Land strapdown inertial navigation element error parameter calibration method

Abstract

The embodiment of the invention discloses a land strapdown inertial navigation element error parameter calibration method, and relates to the technical field of inertial navigation element calibration, and the method comprises the following steps: constructing an error model of a land strapdown inertial navigation system; fixing the inertial navigation system on a calibration device, exciting each error parameter based on a 12-position calibration path scheme, adjusting the inertial element to each calibration position, and acquiring measurement error data of the inertial element; and calculating and calibrating by combining the error model and the measurement error data to obtain a calibration error parameter. According to the method, the calculation difficulty and precision requirements during current calibration are comprehensively considered, the inner lever arm error of the accelerometer is additionally considered, and a model capable of accurately describing the error of the inertial element is constructed; according to the 12-position path calibration scheme provided by the invention, the problem that a common path calibration scheme is insufficient in error excitation is solved, a more accurate calibration result can be obtained in a shorter time, and the efficiency of error calibration can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of inertial navigation element calibration, and in particular to a method for calibrating error parameters of a land-based strapdown inertial navigation element. Background Art

[0002] At present, the land-based strapdown inertial navigation system mainly uses the system-level method to calibrate the errors of the internal inertial components (including gyroscopes and accelerometers). Calibration can effectively improve the navigation accuracy of the inertial navigation. The system-level calibration method uses the navigation parameters such as the velocity error output by the inertial navigation as the observed quantity, and the inertial component error as the state quantity, and designs the corresponding error excitation and filtering scheme to complete the calibration.

[0003] In the current strapdown inertial navigation system-level calibration method, the accuracy of calibration error modeling is closely related to the accuracy of the calibration results. In the process of calibration error modeling, optimization is mainly carried out from aspects such as increasing the model dimension and simplifying the model parameters. The more error parameters are selected, the more accurate the description of the inertial element error is. However, this method will lead to a higher order of the subsequent filter, which will increase the amount of calculation and make the calculation difficult. However, if too few error parameters are selected, the inertial element error cannot be accurately described, resulting in a decrease in the navigation accuracy of the inertial navigation. Therefore, it is necessary to reasonably screen the calibration error and establish an appropriate and reasonable error model.

[0004] In addition, the influence of inertial element errors on different carrier motion states is different, which means that the degree of excitation of these errors is different. The actual error of the relevant inertial element on the carrier cannot be determined only by the error model. Therefore, a method is needed to simulate different carrier motion states and fully excite the error, so as to efficiently calibrate the error of the inertial navigation element. Summary of the invention

[0005] The embodiment of the present application provides a land-based strapdown inertial navigation element error parameter calibration method to solve the defects of the above-mentioned related technologies. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a land-based strapdown inertial navigation element error parameter calibration method, comprising:

[0007] Constructing an error model of an inertial element in a land-based strapdown inertial navigation system; the inertial element includes an accelerometer element and a gyroscope element;

[0008] The land-based strapdown inertial navigation system is fixed on a calibration device, various error parameters of the land-based strapdown inertial navigation system are stimulated based on a 12-position calibration path scheme, the inertial element is adjusted to each calibration position, and measurement error data of the inertial element in the land-based strapdown inertial navigation system is collected at each calibration position;

[0009] The error model of the inertial element and the measured error data of the corresponding inertial element are combined to perform calculations and calibrate to obtain the calibration error parameters of the corresponding inertial element.

[0010] In an optional solution of the first aspect, constructing an error model of an inertial element in a land-based strapdown inertial navigation system includes:

[0011] The gyroscope element includes three gyroscopes installed along each coordinate axis of the carrier coordinate system. The gyroscope error model is constructed by combining the zero position error, scale factor error and installation error of the gyroscope element. The formula is as follows:

[0012]

[0013] P g =K g (I+τ g )ω b +G0;

[0014] Among them, P g is the output parameter of the gyroscope element, K g is the scale factor parameter of the gyroscope element, τ g is the installation error angle parameter of the gyroscope element, ω b is the projection of the angular velocity vector in the gyroscope coordinate system in the carrier coordinate system, and G0 is the zero position parameter of the gyroscope element;

[0015] i, j are coordinate axes, i=(x,y,z), j=(x,y,z), i≠j; P gi is the output parameter of the gyroscope installed on the i-axis, K gi is the scale factor parameter of the gyroscope installed on the i-axis, τ gij The installation error angle parameter of the gyroscope installed on the i-axis relative to the gyroscope installed on the j-axis, ω bi is the projection of the angular velocity vector in the gyroscope coordinate system on axis i, G 0i is the zero position parameter of the gyroscope installed on the i-axis.

[0016] In an optional solution of the first aspect, constructing an error model of an inertial element in a land-based strapdown inertial navigation system includes:

[0017] The accelerometer element includes three accelerometers installed along each coordinate axis of the carrier coordinate system. The accelerometer error model is constructed by combining the zero position error, scale factor error, installation error and inner arm error of the accelerometer element. The formula is as follows:

[0018]

[0019] Pa =K a (I+τ a )f b +A0;

[0020] Among them, P a is the output parameter of the accelerometer element, K a is the scale factor parameter of the accelerometer element, τ a is the installation error angle parameter of the accelerometer element, f b is the projection of the specific force error parameter in the accelerometer coordinate system in the carrier coordinate system, and A0 is the zero position parameter of the accelerometer element;

[0021] P ai is the output parameter of the accelerometer installed on the i-axis, D ai is the scale factor parameter of the accelerometer installed on the i-axis, τ aij The installation error angle parameter of the accelerometer installed on the i-axis relative to the accelerometer installed on the j-axis, f bi is the projection of the specific force error parameter in the accelerometer coordinate system on axis i, A 0i is the zero position parameter of the accelerometer installed on the i-axis.

[0022] In an optional solution of the first aspect, in the 12-position calibration path solution, adjusting the attitude of the land-based strapdown inertial navigation system to the corresponding calibration position in sequence according to the following path sequence includes:

[0023] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the X-axis at a uniform angular rate;

[0024] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the X-axis at a uniform angular rate;

[0025] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the x-axis at a sinusoidal angle acceleration;

[0026] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration;

[0027] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Y-axis at a uniform angular rate;

[0028] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a uniform angular rate;

[0029] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a sinusoidal angle acceleration;

[0030] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration;

[0031] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Z axis at a uniform angular rate;

[0032] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a uniform angular rate;

[0033] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a sinusoidal angle acceleration;

[0034] The land-based strapdown inertial navigation system is rotated by the calibration device so that the land-based strapdown inertial navigation system is accelerated to rotate 180 degrees clockwise around the Z axis at a sine angle.

[0035] In an optional solution of the first aspect, the land-based strapdown inertial navigation system is fixed on a calibration device, various error parameters of the land-based strapdown inertial navigation system are stimulated based on a 12-position calibration path scheme, the inertial element is adjusted to each calibration position, and measurement error data of the inertial element in the land-based strapdown inertial navigation system is acquired at each calibration position, including:

[0036] The land-based strapdown inertial navigation system is fixed on a calibration device, and the attitude of the land-based strapdown inertial navigation system is adjusted to a corresponding calibration position in sequence according to the path sequence of the 12-position calibration path scheme by the calibration device;

[0037] After each adjustment to the calibration position, the calibration device collects measurement error data until the measurement error data at each calibration position of the 12-position calibration path scheme is collected;

[0038] The measurement error data of the acceleration element are collected at 12 consecutive calibration positions, and the measurement error data of the gyroscope element are collected at another 12 consecutive calibration positions.

[0039] In an optional solution of the first aspect, the calculating by combining the error model of the inertial element and the measurement error data of the corresponding inertial element to calibrate and obtain the calibration error parameter of the corresponding inertial element includes:

[0040] The measurement error data of the accelerometer element is input into the accelerometer error model, and the measurement error data of the gyroscope element is input into the gyroscope error model. The calibration error parameters of the accelerometer element and the gyroscope element are obtained by calculation through Kalman filtering.

[0041] In an optional solution of the first aspect, after the calculation is performed by combining the error model of the inertial element and the measurement error data of the corresponding inertial element to calibrate and obtain the calibration error parameter of the corresponding inertial element, the method further includes:

[0042] The gyroscope error compensation parameters are calculated based on the calibration error parameters of the gyroscope components, and the application formula is:

[0043]

[0044] The accelerometer error compensation parameters are calculated based on the calibration error parameters of the accelerometer elements, using the formula:

[0045]

[0046] The gyroscope error compensation parameter and the accelerometer error compensation parameter are fed back to the land-based strapdown inertial navigation system to compensate for the error of the land-based strapdown inertial navigation system.

[0047] In a second aspect, an embodiment of the present application further provides a land-based strapdown inertial navigation element error parameter calibration device, comprising:

[0048] An error model module is used to construct an error model of an inertial element in a land-based strapdown inertial navigation system; the inertial element includes an accelerometer element and a gyroscope element;

[0049] An error calibration module is used to fix the land-based strapdown inertial navigation system on a calibration device, stimulate various error parameters of the land-based strapdown inertial navigation system based on a 12-position calibration path scheme, adjust the inertial element to each calibration position, and collect measurement error data of the inertial element in the land-based strapdown inertial navigation system at each calibration position;

[0050] The calculation module is used to combine the error model of the inertial element and the measurement error data of the corresponding inertial element to perform calculations and calibrate to obtain the calibration error parameters of the corresponding inertial element.

[0051] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect is implemented.

[0052] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.

[0053] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0054] The embodiment of the present application provides a land-based strapdown inertial navigation element error parameter calibration method, which comprehensively considers the current calculation difficulty and accuracy requirements for calibrating the errors of land-based strapdown inertial navigation systems. On the basis of errors such as gyroscope and accelerometer zero position error, installation error, and scale factor, the internal lever arm error of the accelerometer is additionally considered, and a model that can accurately describe the inertial element error is constructed; in addition, the embodiment of the present application designs a 12-position calibration path scheme to address the problem that the calibration path scheme commonly used in engineering is not sufficiently excitable for errors, which can more fully excite the errors of inertial elements, obtain more accurate calibration results in a shorter time, and effectively improve the efficiency of error calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 It is a flow chart of a land-based strapdown inertial navigation element error parameter calibration method provided in an embodiment of the present application;

[0057] Figure 2 It is a schematic diagram of the inner lever arm error of a land-based strapdown inertial navigation element error parameter calibration method provided in an embodiment of the present application;

[0058] Figure 3 It is a structural schematic diagram of a land-based strapdown inertial navigation element error parameter calibration device provided in an embodiment of the present application;

[0059] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0062] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.

[0063] The present application is described in detail below with reference to specific embodiments.

[0064] Next, combine Figure 1 , introduces a land-based strapdown inertial navigation element error parameter calibration method provided by the embodiment of the present application. For details, please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart showing a method for calibrating error parameters of a land-based strapdown inertial navigation element provided in an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0065] S101, construct an error model of inertial elements in a land-based strapdown inertial navigation system.

[0066] S102, fixing the land-based strapdown inertial navigation system on a calibration device, stimulating various error parameters of the land-based strapdown inertial navigation system based on a 12-position calibration path scheme, adjusting the inertial element to each calibration position, and acquiring measurement error data of the inertial element in the land-based strapdown inertial navigation system at each calibration position.

[0067] S103, calculating and calibrating the error model of the inertial element and the measurement error data of the corresponding inertial element to obtain the calibration error parameters of the corresponding inertial element.

[0068] In some embodiments, in S101, the inertial element of the land-based strapdown inertial navigation system includes an accelerometer element and a gyroscope element, wherein the accelerometer element includes three accelerometers, which are respectively installed on the carrier along the three coordinate axes of the carrier coordinate system (i.e., the b system), and similarly, the gyroscope element includes three gyroscopes, which are respectively installed on the carrier along the three coordinate axes of the carrier coordinate system (i.e., the b system). It can be understood that the sensitive axes of the installed accelerometers and gyroscopes should be consistent with the axes of the coordinate axes at the locations where the corresponding elements are installed.

[0069] Specifically, the error model of the inertial element constructed in S101 includes a gyroscope error model and an accelerometer error model.

[0070] First, the main errors of inertial elements are defined, including zero error, scale factor error and installation error.

[0071] Zero position error: Assuming that the actual zero position of the gyroscope under ideal conditions is G 0i , the zero position after calibration is Then it is called is the zero position error of the gyroscope; assuming that the actual zero position of the accelerometer under ideal conditions is A 0i , the zero position after calibration is Then it is called is the zero error of the accelerometer.

[0072] Scale factor error: Assuming the actual scale factor of the gyro under ideal conditions is K gi , the value obtained after calibration is Then it is called is the scale factor error of the gyroscope; assuming that the actual scale factor of the accelerometer under ideal conditions is K ai , the value obtained after calibration is Then it is called is the scale factor error of the accelerometer.

[0073] Installation error: Assuming the actual installation error angle of the gyroscope under ideal conditions is τ fij , the value obtained after calibration is Then it is called is the installation error of the gyroscope; assuming that the actual installation error angle of the accelerometer under ideal conditions is τ aij , the value obtained after calibration is Then it is called is the accelerometer installation error.

[0074] The construction process of the gyroscope error model includes:

[0075] ox G yG z G represents the gyroscopic coordinate system, and b represents the carrier axis. ox′, oy′, and oz′ are ox G ,oy G oz G In the coordinate system ox b z b ,ox b y b ,oy b z b The projection of the plane, the angle definition is clockwise, and the angular velocity output by the gyroscope is at x b ,y b 、z b The projections on the three axes are:

[0076]

[0077] From this, we can get the relationship between the angular velocity vector from the gyro coordinate system to the carrier coordinate system:

[0078]

[0079] consider For a small angle, Simplifying the above formula, we can get:

[0080]

[0081] The output parameter of the gyroscope installed on the i-axis is P gi , then there exists the equation:

[0082]

[0083] The left side of the equation is the input angular rate of the three axes of the gyroscope, i and j are coordinate axes, i = (x, y, z), j = (x, y, z), i ≠ j; P gi is the output parameter of the gyroscope installed on the i-axis, K gi is the scale factor parameter of the gyroscope installed on the i-axis, τ gij The installation error angle parameter of the gyroscope installed on the i-axis relative to the gyroscope installed on the j-axis, ω bi is the projection of the angular velocity vector in the gyroscope coordinate system on axis i, G 0i is the zero position parameter of the gyroscope installed on the i-axis.

[0084] Integrating the formula we get:

[0085]

[0086] make

[0087] because is a small angle, so when finding the inverse, we omit the quadratic term and get:

[0088]

[0089] Simplifying gives:

[0090]

[0091] Therefore, the gyroscope error model is constructed by combining the zero position error, scale factor error and installation error of the gyroscope element, and the formula is as follows:

[0092]

[0093] P q =K g (I+τ g )ω b +G0;

[0094] Among them, P g is the output parameter of the gyroscope element, K g is the scale factor parameter of the gyroscope element, τ g is the installation error angle parameter of the gyroscope element, ω b is the projection of the angular velocity vector in the gyroscope coordinate system in the carrier coordinate system, and G0 is the zero position parameter of the gyroscope element.

[0095] Similarly, for the error model of the accelerometer, in addition to considering the zero position error, scale factor error and installation error, the embodiment of the present application also additionally considers the inner lever arm error.

[0096] For example, taking the inner lever arm error of the x-axis accelerometer as an example, let O i x i y i z i is the inertial coordinate system (i system), that is, the accelerometer coordinate system, O b x b y b z b is the carrier coordinate system (b system). ib , R i are the angular velocity vector and position vector of system b relative to system i, respectively. M is an arbitrary point very close to the origin of system b and is fixedly connected to the inertial navigation base. i is the position vector of point M relative to system i, and r is the position vector of point M relative to system b. For details, please refer to Figure 2 shown.

[0097] based on Figure 2 The content shown can be obtained:

[0098]

[0099] Where: f m and f0 are the relative forces at point M and the center of mass of system b respectively.

[0100] Assume that point M is the x-axis accelerometer, O b The point is the center of rotation, then the specific force error of the x-axis accelerometer caused by the inner lever arm error is:

[0101]

[0102] Where: a1 is The first column of ; a is the projection matrix of the unit vectors of the three accelerometer measurement directions in the carrier coordinate system; r x =(r xx r xy r xz ) T is the projection of the inner lever arm of the x-axis accelerometer on the b system. By analogy, the inner lever arm errors of the other two accelerometers can be obtained.

[0103] According to the above formula of the internal lever arm error of the accelerometer, it can be deduced that when the angle between the i system and the b system where the accelerometer is located is arbitrary, the internal lever arm error model of the accelerometer is:

[0104]

[0105] It can be seen from the above formula that the specific force error measured by the accelerometer is related to the size of the inner lever arm, the carrier angular velocity and angular acceleration. It manifests as a linear acceleration error during the system navigation process, and then manifests as a linear velocity error after one integration.

[0106] The construction process of the accelerometer error model includes:

[0107] The accelerometer error model is constructed by combining the zero position error, scale factor error, installation error and inner arm error of the accelerometer element, and the formula is as follows:

[0108]

[0109] Convert the above formula into the following form:

[0110]

[0111] in,

[0112]

[0113] The error model of the accelerometer is obtained as follows:

[0114] P a =K a (I+τ a )f b +A0;

[0115] Among them, P a is the output parameter of the accelerometer element, K a is the scale factor parameter of the accelerometer element, τ a is the installation error angle parameter of the accelerometer element, f b is the projection of the specific force error parameter in the accelerometer coordinate system in the carrier coordinate system, and A0 is the zero position parameter of the accelerometer element;

[0116] P ai is the output parameter of the accelerometer installed on the i-axis, K ai is the scale factor parameter of the accelerometer installed on the i-axis, τ aij The installation error angle parameter of the accelerometer installed on the i-axis relative to the accelerometer installed on the j-axis, f bi is the projection of the specific force error parameter in the accelerometer coordinate system on axis i, A 0i is the zero position parameter of the accelerometer installed on the i-axis.

[0117] In some embodiments, in S102, the land-based strapdown inertial navigation system can be installed on a calibration device, and the initial installation position can be set as follows: the X-axis points to the east and is parallel to the inner ring axis of the turntable, the Y-axis points to the north and is parallel to the outer ring axis of the turntable, and the Z-axis points to the zenith direction and is parallel to the azimuth ring axis of the turntable. After the installation is completed, the error parameters of the inertial navigation system are stimulated by the calibration device combined with the calibration path plan.

[0118] Specifically, in order to reduce the interference between device errors, a single-axis sequential rotation method is adopted. In order to effectively reduce the influence of the constant drift of the inertial device, the stationary position is generally selected as a symmetrical position.

[0119] Specifically, the rotation scheme of the embodiment of the present application is a 12-position calibration path scheme, and the 12-position calibration path scheme gives a path for adjusting the attitude of the inertial navigation element through the calibration device. Specifically, the attitude of the land-based strapdown inertial navigation system can be adjusted to the corresponding calibration position in sequence according to the following path sequence, including:

[0120] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the X-axis at a uniform angular rate;

[0121] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the X-axis at a uniform angular rate;

[0122] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the x-axis at a sinusoidal angle acceleration;

[0123] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration;

[0124] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Y-axis at a uniform angular rate;

[0125] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a uniform angular rate;

[0126] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a sinusoidal angle acceleration;

[0127] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration;

[0128] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Z axis at a uniform angular rate;

[0129] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a uniform angular rate;

[0130] Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a sinusoidal angle acceleration;

[0131] The land-based strapdown inertial navigation system is rotated by the calibration device so that the land-based strapdown inertial navigation system is accelerated to rotate 180 degrees clockwise around the Z axis at a sine angle.

[0132] After the rotation is completed, the device may stay at each calibration position for a period of time to obtain measurement error data of the corresponding inertial element.

[0133] For example, in the above rotation process, the uniform angular rate rotation may be 6° / s; when performing sinusoidal angular acceleration motion, the X-axis may be rotated at a rate of 6° / s according to the formula: To rotate; the Y axis can be rotated according to the formula To rotate; the Z axis can be rotated by Come rotate.

[0134] Specifically, in S102, the land strapdown inertial navigation system may be fixed on a calibration device, and the calibration device may sequentially adjust the attitude of the land strapdown inertial navigation system to a corresponding calibration position according to the path sequence of the 12-position calibration path scheme;

[0135] After each adjustment to the calibration position, the calibration device collects measurement error data until the measurement error data at each calibration position of the 12-position calibration path scheme is collected;

[0136] The measurement error data of the acceleration element are collected at 12 consecutive calibration positions, and the measurement error data of the gyroscope element are collected at another 12 consecutive calibration positions.

[0137] Further, in combination with the measurement error data of the inertial navigation element calibrated in S102, step S103 is executed. In S103, the error model of the inertial element and the measurement error data of the corresponding inertial element are combined for calculation to calibrate the calibration error parameters of the corresponding inertial element, including:

[0138] The measurement error data of the accelerometer element is input into the accelerometer error model, and the measurement error data of the gyroscope element is input into the gyroscope error model. The calibration error parameters of the accelerometer element and the gyroscope element are obtained by calculation through Kalman filtering.

[0139] After calculating and calibrating the error model of the inertial element and the measurement error data of the corresponding inertial element in S103 to obtain the calibration error parameters of the corresponding inertial element, the method further includes:

[0140] The gyroscope error compensation parameters are calculated based on the calibration error parameters of the gyroscope components, and the application formula is:

[0141]

[0142] The accelerometer error compensation parameters are calculated based on the calibration error parameters of the accelerometer elements, using the formula:

[0143]

[0144] The gyroscope error compensation parameter and the accelerometer error compensation parameter are fed back to the land-based strapdown inertial navigation system to compensate for the error of the land-based strapdown inertial navigation system.

[0145] In some embodiments, the 19-position calibration path scheme of the prior art and the 12-position calibration path scheme of the embodiment of the present application can be respectively used to calibrate the inertial element error of the land-based strapdown inertial navigation system, collect gyroscope and accelerometer data, and then perform Kalman filter estimation on the parameters to obtain the following results:

[0146] Table 1 Simulation results

[0147]

[0148]

[0149] Table 1

[0150]

[0151] In Table 1, δG 0x , δG 0y , δG 0z Respectively represent the zero position deviation of the x, y, and z axis gyroscopes, δA 0x , δA 0y , δA 0z Respectively represent the zero deviation of the x, y, and z axis accelerometers, δK gx ,δK gy ,δK gz Respectively represent the scale factor errors of the x-, y-, and z-axis gyroscopes, δK ax ,δK ay ,δK az Represents the scale factor error of the x-, y-, and z-axis accelerometers, τ gxy , τ gyz , τ gzx Respectively represent the installation errors between the x-axis, y-axis, and z-axis gyroscopes, τ axy , τ ayz , τ azy , τ ayx , τ axz , τ azx Respectively represent the installation errors between the x-axis, y-axis, and z-axis accelerometers, r x 、r y 、r z They represent the inner lever arm errors of the x-, y-, and z-axis accelerometers, respectively.

[0152] According to the above simulation experiments, the gyroscope error estimation results are compared as follows: the difference between the zero-position error and the true value obtained by using the 19-position calibration path scheme is between 0.004° / h and 0.006° / h, and the difference obtained by using the 12-position calibration path scheme is between 0.002° / h and 0.007° / h, and the effects are comparable; the difference between the scale factor error and the true value obtained by using the 19-position calibration path scheme is between 33ppm and 38ppm, and the difference obtained by using the 12-position calibration path scheme is between -26ppm and 3ppm, and the effect is better; the difference between the installation error and the true value obtained by using the 19-position calibration path scheme is between 2″ and 8″, and the difference obtained by using the 12-position calibration path scheme is between 0.3″ and 10″, and the effects are comparable.

[0153] The comparison of accelerometer error estimation results is as follows: the zero position error obtained by using the 19-position calibration path scheme differs from the true value by 5ug~20ug, and the difference obtained by using the 12-position calibration path scheme is between 8ug~40ug; the scale factor error obtained by using the 19-position calibration path scheme differs from the true value by 1ppm~2ppm, and the difference obtained by using the 12-position calibration path scheme is between 1ppm~3ppm; the installation error obtained by using the 19-position calibration path scheme differs from the true value by less than 10″, and the difference obtained by using the 12-position calibration path scheme is between 1″~3″; the inner arm error obtained by using the 19-position calibration path scheme differs from the true value by about 0.04m, and the difference obtained by using the 12-position calibration path scheme is about 0.01m.

[0154] From the comparison of the above simulation results, it can be seen that the two error excitation schemes can achieve relatively sufficient excitation for most inertial device errors, but there is a big difference in the excitation effect of the lever arm error in the accelerometer. The 12-position calibration path error excitation scheme proposed in the embodiment of the present application is more sufficient to excite this error, and the calibration result obtained is more accurate.

[0155] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0156] See next Figure 3 , is a schematic diagram of the structure of a land-based strapdown inertial navigation element error parameter calibration device provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated on a server as an independent module. The land-based strapdown inertial navigation element error parameter calibration device 30 in the embodiment of the present application includes an error model module 301, an error calibration module 302, and a calculation module 303, wherein:

[0157] The error model module 301 is used to construct an error model of an inertial element in a land-based strapdown inertial navigation system; the inertial element includes an accelerometer element and a gyroscope element;

[0158] The error calibration module 302 is used to fix the land-based strapdown inertial navigation system on a calibration device, stimulate various error parameters of the land-based strapdown inertial navigation system based on a 12-position calibration path scheme, adjust the inertial element to each calibration position, and collect measurement error data of the inertial element in the land-based strapdown inertial navigation system at each calibration position;

[0159] The calculation module 303 is used to perform calculations based on the error model of the inertial element and the measurement error data of the corresponding inertial element, and calibrate to obtain calibration error parameters of the corresponding inertial element.

[0160] It should be noted that the device 30 provided in the above embodiment only uses the division of the above functional modules as an example when executing the land-based strapdown inertial navigation element error parameter calibration method. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the land-based strapdown inertial navigation element error parameter calibration method embodiment belong to the same concept, and its embodiment and implementation process are detailed in the method embodiment, which will not be repeated here.

[0161] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the program.

[0162] See also Figure 4 , which is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0163] like Figure 4 As shown, the electronic device 400 includes: a processor 401 and a memory 402 .

[0164] In the embodiment of the present application, the processor 401 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 401 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0165] The processor 401 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0166] The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, which is used to be executed by the processor 401 to implement the method in the embodiment of the present application.

[0167] In some embodiments, the electronic device 400 further includes: a peripheral device interface 403 and at least one peripheral device 404. The processor 401, the memory 402 and the peripheral device interface 403 can be connected via a bus or a signal line. Each peripheral device 404 can be connected to the peripheral device interface 403 via a bus, a signal line or a circuit board. Specifically, the peripheral device 404 includes: a display screen, a camera and an audio circuit. The peripheral device interface 403 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 401 and the memory 402.

[0168] In some embodiments of the present application, the processor 401, the memory 402, and the peripheral device interface 403 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 401, the memory 402, and the peripheral device interface 403 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.

[0169] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 400. The electronic device 400 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0170] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A land-based strapdown inertial navigation element error parameter calibration method, characterized in that: include: Constructing an error model of an inertial element in a land-based strapdown inertial navigation system; the inertial element includes an accelerometer element and a gyroscope element; The land-based strapdown inertial navigation system is fixed on a calibration device, various error parameters of the land-based strapdown inertial navigation system are stimulated based on a 12-position calibration path scheme, the inertial element is adjusted to each calibration position, and measurement error data of the inertial element in the land-based strapdown inertial navigation system is collected at each calibration position; The error model of the inertial element and the measured error data of the corresponding inertial element are combined to perform calculations and calibrate to obtain the calibration error parameters of the corresponding inertial element.

2. The error parameter calibration method of a land-based strapdown inertial navigation element according to claim 1, characterized in that: The method of constructing an error model of an inertial element in a land-based strapdown inertial navigation system comprises: The gyroscope element includes three gyroscopes installed along each coordinate axis of the carrier coordinate system. The gyroscope error model is constructed by combining the zero position error, scale factor error and installation error of the gyroscope element. The formula is as follows: P g =K g (I+τ g )oh b +G0; Among them, P g is the output parameter of the gyroscope element, K g is the scale factor parameter of the gyroscope element, τ g is the installation error angle parameter of the gyroscope element, ω b is the projection of the angular velocity vector in the gyroscope coordinate system in the carrier coordinate system, and G0 is the zero position parameter of the gyroscope element; i, j are coordinate axes, i=(x,y,z), j=(x,y,z), i≠j; P gi is the output parameter of the gyroscope installed on the i-axis, K gi is the scale factor parameter of the gyroscope installed on the i-axis, τ gij The installation error angle parameter of the gyroscope installed on the i-axis relative to the gyroscope installed on the j-axis, ω bi is the projection of the angular velocity vector in the gyroscope coordinate system on axis i, G 0i is the zero position parameter of the gyroscope installed on the i-axis.

3. The error parameter calibration method of a land-based strapdown inertial navigation element according to claim 2, characterized in that: The method of constructing an error model of an inertial element in a land-based strapdown inertial navigation system comprises: The accelerometer element includes three accelerometers installed along each coordinate axis of the carrier coordinate system. The accelerometer error model is constructed by combining the zero position error, scale factor error, installation error and inner arm error of the accelerometer element. The formula is as follows: P a =K a (I+τ a )f b +A0; Among them, P a is the output parameter of the accelerometer element, K a is the scale factor parameter of the accelerometer element, τ a is the installation error angle parameter of the accelerometer element, f b is the projection of the specific force error parameter in the accelerometer coordinate system in the carrier coordinate system, and A0 is the zero position parameter of the accelerometer element; P ai is the output parameter of the accelerometer installed on the i-axis, K ai is the scale factor parameter of the accelerometer installed on the i-axis, τ aij The installation error angle parameter of the accelerometer installed on the i-axis relative to the accelerometer installed on the j-axis, f bi is the projection of the specific force error parameter in the accelerometer coordinate system on axis i, A 0i is the zero position parameter of the accelerometer installed on the i-axis.

4. The error parameter calibration method of a land-based strapdown inertial navigation element according to claim 1, characterized in that: In the 12-position calibration path scheme, the attitude of the land-based strapdown inertial navigation system is adjusted to the corresponding calibration position in sequence according to the following path sequence, including: Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the X-axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the X-axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the x-axis at a sinusoidal angle acceleration; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Y-axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Y axis at a sinusoidal angle acceleration; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees clockwise around the Y axis at a sinusoidal angle acceleration; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 90 degrees counterclockwise around the Z axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a uniform angular rate; Rotating the land-based strapdown inertial navigation system by the calibration device so that the land-based strapdown inertial navigation system rotates 180 degrees counterclockwise around the Z axis at a sinusoidal angle acceleration; The land-based strapdown inertial navigation system is rotated by the calibration device so that the land-based strapdown inertial navigation system is accelerated to rotate 180 degrees clockwise around the Z axis at a sine angle.

5. The error parameter calibration method of a land-based strapdown inertial navigation element according to claim 4 is characterized in that: The method includes fixing the land-based strapdown inertial navigation system on a calibration device, stimulating various error parameters of the land-based strapdown inertial navigation system based on a 12-position calibration path scheme, adjusting the inertial element to each calibration position, and acquiring measurement error data of the inertial element in the land-based strapdown inertial navigation system at each calibration position, including: The land-based strapdown inertial navigation system is fixed on a calibration device, and the attitude of the land-based strapdown inertial navigation system is adjusted to a corresponding calibration position in sequence according to the path sequence of the 12-position calibration path scheme by the calibration device; After each adjustment to the calibration position, the calibration device collects measurement error data until the measurement error data at each calibration position of the 12-position calibration path scheme is collected; The measurement error data of the acceleration element are collected at 12 consecutive calibration positions, and the measurement error data of the gyroscope element are collected at another 12 consecutive calibration positions.

6. The method for calibrating error parameters of a land-based strapdown inertial navigation system component according to claim 3, characterized in that: The calculation is performed by combining the error model of the inertial element and the measurement error data of the corresponding inertial element to calibrate and obtain the calibration error parameters of the corresponding inertial element, including: The measurement error data of the accelerometer element is input into the accelerometer error model, and the measurement error data of the gyroscope element is input into the gyroscope error model. The calibration error parameters of the accelerometer element and the gyroscope element are obtained by calculation through Kalman filtering.

7. The method for calibrating error parameters of a land-based strapdown inertial navigation system component according to claim 6, characterized in that: After calculating and calibrating the error parameters of the corresponding inertial element by combining the error model of the inertial element and the measured error data of the corresponding inertial element, the method further includes: The gyroscope error compensation parameters are calculated based on the calibration error parameters of the gyroscope components, and the application formula is: The accelerometer error compensation parameters are calculated based on the calibration error parameters of the accelerometer elements, using the formula: The gyroscope error compensation parameter and the accelerometer error compensation parameter are fed back to the land-based strapdown inertial navigation system to compensate for the error of the land-based strapdown inertial navigation system.

8. A land-based strapdown inertial navigation element error parameter calibration device, characterized in that: include: An error model module is used to construct an error model of an inertial element in a land-based strapdown inertial navigation system; the inertial element includes an accelerometer element and a gyroscope element; An error calibration module is used to fix the land-based strapdown inertial navigation system on a calibration device, stimulate various error parameters of the land-based strapdown inertial navigation system based on a 12-position calibration path scheme, adjust the inertial element to each calibration position, and collect measurement error data of the inertial element in the land-based strapdown inertial navigation system at each calibration position; The calculation module is used to combine the error model of the inertial element and the measurement error data of the corresponding inertial element to perform calculations and calibrate to obtain the calibration error parameters of the corresponding inertial element.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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