Calibration equipment of inertial navigation device and calibration method of inertial navigation device

Abstract

The invention provides calibration equipment of an inertial navigation device and a calibration method of the inertial navigation device, the calibration equipment is characterized in that a support frame is rotatably connected to a base, the support frame rotates around a first axial direction relative to the base, and the first axial direction is perpendicular to a gravity direction; the mounting plate is rotationally connected to the supporting frame, the mounting plate rotates around a second axial direction relative to the supporting frame, the first axial direction is perpendicular to the second axial direction, a mounting surface is arranged on the mounting plate, a plurality of mounting positions are arranged on the mounting surface, and the mounting positions are used for mounting the inertial navigation devices, so that the direction coordinates of the inertial navigation devices are consistent; any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the second axial direction; the data processing device is in data connection with the inertial navigation device and is used for receiving data of the inertial navigation device and calibrating the inertial navigation device. According to the calibration equipment for the inertial navigation devices, the inertial navigation devices can be calibrated in batches more quickly.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a calibration device for an inertial navigation device and a calibration method for an inertial navigation device. Background Art

[0002] Inertial navigation units are widely used in aerospace, civil, unmanned systems and other fields. In the aerospace field, it provides autonomous navigation and positioning for aircraft. In civil applications, it is combined with satellite navigation systems to improve navigation accuracy in automobiles, geological exploration, etc. In unmanned systems, it is combined with GPS to enhance navigation autonomy. In special fields such as oil exploration and "mobile communication" mobile communications, inertial navigation units also play a key role. In the prior art, IMU (inertial navigation unit), i.e., inertial navigation device, needs to be calibrated before leaving the factory. During the factory calibration, the accelerometer, i.e., acceleration sensor and gyroscope of the inertial navigation device need to be calibrated. In the prior art, when calibrating the inertial navigation unit, it is necessary to perform rotation calibration on a single inertial navigation unit. Although a higher calibration accuracy can be obtained, only a single inertial navigation unit can be calibrated, and the efficiency is relatively slow. Therefore, a calibration device and calibration method with higher calibration efficiency are required. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a calibration device for an inertial navigation device, which can perform batch calibration on the inertial navigation devices more quickly.

[0004] The invention also provides a calibration method for an inertial navigation device.

[0005] According to a first aspect of the present invention, a calibration device for an inertial navigation device is provided, which is used to calibrate an inertial navigation device, wherein the inertial navigation device comprises a gyroscope and an acceleration sensor, wherein the acceleration sensor is provided with an X measurement direction, a Y measurement direction and a Z measurement direction, wherein any two of the X measurement direction, the Y measurement direction and the Z measurement direction are perpendicular to each other, and comprises: a base; a support frame, wherein the support frame is rotatably connected to the base, wherein the support frame rotates relative to the base around a first axis and the rotation angle is not less than one circle, wherein the first axis is perpendicular to the direction of gravity; and a mounting plate, wherein the mounting plate is rotatably connected to the base. On the support frame, the mounting plate rotates around a second axial direction relative to the support frame, the first axial direction is perpendicular to the second axial direction, a mounting surface is arranged on the mounting plate, a plurality of mounting positions are arranged on the mounting surface, the mounting positions are used to mount the inertial navigation device, so that the direction coordinates of the plurality of inertial navigation devices are consistent, and any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the second axial direction; a data processing device, the data processing device is connected to the inertial navigation device by data, and the data processing device is used to receive data from the inertial navigation device and calibrate the inertial navigation device.

[0006] According to the first embodiment of the present invention, a calibration device for an inertial navigation device has at least the following beneficial effects: by setting a plurality of mounting positions on the mounting surface and setting inertial navigation devices on the plurality of mounting positions, a plurality of inertial navigation devices can be calibrated simultaneously, wherein a support frame and a mounting plate are provided so that the inertial navigation device can rotate in a plurality of directions, and during the rotation, the inertial navigation device is calibrated according to the gravity acceleration, thereby greatly improving the calibration efficiency of the inertial navigation device.

[0007] According to some embodiments of the present invention, a driving device is further included, wherein the driving device is used to drive the support frame to rotate at a uniform speed around a first axial direction relative to the base, and the driving device is also used to drive the mounting plate to rotate at a uniform speed around a second axial direction relative to the support frame.

[0008] According to some embodiments of the present invention, an adjusting device is further included, wherein the adjusting device is installed on the base, and the adjusting device is used to adjust the height of the base so that the first axial direction is perpendicular to the gravity direction.

[0009] According to some embodiments of the present invention, it also includes a first positioning device, which is arranged on the base or the support frame, and the first positioning device includes a first state and a second state; when the first positioning device is in the first state, the support frame rotates around a first axis relative to the base; when the first positioning device is in the second state, the support frame is fixed relative to the base, and the second axis is perpendicular to the direction of gravity.

[0010] According to some embodiments of the present invention, a second positioning device is further included, the second positioning device is arranged on the support frame or the mounting plate, and the second positioning device includes a first state and a second state; when the second positioning device is in the first state, the mounting plate rotates around a second axial direction relative to the support frame; when the second positioning device is in the second state, the mounting plate is fixed relative to the support frame, and any one of the X measuring direction, the Y measuring direction and the Z measuring direction is parallel to the first axial direction.

[0011] According to some embodiments of the present invention, a level is further provided on the mounting plate, and when the level is in a horizontal state, any one of the X measurement direction, the Y measurement direction and the Z measurement direction is a gravity direction.

[0012] According to a calibration method for an inertial navigation device of an embodiment of a second aspect of the present invention, a calibration device for an inertial navigation device according to any one of the above embodiments is used to calibrate the inertial navigation device, including a first calibration part, a second calibration part and a third calibration part; the first calibration part includes: a first step of driving the support frame to rotate around a first axial direction relative to the base, and driving the mounting plate to rotate around a second axial direction relative to the support frame, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the gravity direction; a second step of zeroing the gyroscope; the second calibration part includes: a first step of driving the mounting plate to rotate around a second axial direction relative to the support frame, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axial direction; a second step of driving the support frame relative to the support frame, The base is rotated at least one circle at a uniform speed around the first axis, and the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity are obtained; the third step is to calibrate the acceleration curves in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; the third calibration part includes: the first step, driving the support frame to rotate around the first axis relative to the base so that the second axis is perpendicular to the direction of gravity; the second step, driving the mounting plate to rotate at least one circle at a uniform speed around the second axis relative to the support frame, and obtaining the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; the third step is to calibrate the acceleration curves in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity.

[0013] According to a calibration method for an inertial navigation device of an embodiment of a second aspect of the present invention, a calibration device for an inertial navigation device according to any one of the above embodiments is used to calibrate the inertial navigation device, including a gyroscope calibration part and an acceleration sensor calibration part; the gyroscope calibration part includes: a first step of driving the support frame to rotate around a first axial direction relative to the base, and driving the mounting plate to rotate around a second axial direction relative to the support frame, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the gravity direction; a second step of zeroing the gyroscope; the acceleration sensor calibration part includes: a first step of driving the mounting plate to rotate around the second axial direction relative to the support frame, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axial direction; a second step of driving the support frame relative to the base, The first embodiment comprises the steps of: rotating at least one circle at a uniform speed around the first axis, and obtaining the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; the third step is to calibrate the acceleration curves of the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; the fourth step is to drive the mounting plate to rotate around the second axis relative to the support frame so that the other of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; the fifth step is to drive the support frame to rotate at least one circle at a uniform speed around the first axis relative to the base, and obtaining the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; the sixth step is to calibrate the acceleration curves of the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity.

[0014] According to some embodiments of the present invention, an acceleration curve of the acceleration sensor in any one of the X measurement direction, the Y measurement direction and the Z measurement direction is a calculation curve, a maximum value and a minimum value of the calculation curve are obtained, and a difference between the maximum value and the minimum value is calibrated to twice the acceleration of gravity.

[0015] According to some embodiments of the present invention, in the second calibration part, the support frame is driven to rotate at least three times at a uniform speed around the first axial direction relative to the base, and when the support frame rotates at a uniform speed for a second time around the first axial direction relative to the base, acceleration curves of the acceleration sensor in the direction of gravity in two of the X measurement direction, the Y measurement direction, and the Z measurement direction are obtained; in the third calibration part, the mounting plate is driven to rotate at least three times at a uniform speed around the second axial direction relative to the support frame, and when the mounting plate rotates at a uniform speed for a second time around the second axial direction relative to the support frame, acceleration curves of the acceleration sensor in the direction of gravity in two of the X measurement direction, the Y measurement direction, and the Z measurement direction are obtained.

[0016] According to some embodiments of the present invention, the first calibration part is performed first; the third calibration part is performed after the first calibration part is completed; and the second calibration part is performed after the third calibration part is completed.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 is a schematic diagram of the overall structure of a calibration device for an inertial navigation device in some embodiments of the present invention; Figure 2 A schematic diagram of the structure of a first calibration part of a calibration device for an inertial navigation device in some embodiments of the present invention; Figure 3 A schematic diagram of the structure of a third calibration part of a calibration device for an inertial navigation device in some embodiments of the present invention; Figure 4 A schematic structural diagram of a second calibration part of a calibration device for an inertial navigation device in some embodiments of the present invention.

[0019] Reference numerals: 1. Base; 2. Support frame; 3. Mounting plate; 4. Mounting position; 5. Inertial navigation device; 6. Adjustment device; 7. First positioning device; 8. Second positioning device. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0024] Reference Figure 1 and Figure 2 , a calibration device for an inertial navigation device according to an embodiment of the first aspect of the present invention is used to calibrate an inertial navigation device 5, wherein the inertial navigation device 5 includes a gyroscope and an acceleration sensor, wherein the acceleration sensor is provided with an X measurement direction, a Y measurement direction and a Z measurement direction, and any two of the X measurement direction, the Y measurement direction and the Z measurement direction are perpendicular to each other. It should be noted that the X measurement direction, the Y measurement direction and the Z measurement direction provided on the acceleration sensor are relatively fixed relative to the inertial navigation device 5, that is, when the inertial navigation device 5 rotates, the X measurement direction, the Y measurement direction and the Z measurement direction remain unchanged relative to the inertial navigation device 5, but the X measurement direction, the Y measurement direction and the Z measurement direction rotate relative to the gravity direction following the rotation of the inertial navigation device 5.

[0025] The calibration equipment of the inertial navigation device includes: a base 1; a support frame 2, a mounting plate 3 and a data processing device, the support frame 2 is rotatably connected to the base 1, the support frame 2 rotates relative to the base 1 around a first axis and the rotation angle is not less than one circle, the first axis is perpendicular to the gravity direction; the mounting plate 3 is rotatably connected to the support frame 2, the mounting plate 3 rotates relative to the support frame 2 around a second axis and the rotation angle is not less than one circle, the first axis is perpendicular to the second axis, a mounting surface is provided on the mounting plate 3, a plurality of mounting positions 4 are provided on the mounting surface, the mounting positions 4 are used to install the inertial navigation device 5, so that the direction coordinates of the plurality of inertial navigation devices 5 are consistent, and any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the second axis; the data processing device is data-connected to the inertial navigation device 5, and the data processing device is used to receive data of the inertial navigation device 5 and calibrate the inertial navigation device 5. When calibrating the gyroscope, specifically, take the Z measurement direction as the vertical gravity direction of the inertial navigation device 5 as an example, and when the inertial navigation device 5 is installed on the installation position 4, take the X measurement direction as an example parallel to the second axis, after the inertial navigation device 5 is installed on the mounting plate 3, by driving the support frame 2 to rotate around the first axis relative to the base 1, when the second axis is rotated to be perpendicular to the gravity direction, the Z measurement direction is the gravity direction, and the gyroscope can be zero-calibrated at this time. Furthermore, a temperature control device can be provided to make the gyroscope at a standard temperature when the gyroscope is zero-calibrated, thereby avoiding the influence of temperature changes on the accuracy of gyroscope calibration.

[0026] When calibrating the acceleration sensor, specifically, take the Z measurement direction as the vertical gravity direction of the inertial navigation device 5 as an example, and when the inertial navigation device 5 is installed on the installation position 4, take the X measurement direction parallel to the second axis as an example, after the inertial navigation device 5 is installed on the mounting plate 3, the support frame 2 is driven to rotate around the first axis relative to the base 1, and the rotation of the support frame 2 relative to the base 1 is stopped after the second axis is rotated to be perpendicular to the gravity direction, so that the support frame 2 is fixed relative to the base 1. Then drive the mounting plate 3 to rotate at a uniform speed around the second axis relative to the support frame 2. At this time, the data in the Y measurement direction and the Z measurement direction will fluctuate. After the mounting plate 3 rotates at a uniform speed around the second axis relative to the support frame 2 for one week, the Y measurement direction and the Z measurement direction will measure data in the vertical downward direction and the vertical upward direction. Taking the value of the Y measurement direction as an example, the value of the Y measurement direction will show fluctuations. The maximum and minimum values ​​of the data fluctuation will be affected by the centrifugal force generated during rotation, but the difference between the maximum and minimum values ​​will not be affected, but should be twice the acceleration of gravity. By multiplying the measured value of the Y measurement direction by a constant coefficient so that the difference between the maximum value and the minimum value is twice the acceleration of gravity, the measurement value of the Y measurement direction is calibrated. The measurement value of the Z measurement direction is measured in the same way. However, since the X measurement direction is parallel to the second axial direction, the measurement value of the X measurement direction does not change to zero during the process of the mounting plate 3 rotating at a constant speed around the second axial direction relative to the support frame 2. The calibration of the X measurement direction is to drive the support frame 2 to rotate at a constant speed around the first axial direction relative to the base 1, the value of the X measurement direction will show fluctuations, and the X measurement direction will measure data in the vertical downward direction and the vertical upward direction. After that, the X measurement direction is calibrated in the same way.

[0027] According to some embodiments of the present invention, a driving device is further included, the driving device is used to drive the support frame 2 to rotate at a uniform speed around the first axis relative to the base 1, and the driving device is also used to drive the mounting plate 3 to rotate at a uniform speed around the second axis relative to the support frame 2. By driving the rotation of the mounting plate 3 and the support frame 2 by the driving device, not only a faster calibration efficiency can be obtained, but also the rotation speed of the mounting plate 3 and the support frame 2 can be made more uniform, thereby improving the calibration accuracy.

[0028] According to some embodiments of the present invention, an adjusting device 6 is further included, which is installed on the base 1 and is used to adjust the height of the base 1 so that the first axis is perpendicular to the gravity direction. In order to prevent the base 1 from causing the direction of the first axis to deviate under different environments, the adjusting device 6 is provided to keep the first axis perpendicular to the gravity direction.

[0029] According to some embodiments of the present invention, a first positioning device 7 is further included. The first positioning device 7 is arranged on the base 1 or the support frame 2. The first positioning device 7 includes a first state and a second state. When the first positioning device 7 is in the first state, the support frame 2 rotates around the first axis relative to the base 1. When the first positioning device 7 is in the second state, the support frame 2 is fixed relative to the base 1, and the second axis is perpendicular to the gravity direction. In order to prevent the support frame 2 from rotating relative to the base 1 when the mounting plate 3 rotates at a uniform speed relative to the support frame 2 around the second axis, thereby affecting the calibration accuracy, the first positioning device 7 is provided.

[0030] According to some embodiments of the present invention, a second positioning device 8 is further included, and the second positioning device 8 is arranged on the support frame 2 or the mounting plate 3, and the second positioning device 8 includes a first state and a second state; when the second positioning device 8 is in the first state, the mounting plate 3 rotates relative to the support frame 2 around the second axis; when the second positioning device 8 is in the second state, the mounting plate 3 is fixed relative to the support frame 2, and any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis. In order to prevent the mounting plate 3 from rotating relative to the support frame 2 when the support frame 2 rotates at a constant speed relative to the base 1 around the first axis, thereby affecting the calibration accuracy, the second positioning device 8 is provided. Further, when calibrating the gyroscope, both the first positioning device 7 and the second positioning device 8 can be switched to the second state to prevent the gyroscope from rotating, thereby improving the calibration accuracy.

[0031] According to some embodiments of the present invention, a level is further provided on the mounting plate 3. When the level is in a horizontal state, any one of the X measurement direction, the Y measurement direction and the Z measurement direction is the gravity direction. By means of the level, the inertial navigation device 5 can be more accurately placed on the mounting position 4.

[0032] According to the calibration method of the inertial navigation device of the second aspect of the present invention, the inertial navigation device 5 is calibrated using a calibration device of an inertial navigation device of any one of the above embodiments, including a first calibration part, a second calibration part and a third calibration part; Figure 2 The first calibration part includes: the first step of driving the support frame 2 to rotate around the first axis relative to the base 1, and driving the mounting plate 3 to rotate around the second axis relative to the support frame 2, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the gravity direction; the second step of zeroing the gyroscope.

[0033] Reference Figure 4The second calibration part includes: the first step, driving the mounting plate 3 to rotate relative to the support frame 2 around the second axis so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; the second step, driving the support frame 2 to rotate at least one circle at a uniform speed around the first axis relative to the base 1, and obtaining the acceleration curve of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the third step, calibrating the acceleration curve of the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction. Figure 3 , the third calibration part includes: the first step, driving the support frame 2 to rotate around the first axis relative to the base 1 so that the second axis is perpendicular to the gravity direction; the second step, driving the mounting plate 3 to rotate at least one circle at a uniform speed around the second axis relative to the support frame 2, and obtaining the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the third step, calibrating the acceleration curves in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction. Specifically, taking the Z measurement direction as the vertical gravity direction of the inertial navigation device 5 as an example, and when the inertial navigation device 5 is installed on the installation position 4, taking the X measurement direction as parallel to the second axis as an example, when performing the second calibration part, the X measurement direction and the Z measurement direction can be calibrated, and when performing the third calibration part, the Y measurement direction and the Z measurement direction can be calibrated. The specific calibration method is that the acceleration curve of the acceleration sensor in any one of the X measurement direction, the Y measurement direction and the Z measurement direction is a calculation curve, the maximum value and the minimum value of the calculation curve are obtained, and the difference between the maximum value and the minimum value is calibrated to twice the gravity acceleration.

[0034] According to the calibration method of an inertial navigation device of an embodiment of the second aspect of the present invention, an inertial navigation device calibration device of any one of the above embodiments is used to calibrate the inertial navigation device, including a gyroscope calibration part and an acceleration sensor calibration part; the gyroscope calibration part includes: a first step, driving the support frame 2 to rotate around a first axis relative to the base 1, driving the mounting plate 3 to rotate around a second axis relative to the support frame 2, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the gravity direction; the second step is to perform zero calibration on the gyroscope; the acceleration sensor calibration part includes: a first step, driving the mounting plate 3 to rotate around the second axis relative to the support frame 2, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; the second step is to drive the support frame 2 to rotate around the second axis relative to the support frame 2, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; The base 1 rotates at least one circle at a uniform speed around the first axis, and obtains the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the third step is to calibrate the acceleration curves of the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the fourth step is to drive the mounting plate 3 to rotate around the second axis relative to the support frame 2 so that the other of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; the fifth step is to drive the support frame 2 to rotate at least one circle at a uniform speed around the first axis relative to the base 1, and obtain the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the sixth step is to calibrate the acceleration curves of the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction. In the first step, taking the X measurement direction being parallel to the first axis as an example, the acceleration curves of the Y measurement direction and the Z measurement direction in the gravity direction can be obtained in the second step. In the fourth step, one of the Y measuring direction and the Z measuring direction needs to be selected to be parallel to the first axial direction. At this time, the acceleration curve of the X measuring direction in the gravity direction can be obtained in the fifth step.

[0035] According to some embodiments of the present invention, in the second calibration part, the support frame 2 is driven to rotate at least three times at a uniform speed around the first axis relative to the base 1. When the support frame 2 rotates at a uniform speed for the second time around the first axis relative to the base 1, the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction are obtained; in the third calibration part, the mounting plate 3 is driven to rotate at least three times at a uniform speed around the second axis relative to the support frame 2. When the mounting plate 3 rotates at a uniform speed for the second time around the second axis relative to the support frame 2, the acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction are obtained. A certain acceleration will be generated during the first and last turns of uniform rotation, i.e., starting and stopping. This will affect the accuracy of the calibration, so the uniform rotation is performed for at least three turns and the data of the middle turn, i.e., the second turn, is obtained for calibration, so as to obtain higher calibration accuracy.

[0036] According to some embodiments of the present invention, the first calibration part is performed first; the third calibration part is performed after the first calibration part is completed; the second calibration part is performed after the third calibration part is completed. When the first calibration part is performed first, it is easier to obtain a higher angle accuracy. Specifically, taking the Z measurement direction as the vertical gravity direction of the inertial navigation device 5 as an example, before the third calibration part and the second calibration part, the accuracy of the Z measurement direction being set to the vertical gravity direction is higher, so the calibration accuracy of the gyroscope will also be higher. After completing the third calibration part, the second calibration part is performed. Taking the X measuring direction being parallel to the second axial direction as an example, when performing the third calibration part, the mounting plate 3 rotates at a uniform speed relative to the support frame 2 around the second axial direction to calibrate the Y measuring direction and the Z measuring direction. At this time, only the X measuring direction needs to be calibrated, and the X measuring direction is parallel to the second axial direction, and the second axial direction is perpendicular to the first axial direction. Therefore, when performing the second calibration part, there is no need to drive the mounting plate 3 to rotate relative to the support frame 2 around the second axial direction, nor is there any need to make any of the X measuring direction, the Y measuring direction and the Z measuring direction parallel to the first axial direction, that is, the support frame 2 can be driven to rotate at a uniform speed relative to the base 1 around the first axial direction in any direction to calibrate the X measuring direction.

[0037] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A calibration device for an inertial navigation device, used for calibrating an inertial navigation device, wherein the inertial navigation device comprises a gyroscope and an acceleration sensor, wherein the acceleration sensor is provided with an X measurement direction, a Y measurement direction and a Z measurement direction, wherein any two of the X measurement direction, the Y measurement direction and the Z measurement direction are perpendicular to each other, and wherein: include: Pedestal; A support frame, the support frame is rotatably connected to the base, the support frame rotates relative to the base around a first axis and the rotation angle is not less than one circle, the first axis is perpendicular to the direction of gravity; a mounting plate, the mounting plate being rotatably connected to the support frame, the mounting plate being rotatable relative to the support frame about a second axial direction, the first axial direction being perpendicular to the second axial direction, the mounting plate being provided with a mounting surface, the mounting surface being provided with a plurality of mounting positions, the mounting positions being used to mount the inertial navigation devices, so that the direction coordinates of the plurality of inertial navigation devices are consistent, and any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the second axial direction; A data processing device is data-connected to the inertial navigation device, and is used to receive data from the inertial navigation device and calibrate the inertial navigation device.

2. The calibration device of an inertial navigation device according to claim 1, characterized in that: It also includes a driving device, which is used to drive the support frame to rotate at a uniform speed around a first axial direction relative to the base, and the driving device is also used to drive the mounting plate to rotate at a uniform speed around a second axial direction relative to the support frame.

3. The calibration device for an inertial navigation device according to claim 1, characterized in that: It also includes an adjusting device, which is installed on the base and is used to adjust the height of the base so that the first axial direction is perpendicular to the gravity direction.

4. The calibration device for an inertial navigation device according to claim 1, characterized in that: It also includes a first positioning device, which is arranged on the base or the support frame, and the first positioning device includes a first state and a second state; when the first positioning device is in the first state, the support frame rotates around a first axial direction relative to the base; when the first positioning device is in the second state, the support frame is fixed relative to the base, and the second axial direction is perpendicular to the direction of gravity.

5. The calibration device for an inertial navigation device according to claim 1, characterized in that: The invention also includes a second positioning device, which is arranged on the support frame or the mounting plate, and the second positioning device includes a first state and a second state; when the second positioning device is in the first state, the mounting plate rotates around the second axial direction relative to the support frame; when the second positioning device is in the second state, the mounting plate is fixed relative to the support frame, and any one of the X measuring direction, the Y measuring direction and the Z measuring direction is parallel to the first axial direction.

6. The calibration device for an inertial navigation device according to claim 1, characterized in that: The mounting plate is further provided with a level. When the level is in a horizontal state, any one of the X measurement direction, the Y measurement direction and the Z measurement direction is a gravity direction.

7. A calibration method for an inertial navigation device, characterized in that: Calibrate the inertial navigation device using a calibration device of an inertial navigation device according to any one of claims 1 to 6, comprising a first calibration part, a second calibration part and a third calibration part; The first calibration part includes: a first step of driving the support frame to rotate relative to the base around a first axial direction, and driving the mounting plate to rotate relative to the support frame around a second axial direction, so that any one of the X measurement direction, the Y measurement direction, and the Z measurement direction is parallel to the gravity direction; a second step of performing zero calibration on the gyroscope; The second calibration part includes: a first step of driving the mounting plate to rotate relative to the support frame around a second axial direction so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axial direction; a second step of driving the support frame to rotate at least one circle at a uniform speed around the first axial direction relative to the base, and obtaining acceleration curves of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; a third step of calibrating the acceleration curves in the X measurement direction, the Y measurement direction and the Z measurement direction in the direction of gravity; The third calibration part includes: a first step of driving the support frame to rotate relative to the base around a first axis so that the second axis is perpendicular to the direction of gravity; a second step of driving the mounting plate to rotate at least one circle around the second axis relative to the support frame at a constant speed, and obtaining acceleration curves of the acceleration sensor in the direction of gravity in two of the X measurement direction, the Y measurement direction and the Z measurement direction; and a third step of calibrating the acceleration curves in the direction of gravity in two of the X measurement direction, the Y measurement direction and the Z measurement direction.

8. A method for calibrating an inertial navigation device, characterized in that: Calibrate the inertial navigation device using a calibration device for the inertial navigation device according to any one of claims 1 to 6, comprising a gyroscope calibration part and an acceleration sensor calibration part; The gyroscope calibration part includes: a first step of driving the support frame to rotate relative to the base around a first axis, and driving the mounting plate to rotate relative to the support frame around a second axis, so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the gravity direction; a second step of zeroing and calibrating the gyroscope; The acceleration sensor calibration part includes: a first step, driving the mounting plate to rotate relative to the support frame around the second axis so that any one of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; a second step, driving the support frame to rotate at least one circle at a uniform speed around the first axis relative to the base, and obtaining the acceleration curve of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; a third step, calibrating the acceleration curve of the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction. The acceleration curve is calibrated; the fourth step is to drive the mounting plate to rotate relative to the support frame around the second axis so that the other of the X measurement direction, the Y measurement direction and the Z measurement direction is parallel to the first axis; the fifth step is to drive the support frame to rotate at least one circle around the first axis at a constant speed relative to the base, and obtain the acceleration curve of the acceleration sensor in the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction; the sixth step is to calibrate the acceleration curve of the X measurement direction, the Y measurement direction and the Z measurement direction in the gravity direction.

9. A calibration method for an inertial navigation device according to any one of claims 7 or 8, characterized in that: The acceleration curve of the acceleration sensor in any one of the X measurement direction, the Y measurement direction and the Z measurement direction is a calculation curve, a maximum value and a minimum value of the calculation curve are obtained, and a difference between the maximum value and the minimum value is calibrated to twice the acceleration of gravity.

10. The calibration method of an inertial navigation device according to claim 7, characterized in that: In the second calibration part, the support frame is driven to rotate at least three times at a uniform speed around the first axial direction relative to the base, and when the support frame rotates at a uniform speed around the first axial direction relative to the base for a second time, acceleration curves of the acceleration sensor in the gravity direction in the X measurement direction, the Y measurement direction, and the Z measurement direction are obtained; In the third calibration part, the mounting plate is driven to rotate at least three times at a uniform speed around the second axial direction relative to the support frame. When the mounting plate rotates at a uniform speed for a second time around the second axial direction relative to the support frame, acceleration curves of the acceleration sensor in the direction of gravity in the X measurement direction, the Y measurement direction, and the Z measurement direction are obtained.

11. The calibration method of an inertial navigation device according to claim 7, characterized in that: The first calibration part is performed first; the third calibration part is performed after the first calibration part is completed; the second calibration part is performed after the third calibration part is completed.

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