=1 second);

[0083] The current navigation solution time t=1 second (because this is the time point of the latest low-frequency data); the carrier heading information formula at the correct synchronization time is: , Corrected heading data = current heading data + heading angular rate ; Corrected heading = 0 degrees + 5 degrees / second 0.5 seconds = 2.5 degrees, corrected pitch angle = 0 degrees + 1 degree / second 0.5 seconds = 0.5 degrees, corrected roll angle = 0 degrees + 0.5 degrees / second 0.5 seconds = 0.25 degrees;

[0084] Output the corrected heading = 2.5 degrees, the corrected pitch angle = 0.5 degrees, the corrected roll angle = 0.25 degrees, the output time t = 1.5 seconds (synchronization time), and define the above correction data as the error correction model number E001.

[0085] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0086] 1. In the low-frequency recording stage, the system stores data at a lower frequency, reducing the burden of data storage and processing, thereby reducing system energy consumption and extending the service life of the equipment. At the same time, when the requesting device requests precise data, the system can quickly switch to high-frequency calculation mode to capture small changes in data in a short period of time, ensuring the real-time and accuracy of the data. This flexible calculation method not only improves the response speed of the system, but also optimizes the efficiency of resource use.

[0087] Embodiment 2:

[0088] By combining low-frequency data recording with high-frequency calculation, efficient use of resources is achieved. In order to solve the problem of reduced data timeliness caused by the carrier's too fast movement, the technical time node and various data are sent to the requesting device, and the requesting device calculates the specific value of the required time node. The amount of data sent is data within a specific time range before and after the request time, which improves the data timeliness to cope with the rapid movement of the carrier.

[0089] Now, further improvements are made on the basis of step S102 in embodiment 1, specifically:

[0090] S201, on an inertial navigation device, selecting data within a specific time range before and after the request time according to the request time.

[0091] The data in a specific time range includes the count, i.e., the serial number of each data point, the time node of the count, i.e., the timestamp corresponding to each data point, and the angular velocity, acceleration, position, etc. of the original data.

[0092] Specifically, based on the request time, a time range is defined, namely, 3 seconds before and after the request time. Within the set time range, relevant data points are screened from the storage medium of the inertial navigation device.

[0093] S202: Pack the filtered data into a structured data packet according to a predetermined format.

[0094] The structured data packet format is as follows:

[0095] Start character|packet length|count 1|time node 1|angular velocity 1|acceleration 1|position 1|...|check code|end character;

[0096] The start character represents a special character or character sequence used to mark the beginning of a data packet;

[0097] The packet length indicates the total length of the data in the packet (excluding the start character, end character and check code);

[0098] The count represents the serial number or index of each data point, which is used to identify the order of the data;

[0099] The time node represents the timestamp corresponding to each data point, which is used to identify the time information of the data;

[0100] Angular velocity, acceleration, and position represent raw data, indicating the state of motion of an object at a specific time point;

[0101] The checksum represents a checksum value used to check the integrity and correctness of the data packet;

[0102] The terminator is a special character or character sequence that marks the end of a data packet.

[0103] For example, take a specific data packet as an example: START|120|001|20230401120000|0.01|0.02|X1,Y1,Z1|...|010|20230401120009|0.10|0.20|X10,Y10,Z10|CHECKSUM|END;

[0104] START is the start character, indicating the beginning of the data packet;

[0105] 120 is the packet length, which indicates the total length of the data in the packet (assuming that each data point occupies a certain number of bytes and the total length of all data has been calculated);

[0106] 001 to 010 are counts, indicating that these are the 1st to 10th data points;

[0107] 20230401120000 to 20230401120009 are time nodes, indicating that the timestamps corresponding to these data points are 2023-04-01 12:00:00 to 2023-04-01 12:00:09;

[0108] 0.01, 0.02, X1, Y1, Z1 to 0.10, 0.20, X10, Y10, Z10 are raw data, representing angular velocity 0.01 rad / s to 0.10 rad / s, acceleration 0.02 m / s² to 0.20 m / s² and position information longitude X1, latitude Y1, altitude Z1 (here X1, Y1, Z1 are specific values, replaced by letters for simplicity) to longitude X10, latitude Y10, altitude Z10;

[0109] CHECKSUM is a checksum used to check the integrity and correctness of the data packet;

[0110] END is the end character, indicating the end of the data packet.

[0111] S203, the requesting device receives a data packet from the inertial navigation device and parses the data packet.

[0112] Specifically, the requesting device parses the data packet according to a predetermined format and extracts the heading data information therein.

[0113] S204, extracting the counts, the time nodes of the counts and the original data to perform specific error correction calculations.

[0114] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0115] 1. This solution greatly reduces the burden of data transmission by carefully selecting and sending only data within the critical time period. This approach not only reduces the time and resources required for data transmission, but also enables the requesting device to receive the required data more quickly. Therefore, the timeliness of the data is significantly improved, and the requesting device can obtain the latest status information of the carrier in almost real time, providing a strong guarantee for rapid response to the carrier's actions.

[0116] 2. This solution also makes full use of the computing power of the requesting device to process the received data through real-time calculation. This method avoids complex preprocessing before data transmission, thereby improving the efficiency of data processing. At the same time, since the calculation is performed in real time on the requesting device, it can more accurately reflect the current state of the carrier and promptly detect and correct errors in the data. This real-time calculation method ensures the accuracy and reliability of the data and provides more accurate data support for applications such as navigation and control.

[0117] Embodiment 3:

[0118] By selecting and sending data within a critical time period and using the computing power of the requesting device for real-time calculations, the timeliness of the data is improved, allowing the requesting device to more accurately obtain and respond to the rapid movements of the carrier. In the high-frequency and high-speed movement and changes of the carrier, the transmission of such a large amount of data still has the risk of delay and transmission delay, as well as the risk of information being stolen. Based on this, by classifying the movement patterns of the carrier and generating corresponding calculation formulas, and using high-frequency calculation areas for real-time comparison and matching, the amount of data that needs to be transmitted can be reduced.

[0119] Now, further improvements are made on the basis of step S202 in embodiment 2, specifically:

[0120] S301, classify the motion rules of the carrier, match a unique number to each classified calculation formula, and output it as a rule calculation list.

[0121] Specifically, when a carrier equipped with inertial navigation attitude performs a new action, it will have fixed state characteristics in terms of speed, trajectory, and angle. According to the law of historical carrier movement, various indicators of the carrier during the movement are collected, the data sampling frequency is set, and the key change points and change laws of the carrier movement are captured and defined as the movement pattern law;

[0122] Preprocess the collected data, such as filtering and denoising, to improve data quality;

[0123] Perform pattern recognition on the processed data to classify different motion modes, such as uniform linear motion, uniformly accelerated linear motion, circular motion, etc.

[0124] For each motion mode, analyze its data characteristics (such as the changing rules of angular velocity, acceleration, etc.), and derive mathematical calculation formulas that can accurately describe the motion. These formulas usually include the relationship between variables such as error time (t), start time (tr), end time (te), start longitude and latitude (λ0, φ0), end longitude and latitude (the longitude and latitude after te-tr (λt, φt)), speed (v), acceleration (a), etc.

[0125] All motion modes and their corresponding calculation formulas (in motion mode recognition, observe the changing trends of angular velocity, acceleration and other changing factors under different motion modes, obtain the changing relationship between the changing factors and time and spatial position, and thus construct the calculation formulas describing these motion modes) and error correction models are sorted into a list, and each calculation formula and error correction model is assigned a unique number. Finally, a list containing multiple motion modes and their corresponding calculation formulas and error correction models is formed. Each model has a unique number. This list is used as a regular calculation list for subsequent quick retrieval and call.

[0126] For example, the calculation formula for simulating uniform straight-line movement is derived as follows:

[0127] Velocity definition: Velocity v is the ratio of displacement s to time t: v = t / s;

[0128] Definition of acceleration: In uniform linear motion, the acceleration a is zero: a=0;

[0129] The relationship between displacement and time: If an object moves in a straight line at a constant speed v, then the relationship between displacement s and time t is: s=vt;

[0130] To determine whether an object is moving in a uniform straight line, we can use the following conditions:

[0131] The speed is constant. At any two time points t1 and t2, the measured speeds v1 and v2 should be equal: v1 = v2;

[0132] Acceleration is zero: The measured acceleration a should be close to zero (within a small threshold to account for errors in actual measurements): ,in It is a small positive number, indicating the allowable acceleration error range;

[0133] Combining the above conditions, we can simulate a formula for judging whether the vehicle is moving in a straight line at a uniform speed. Assuming the starting time t0, the ending time tf, the starting speed v0, the ending speed vf, and the measured acceleration ameasured, we can use the following logic to judge:

[0134] Calculate the time interval: ;

[0135] Check that the speed is constant: , where δ is a small positive number, indicating the allowable speed variation range;

[0136] Check if the acceleration is zero: ;

[0137] If both of the above conditions are met, the object can be considered to be in uniform linear motion;

[0138] The above conditions can be combined into a judgment formula: ;

[0139] If IUSM is true (i.e. both conditions are met), the object is in uniform linear motion, and the calculation formula is defined as AE01.

[0140] S302, using the carrier high frequency calculation area to compare data changes.

[0141] Specifically, a high-frequency computing area is set on the carrier, equipped with an ARMCortex-A series embedded processor computing device to support fast data processing and analysis, and the high-frequency computing area is used to quickly process the received data and extract data features;

[0142] The extracted data features are compared with the pre-stored regular calculation list to find the calculation formula number and error correction model number that best match the current carrier state.

[0143] S303, sending a data packet including a calculation formula number and endpoint data of a corresponding time period to the requesting device.

[0144] Specifically, after determining the calculation formula number, the carrier does not need to transmit all the original data, but only sends the calculation formula number, the endpoint data of the corresponding time period (start time and end time), and the endpoint value of the corresponding category data (start position and end position);

[0145] The format of the data packet sent to the requesting device is updated to:

[0146] Start character|Data packet length|Calculation formula number|Start time and end time|Start position and end position|Error correction model encoding|Motion mode|Check code|End character.

[0147] S304, requesting the device to call a calculation formula to perform data error correction.

[0148] Specifically, after the requesting device receives the endpoint data of the calculation formula number, it calls the corresponding calculation formula according to its internally stored regular calculation list and performs calculations in combination with the endpoint data to obtain each data point within the required time node.

[0149] For example, continuing with the example of step S301, the requesting device receives the calculation formula number AE01 sent by the carrier, finds its corresponding calculation formula, substitutes the endpoint data (start time and end time) of the corresponding time period and the endpoint value (start position and end position) of the corresponding category data into the calculation formula, and obtains the corresponding error correction model number E001 and error data. Assuming that the error of uniform linear motion for 20s passes through the time difference between the synchronization time in step S104 and the current navigation solution time , after matching the error correction model with the calculation formula number, the error correction data under the model is obtained.

[0150] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0151] 1. By carefully classifying the movement patterns of the carriers and generating corresponding calculation formulas and threshold change intervals, the data processing process is significantly optimized. The core is to reduce the amount of unnecessary data transmission, which not only reduces the delay in the data transmission process, but also effectively reduces the risk of data being stolen or tampered with, thereby greatly improving the security of data transmission. In addition, through the real-time comparison and matching technology of the high-frequency calculation area, the accuracy and integrity of the data are further ensured, providing a solid guarantee for the subsequent application of the data.

[0152] 2. This technical solution can still demonstrate excellent performance in complex environments with high-frequency, high-speed motion and changes. Real-time comparison and matching of high-frequency computing areas, as the core means of the technology, not only realizes the instant processing and verification of data, but also ensures the efficiency and accuracy of data during transmission. This real-time processing capability, combined with the effective reduction of data volume, jointly contributes to the ultimate goal of the technical solution: even under extreme conditions, it can provide timely, accurate and secure data support for various applications, thereby meeting various high-demand application scenarios.

[0153] Embodiment 4:

[0154] By classifying the movement patterns of the carrier and constructing a calculation formula, setting the threshold range of the change factor, and combining it with real-time comparison of the high-frequency calculation area, the amount of data transmission is significantly reduced. Due to the influence of external factors such as the operation mode of the carrier and the current airflow, it is impossible to perfectly match the pre-set calculation formula parameters. Therefore, by limiting the specific threshold change range of the core parameters in the calculation formula to compare and match the data, the amount of data transmission can be further reduced and the calculation accuracy can be improved.

[0155] Now, further improvements are made on the basis of step S301 in embodiment 3, specifically:

[0156] S401, refine the motion law calculation list of the carrier.

[0157] S402, limiting the parameter threshold variation range of the calculation formula.

[0158] Specifically, an in-depth study is conducted on the possible movement patterns of the carrier, and the threshold change range of the parameters of each calculation formula is limited (such as speed, acceleration, steering angle, etc.). The range of threshold change is determined based on the design parameters of the carrier, historical movement data and possible changes in the actual environment.

[0159] For example, the calculation list of the unmanned underwater vehicle motion classification rules shown in Table 1 (this table is only used as an example and is not a table of actual application rules). The collected error time (t), start time (tr), end time (te), start longitude and latitude (λ0, φ0), end longitude and latitude (the longitude and latitude after te-tr (λt, φt)), speed (v), acceleration (a) and other parameters meet the threshold range under the calculation formula number, then the parameters can be matched and calculated, and the appropriate error correction model number can be matched.

[0160] Table 1 Calculation list of unmanned underwater vehicle motion classification rules

[0161] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0162] 1. The setting of the core parameter threshold variation range makes the calculation formula highly flexible and adaptable. This innovation not only allows the calculation formula to be dynamically adjusted in the actual motion environment of the carrier to accurately match various complex scenarios, but also greatly enhances the accuracy and practicality of the data. In addition, through the carefully set parameter range, the technology can effectively filter abnormal data and ensure the stability and reliability of the calculation results.

[0163] 2. This technology ensures the accuracy and adaptability of the calculation results through data comparison and matching in high-frequency calculation areas and the use of adaptive calculation formulas. This high-precision computing capability provides reliable data support for the motion control of the carrier, thereby improving the performance and stability of the entire system. Ultimately, these technical means work together to enable the technical solution to provide accurate and adaptable carrier motion data support while ensuring data security and efficiency, meeting the needs of various complex application scenarios. This comprehensive technical advantage makes this technical solution have broad application prospects and significant market value in the field of carrier motion data processing.

[0164] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0166] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0167] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0168] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0169] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0170] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for correcting inertial navigation attitude data errors, characterized in that: Specifically include: S101, the inertial navigation device records the heading data of the carrier at each navigation solution moment at a low frequency; S102, when the requesting device requests current accurate heading data, the inertial navigation device prepares to perform high-frequency calculation; S103, the inertial navigation device switches to high-frequency calculation, and calculates the carrier's heading angular rate for the period according to the heading data of the current time and the previous time at the two low-frequency recording times; S104, at the synchronization moment, the inertial navigation device uses the internal clock to measure the time difference with the external time synchronization signal; S105, using high-frequency calculation to correct the heading data of the carrier at the synchronization time according to the heading data, heading angular rate and synchronization time difference at the current navigation solution time; S106, outputting the corrected heading data to the requesting device.

2. The method for correcting inertial navigation attitude data error according to claim 1, characterized in that: The S101, low frequency recording of the carrier's attitude data at each navigation solution moment, includes: The low frequency is defined as recording attitude data less than or equal to 10 Hz, that is, the carrier attitude information of the current heading, pitch angle, and roll angle is recorded up to 10 times per second.

3. The method for correcting inertial navigation attitude data error according to claim 1, characterized in that: The S103, high frequency calculation, includes: High frequency calculation is defined as greater than or equal to 100 Hz, which means at least 100 calculations per second.

4. The method for correcting inertial navigation attitude data error according to claim 1, characterized in that: The S102 further includes: S201, selecting data within a specific time range before and after the request time on the inertial navigation device according to the request time; S202, packaging the filtered data into a structured data packet according to a predetermined format; S203, the requesting device receives a data packet from the inertial navigation device and parses the data packet; S204, extracting the counts, the time nodes of the counts and the original data to perform specific error correction calculations.

5. The method for correcting inertial navigation attitude data error according to claim 4, characterized in that: The step S201, selecting data within a specific time range before and after the request time, includes: Based on the request time, a time range is defined, namely 3 seconds before and after the request time. Within the set time range, relevant data points are screened from the storage medium of the inertial navigation device.

6. The method for correcting inertial navigation attitude data error according to claim 4, characterized in that: The S202 includes: S301, classifying the motion law of the carrier, matching a unique number to each calculation formula of the classification, and outputting it as a law calculation list; S302, using the carrier high frequency calculation area to compare data changes; S303, sending a data packet of the calculation formula number and the endpoint data of the corresponding time period to the requesting device; S304, requesting the device to call a calculation formula to perform data error correction.

7. The method for correcting inertial navigation attitude data error according to claim 6, characterized in that: The step S301, classifying the movement law of the carrier, includes: When a carrier equipped with inertial navigation attitude performs a new action, it will have fixed state characteristics in terms of speed, trajectory, and angle. According to the historical laws of carrier movement, various indicators of the carrier during the movement are collected, the data sampling frequency is set, and the key change points and change laws of the carrier movement are captured to define them as motion pattern laws.

8. The method for correcting inertial navigation attitude data errors according to claim 7, characterized in that: The movement pattern rules include: In motion pattern recognition, observe the changing trends of angular velocity and acceleration change factors under different motion patterns; Get the relationship between the change factor and the time and space position; Based on the change relationship, the calculation formula and error correction model describing the movement pattern are constructed and compiled into a list; Assign a unique number to each calculation formula and error correction model, forming a list containing multiple motion modes and their corresponding calculation formulas and error correction models, each model has a unique number, and the list serves as a regular calculation list.

9. The method for correcting inertial navigation attitude data errors according to claim 7, characterized in that: The data packet format in S303 includes: Start character|Data packet length|Calculation formula number|Start time and end time|Start position and end position|Error correction model encoding|Motion mode|Check code|End character.

10. The method for correcting inertial navigation attitude data error according to claim 7, characterized in that: The S301 includes: S401, refine the motion law calculation list of the carrier; S402, limiting the parameter threshold variation range of the calculation formula.

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