MATLAB-based automatic interpretation method for comprehensive test of laser inertial measurement unit

Abstract

The invention discloses an MATLAB-based automatic interpretation method for a comprehensive test of a laser inertial measurement unit. The method comprises the following steps: acquiring test data generated after electrification, calibration test and self-aiming test of the laser inertial measurement unit; analyzing the test data to obtain total data, analog data and aiming process data; and performing comprehensive interpretation on the laser inertial measurement unit according to the total data, the analog data and the aiming process data. According to the method, for various test data involved in the test process, the required test data can be extracted from a plurality of different sub-address files, and corresponding processing and image drawing can be carried out, so that the data processing accuracy is enhanced while the data processing efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of laser inertial group test, and in particular relates to an automatic interpretation method for laser inertial group comprehensive test based on MATLAB. Background Art

[0002] The laser inertial navigation system is one of the important equipment of the control system. Its main function is to sense the apparent acceleration and angular velocity information of the projectile movement, and output it in digital form through the 1553B bus and high-speed serial bus for the flight control computer to perform navigation and attitude calculation, so as to achieve attitude control and guidance control of the spacecraft during flight. In order to discover and verify the various design functions and manufacturing problems of the inertial navigation system as early as possible and improve them, it is necessary to conduct comprehensive tests on the inertial navigation system, and at the same time, conduct real-time and post-analysis and processing of the test data. With the improvement of the dynamic adaptability and accuracy of the laser inertial navigation system, the laser strapdown inertial navigation system has gradually become the preferred solution for high-precision inertial navigation products. There are many test contents, high automation and informationization, and a large amount of information to be managed. The demand for mastering its data quality is becoming more and more urgent.

[0003] At present, there are many types of data that need to be interpreted in the process of inertial group testing, the amount of test data is large, different types of test data are processed in different ways, and are stored in different sub-address files. Since there is no systematic automatic interpretation process, the existing data interpretation methods mostly require manual review of a large amount of test data and data statistics, which is time-consuming and laborious, and it is very easy to cause statistical errors due to human factors. Summary of the invention

[0004] The technology of the present invention solves the problem: overcomes the shortcomings of the prior art and provides a MATLAB-based laser inertial group comprehensive test automatic interpretation method. For various test data involved in the test process, the required test data can be extracted from multiple different sub-address files and processed and drawn accordingly, thereby improving the data processing efficiency and enhancing the accuracy of data processing.

[0005] In order to solve the above technical problems, the present invention discloses a method for automatically interpreting a comprehensive test of a laser inertial group based on MATLAB, comprising:

[0006] Obtain test data generated after the laser inertial group is powered on, calibrated, and self-aiming tested;

[0007] Analyze and process the test data to obtain full data, simulation data and targeting process data;

[0008] The laser inertial group is comprehensively interpreted based on the full data, analog data and aiming process data.

[0009] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the self-aiming test includes:

[0010] 20s non-levelness test: The laser inertial group outputs the non-levelness test results 20s after receiving the command to start the non-levelness test, including: non-levelness test result a and non-levelness test result b; until the laser inertial group receives the command to stop the non-levelness test, it stops outputting the non-levelness test results;

[0011] 50s irregular test: The laser inertial group outputs the alignment result a 50s after receiving the command to start the irregular test, including the pitch attitude angle a, the roll attitude angle a and the yaw attitude angle a; the laser inertial group stops outputting the alignment result a until it receives the command to stop the irregular test;

[0012] 8-minute timing test: The laser inertial group outputs the alignment result b 8 minutes after receiving the start timing test command, including: pitch attitude angle b, roll attitude angle b and yaw attitude angle b; until the laser inertial group receives the stop timing test command, it stops outputting the alignment result b.

[0013] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the test data is analyzed and processed to obtain full data, analog data and aiming process data, including:

[0014] Full data is extracted from the test data; the full data includes: full data of gyro pulse and full data of accelerometer pulse; the full data of gyro pulse is divided into two outputs before and after the attitude control filter in each direction for guidance and attitude control calculation, a total of 10 outputs; the full data of accelerometer pulse is divided into two outputs in each direction, positive and negative, a total of 10 outputs;

[0015] The following analog data are extracted from the test data: gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage;

[0016] The following aiming process data are extracted from the test data: non-levelness test result, alignment result a and alignment result b.

[0017] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the laser inertial group is comprehensively interpreted according to the full data, analog data and aiming process data, including:

[0018] Based on the full amount of data, the output of the laser inertial group is automatically interpreted;

[0019] Automatically interpret the working status of the laser inertial group based on analog data;

[0020] Automatically interpret the self - aiming test accuracy of the laser inertial assembly based on the aiming process data.

[0021] In the above - mentioned automatic interpretation method for the comprehensive test of the laser inertial assembly based on MATLAB, automatically interpret the output of the laser inertial assembly according to the full - volume data, including:

[0022] Calculate the difference of the gyro pulse full - volume data to obtain the gyro pulse increment data; draw the gyro pulse image according to the gyro pulse increment data; judge whether the gyro output is normal according to the gyro pulse image; among them, if there are no obvious jump points in the gyro pulse image, it is determined that the gyro output is normal; otherwise, it is determined that the gyro output is abnormal.

[0023] Calculate the positive - negative path difference of the accelerometer pulse full - volume data to obtain the accelerometer pulse increment data; draw the accelerometer pulse image according to the accelerometer pulse increment data; judge whether the accelerometer output is normal according to the accelerometer pulse image; among them, if there are no obvious jump points in the accelerometer pulse image, it is determined that the accelerometer output is normal; otherwise, it is determined that the accelerometer output is abnormal.

[0024] In the above - mentioned automatic interpretation method for the comprehensive test of the laser inertial assembly based on MATLAB, automatically interpret the working state of the laser inertial assembly according to the analog data, including:

[0025] Draw the corresponding analog images respectively according to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro dither frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage.

[0026] Judge the working state of the laser inertial assembly according to the analog images; among them, if the curve of the analog image is smooth, it is determined that the laser inertial assembly is in the normal working state; otherwise, it is determined that the laser inertial assembly may be in the fault state.

[0027] In the above - mentioned automatic interpretation method for the comprehensive test of the laser inertial assembly based on MATLAB, automatically interpret the working state of the laser inertial assembly according to the analog data, including:

[0028] Calculate the maximum and minimum values of the corresponding analog quantities during the test period according to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro dither frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage.

[0029] Judge the working state of the laser inertial assembly according to the maximum and minimum values of the analog quantities; among them, if the difference between the maximum and minimum values of the analog quantities is within the preset fluctuation range, it is determined that the data fluctuation meets the requirements and the laser inertial assembly is in the normal working state; otherwise, it is determined that the data fluctuation does not meet the requirements and the laser inertial assembly may be in the fault state.

[0030] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the self-aiming test accuracy of the laser inertial group is automatically interpreted according to the aiming process data, including:

[0031] The start time and end time of the unevenness test time length are counted, unevenness test result a and unevenness test result b within a specific time length are extracted, and an unevenness test result fluctuation curve image is drawn;

[0032] According to the number of jumps in the fluctuation curve image of the unlevel test result, it is determined whether the laser inertia group works normally during the unlevel test process; if the fluctuation curve image of the unlevel test result does not show obvious jumps, it is determined that the laser inertia group works normally during the unlevel test process; otherwise, it is determined that the laser inertia group does not work normally during the unlevel test process;

[0033] According to the overall trend of the fluctuation curve image of the non-levelness test result, the measurement accuracy of the accelerometer is judged; if the overall trend of the fluctuation curve image of the non-levelness test result is a horizontal linear relationship, it is determined that the temperature compensation of the accelerometer meets the requirements and the measurement accuracy of the accelerometer is high; otherwise, it is determined that the temperature compensation of the accelerometer needs to be further optimized to improve the measurement accuracy of the accelerometer;

[0034] The accuracy of the unevenness test is determined based on the range of multiple groups of unevenness test results; if the range of multiple groups of unevenness test results is less than a preset accuracy value, it is determined that the unevenness test accuracy meets the requirement; otherwise, it is determined that the unevenness test accuracy does not meet the requirement.

[0035] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the self-aiming test accuracy of the laser inertial group is automatically interpreted according to the aiming process data, including:

[0036] Count the start time and end time of the irregular test time length, extract the alignment result a within a specific time length, and draw a fluctuation curve image of the attitude angle a;

[0037] According to the jump count of the attitude angle a fluctuation curve image, it is determined whether the laser inertial group works normally during the irregular test; if the attitude angle a fluctuation curve image does not show obvious jump counts, it is determined that the laser inertial group works normally during the irregular test; otherwise, it is determined that the laser inertial group does not work normally during the irregular test;

[0038] The irregular test accuracy is determined based on the range of multiple groups of alignment results a; if the range of multiple groups of alignment results a is less than the preset accuracy value, it is determined that the irregular test accuracy meets the requirements; otherwise, it is determined that the irregular test accuracy does not meet the requirements.

[0039] In the above-mentioned MATLAB-based laser inertial group comprehensive test automatic interpretation method, the self-aiming test accuracy of the laser inertial group is automatically interpreted according to the aiming process data, including:

[0040] The alignment result b at the time when the 8-minute regular test results are obtained is taken as the true value, and the attitude angle range between the alignment result a output after the irregular test results are obtained for 50 seconds and until the instruction to stop the irregular test is received and the true value is calculated; wherein, if the attitude angle range is less than the preset accuracy value, it is determined that the irregular test accuracy meets the requirements; otherwise, it is determined that the irregular test accuracy does not meet the requirements;

[0041] The timing test accuracy is determined based on the range of multiple groups of alignment results b; if the range of multiple groups of alignment results b is less than the preset accuracy value, it is determined that the timing test accuracy meets the requirements; otherwise, it is determined that the timing test accuracy does not meet the requirements.

[0042] The present invention has the following advantages:

[0043] (1) The present invention discloses an automatic interpretation method for comprehensive test of laser inertial group based on MATLAB, which can extract test data from different sub-address files, and perform corresponding processing and draw images for different test data types, thereby greatly improving the efficiency of test data analysis and processing, saving a lot of time and manpower, and ensuring the correctness of test data processing.

[0044] (2) The present invention discloses an automatic interpretation method for comprehensive test of laser inertial group based on MATLAB, which can synchronously display processed data and images in an interface frame, realize data visualization processing, facilitate timely discovery of problems in test data, further quickly respond to problems, improve algorithms, and improve product performance.

[0045] (3) The present invention discloses an automatic interpretation method for comprehensive laser inertial group testing based on MATLAB, which can store processed data and images in Excel or Word format, saving the tester's time in editing documents and facilitating subsequent data review work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The present invention is a flowchart of a method for automatically interpreting a laser inertial group integrated test based on MATLAB in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] Reference Figure 1In this embodiment, the MATLAB-based laser inertial group comprehensive test automatic interpretation method includes:

[0049] Step 1, obtain the test data generated after the laser inertial group is powered on, calibrated, and self-aiming tested.

[0050] Step 2: parse and process the test data to obtain full data, simulation data and aiming process data.

[0051] Step 3: Comprehensively interpret the laser inertial group based on the full data, analog data and aiming process data.

[0052] In this embodiment, the comprehensive interpretation of the laser inertial group mainly includes:

[0053] 31) Based on the full amount of data, the output of the laser inertial group is automatically interpreted.

[0054] The main function of the laser inertial group is to sense the apparent acceleration and angular velocity information of the projectile's motion. The gyro and accelerometer information output by the laser inertial group are the gyro and accelerometer pulse numbers (full quantity), and the gyro outputs the angular velocity information around its own sensitive axis. Each direction is divided into two outputs before and after the attitude control filter for guidance and attitude control calculations, a total of 10 information, which are output through the high-speed serial port; the longitudinal, lateral, and normal accelerometers output the apparent acceleration information along their own sensitive axes, each direction is divided into two positive and negative outputs, a total of 10 information, which are sent through the high-speed serial port; therefore, the number of pulses output by the laser inertial group needs to be processed by incremental data before it can be used for subsequent data analysis. Specifically:

[0055] Full data is extracted from the test data, including: full data of gyro pulse and full data of accelerometer pulse. Among them, the full data of gyro pulse is divided into two outputs before and after the attitude control filter in each direction for guidance and attitude control calculation, a total of 10 channels; the full data of accelerometer pulse is divided into two outputs in each direction, positive and negative, a total of 10 channels.

[0056] Perform difference calculation on the full amount of gyro pulse data to obtain gyro pulse increment data; draw a gyro pulse image based on the gyro pulse increment data; determine whether the gyro output is normal based on the gyro pulse image; if the gyro pulse image does not show abnormal phenomena such as obvious jump points, it is determined that the gyro output is normal; otherwise, it is determined that the gyro output is abnormal.

[0057] The positive and negative path differences of the full amount of accelerometer pulse data are calculated to obtain the accelerometer pulse increment data; the accelerometer pulse image is drawn according to the accelerometer pulse increment data; according to the accelerometer pulse image, whether the accelerometer output is normal is determined; if the accelerometer pulse image does not show obvious jump points or other abnormal phenomena, it is determined that the accelerometer output is normal; otherwise, it is determined that the accelerometer output is abnormal.

[0058] 32) Automatically judge the working status of the laser inertial group based on the analog data.

[0059] During the operation of the laser inertial group, the analog data must fluctuate within the specified range. Specifically:

[0060] The following analog data are extracted from the test data: gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage.

[0061] According to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage, the corresponding analog quantity images are drawn respectively; according to the analog quantity images, the working state of the laser inertial group is judged; among them, if the analog quantity image curve is smooth, it is determined that the laser inertial group is in a normal working state; otherwise, it is determined that the laser inertial group may be in a fault state.

[0062] According to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage, the maximum and minimum values ​​of the corresponding analog quantity in the test cycle are calculated; according to the maximum and minimum values ​​of the analog quantity, the working state of the laser inertial group is judged; wherein, if the difference between the maximum and minimum values ​​of the analog quantity is within the preset fluctuation range, it is determined that the data fluctuation meets the requirements and the laser inertial group is in a normal working state; otherwise, it is determined that the data fluctuation does not meet the requirements and the laser inertial group may be in a fault state.

[0063] 33) Based on the aiming process data, the self-aiming test accuracy of the laser inertial group is automatically judged.

[0064] The self-aiming test mainly includes:

[0065] 20s non-levelness test: The laser inertial group outputs the non-levelness test results 20s after receiving the start non-levelness test command, including: non-levelness test result a and non-levelness test result b; until the laser inertial group receives the stop non-levelness test command, it stops outputting the non-levelness test results.

[0066] 50s irregular test: The laser inertial group outputs alignment result a 50s after receiving the command to start the irregular test, including pitch attitude angle a, roll attitude angle a and yaw attitude angle a; the laser inertial group stops outputting alignment result a until it receives the command to stop the irregular test.

[0067] 8-minute timing test: The laser inertial group outputs the alignment result b 8 minutes after receiving the start timing test command, including: pitch attitude angle b, roll attitude angle b and yaw attitude angle b; until the laser inertial group receives the stop timing test command, it stops outputting the alignment result b.

[0068] The laser inertial group has the function of self-aiming in the horizontal and vertical states. According to the aiming process data, the self-aiming test accuracy of the laser inertial group can be automatically judged:

[0069] The following aiming process data are extracted from the test data: non-levelness test result, alignment result a and alignment result b.

[0070] Automatic interpretation based on the results of the non-level test: Count the start time and end time of the non-level test time length, extract the non-level test results a and non-level test results b within a specific time length, and draw the non-level test result fluctuation curve image; According to the number of jumps in the non-level test result fluctuation curve image, judge whether the laser inertial group works normally during the non-level test; Wherein, if the non-level test result fluctuation curve image does not show obvious jumps and other abnormal phenomena, it is determined that the laser inertial group works normally during the non-level test; Otherwise, it is determined that the laser inertial group works abnormally during the non-level test. Further, according to the overall trend of the non-level test result fluctuation curve image, judge the measurement accuracy of the accelerometer; Wherein, if the overall trend of the non-level test result fluctuation curve image is a horizontal linear relationship, it is determined that the accelerometer temperature compensation meets the requirements and the measurement accuracy of the accelerometer is high, otherwise, it is determined that the accelerometer temperature compensation needs to be further optimized to improve the measurement accuracy of the accelerometer. Furthermore, the accuracy of the unevenness test is determined based on the range of multiple groups of unevenness test results; if the range of multiple groups of unevenness test results is less than a preset accuracy value, it is determined that the unevenness test accuracy meets the requirement; otherwise, it is determined that the unevenness test accuracy does not meet the requirement.

[0071] Automatic interpretation based on alignment result a: Count the start time and end time of the irregular test time length, extract the alignment result a within a specific time length, and draw the attitude angle a fluctuation curve image; judge whether the laser inertial group works normally during the irregular test according to the number of jumps in the attitude angle a fluctuation curve image; if the attitude angle a fluctuation curve image does not show obvious jumps and other abnormal phenomena, it is determined that the laser inertial group works normally during the irregular test; otherwise, it is determined that the laser inertial group works abnormally during the irregular test. Further, judge the accuracy of the irregular test according to the extreme difference of multiple groups of alignment results a; if the extreme difference of multiple groups of alignment results a is less than the preset accuracy value, it is determined that the accuracy of the irregular test meets the requirements; otherwise, it is determined that the accuracy of the irregular test does not meet the requirements.

[0072] Automatic interpretation based on alignment result b: The 8-minute timed test is an alignment result that is obtained at a fixed time. Due to the long calculation time, the attitude angle result obtained is more accurate than the 50-second irregular alignment. Therefore, it is often used as a true value benchmark to detect the accuracy of the 50-second irregular test result. Specifically: Take the alignment result b at the time when the 8-minute timed test results are obtained as the true value, and calculate the attitude angle range between the alignment result a output after the irregular test results are obtained for 50 seconds and the true value until the irregular test command is received to stop; wherein, if the attitude angle range is less than the preset accuracy value, it is determined that the irregular test accuracy meets the requirements; otherwise, it is determined that the irregular test accuracy does not meet the requirements. Further, the accuracy of the timing test is judged based on the range of multiple groups of alignment results b; wherein, if the range of multiple groups of alignment results b is less than the preset accuracy value, it is determined that the timing test accuracy meets the requirements; otherwise, it is determined that the timing test accuracy does not meet the requirements.

[0073] In summary, the present invention discloses a method for automatic interpretation of comprehensive test of laser inertial group based on MATLAB. For various test data involved in the test process, the required test data can be extracted from multiple different sub-address files and processed and drawn accordingly, thereby improving the test data processing efficiency and enhancing the accuracy of test data processing. In addition, the method described in the present invention can be implemented based on MATLAB, and the processed data and images can be synchronously displayed in the interface frame, which helps the tester to observe whether there are abnormalities in the data, so as to find and solve problems in time. While realizing data visualization, efficient, fast and accurate data storage can also be realized, and the processed data, images, etc. are stored in Word format, which is convenient for the subsequent review of test data.

[0074] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0075] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A MATLAB-based automatic interpretation method for comprehensive test of laser inertial group, characterized in that: include: Obtain test data generated after the laser inertial group is powered on, calibrated, and self-aiming tested; Analyze and process the test data to obtain full data, simulation data and targeting process data; The laser inertial group is comprehensively interpreted based on the full data, analog data and aiming process data.

2. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 1 is characterized in that: Self-aiming tests, including: 20s non-levelness test: The laser inertial group outputs the non-levelness test results 20s after receiving the command to start the non-levelness test, including: non-levelness test result a and non-levelness test result b; until the laser inertial group receives the command to stop the non-levelness test, it stops outputting the non-levelness test results; 50s irregular test: The laser inertial group outputs the alignment result a 50s after receiving the command to start the irregular test, including the pitch attitude angle a, the roll attitude angle a and the yaw attitude angle a; the laser inertial group stops outputting the alignment result a until it receives the command to stop the irregular test; 8-minute timing test: The laser inertial group outputs the alignment result b 8 minutes after receiving the start timing test command, including: pitch attitude angle b, roll attitude angle b and yaw attitude angle b; until the laser inertial group receives the stop timing test command, it stops outputting the alignment result b.

3. The MATLAB-based automatic interpretation method for comprehensive laser inertial group test according to claim 2 is characterized in that: The test data is parsed and processed to obtain full data, simulation data and targeting process data, including: Full data is extracted from the test data; the full data includes: full data of gyro pulse and full data of accelerometer pulse; the full data of gyro pulse is divided into two outputs before and after the attitude control filter in each direction for guidance and attitude control calculation, a total of 10 outputs; the full data of accelerometer pulse is divided into two outputs in each direction, positive and negative, a total of 10 outputs; The following analog data are extracted from the test data: gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage; The following aiming process data are extracted from the test data: non-levelness test result, alignment result a and alignment result b.

4. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 3 is characterized in that: Based on the full data, analog data and aiming process data, the laser inertial group is comprehensively interpreted, including: Based on the full amount of data, the output of the laser inertial group is automatically interpreted; Automatically interpret the working status of the laser inertial group based on analog data; According to the aiming process data, the self-aiming test accuracy of the laser inertial group is automatically judged.

5. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 4 is characterized in that: Based on the full amount of data, the output of the laser inertial group is automatically interpreted, including: Perform difference calculation on the full amount of gyro pulse data to obtain gyro pulse increment data; draw a gyro pulse image based on the gyro pulse increment data; determine whether the gyro output is normal based on the gyro pulse image; if the gyro pulse image does not show obvious jump points, it is determined that the gyro output is normal; otherwise, it is determined that the gyro output is abnormal; The positive and negative path differences of the full amount of accelerometer pulse data are calculated to obtain the accelerometer pulse increment data; the accelerometer pulse image is drawn according to the accelerometer pulse increment data; according to the accelerometer pulse image, whether the accelerometer output is normal is determined; if the accelerometer pulse image does not show obvious jump points, it is determined that the accelerometer output is normal; otherwise, it is determined that the accelerometer output is abnormal.

6. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 4 is characterized in that: According to the analog data, the working status of the laser inertial group is automatically judged, including: According to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage, the corresponding analog quantity images are drawn respectively; According to the analog image, the working state of the laser inertial group is judged; if the analog image curve is smooth, it is determined that the laser inertial group is in a normal working state; otherwise, it is determined that the laser inertial group may be in a fault state.

7. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 4 is characterized in that: According to the analog data, the working status of the laser inertial group is automatically judged, including: According to the gyro light intensity, gyro piezoelectricity, gyro temperature, gyro jitter frequency, +5V monitoring voltage, -5V monitoring voltage, +15V monitoring voltage and -15V monitoring voltage, the maximum and minimum values ​​of the corresponding analog quantities in the test cycle are calculated; The working state of the laser inertial group is judged according to the maximum and minimum values ​​of the analog quantity; if the difference between the maximum and minimum values ​​of the analog quantity is within the preset fluctuation range, it is determined that the data fluctuation meets the requirements and the laser inertial group is in a normal working state; otherwise, it is determined that the data fluctuation does not meet the requirements and the laser inertial group may be in a fault state.

8. The MATLAB-based automatic interpretation method for comprehensive laser inertial measurement system according to claim 4 is characterized in that: According to the aiming process data, the self-aiming test accuracy of the laser inertial group is automatically judged, including: The start time and end time of the unevenness test time length are counted, unevenness test result a and unevenness test result b within a specific time length are extracted, and an unevenness test result fluctuation curve image is drawn; According to the number of jumps in the fluctuation curve image of the unlevel test result, it is determined whether the laser inertia group works normally during the unlevel test process; if the fluctuation curve image of the unlevel test result does not show obvious jumps, it is determined that the laser inertia group works normally during the unlevel test process; otherwise, it is determined that the laser inertia group does not work normally during the unlevel test process; According to the overall trend of the fluctuation curve image of the non-levelness test result, the measurement accuracy of the accelerometer is judged; if the overall trend of the fluctuation curve image of the non-levelness test result is a horizontal linear relationship, it is determined that the temperature compensation of the accelerometer meets the requirements and the measurement accuracy of the accelerometer is high; otherwise, it is determined that the temperature compensation of the accelerometer needs to be further optimized to improve the measurement accuracy of the accelerometer; The accuracy of the unevenness test is determined based on the range of multiple groups of unevenness test results; if the range of multiple groups of unevenness test results is less than a preset accuracy value, it is determined that the unevenness test accuracy meets the requirement; otherwise, it is determined that the unevenness test accuracy does not meet the requirement.

9. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 4 is characterized in that: According to the aiming process data, the self-aiming test accuracy of the laser inertial group is automatically judged, including: Count the start time and end time of the irregular test time length, extract the alignment result a within a specific time length, and draw a fluctuation curve image of the attitude angle a; According to the jump count of the attitude angle a fluctuation curve image, it is determined whether the laser inertial group works normally during the irregular test; if the attitude angle a fluctuation curve image does not show obvious jump counts, it is determined that the laser inertial group works normally during the irregular test; otherwise, it is determined that the laser inertial group does not work normally during the irregular test; The irregular test accuracy is determined based on the range of multiple groups of alignment results a; if the range of multiple groups of alignment results a is less than the preset accuracy value, it is determined that the irregular test accuracy meets the requirements; otherwise, it is determined that the irregular test accuracy does not meet the requirements.

10. The MATLAB-based automatic interpretation method for comprehensive test of laser inertial group according to claim 4 is characterized in that: According to the aiming process data, the self-aiming test accuracy of the laser inertial group is automatically judged, including: The alignment result b at the time when the 8-minute regular test results are obtained is taken as the true value, and the attitude angle range between the alignment result a output after the irregular test results are obtained for 50 seconds and until the instruction to stop the irregular test is received and the true value is calculated; wherein, if the attitude angle range is less than the preset accuracy value, it is determined that the irregular test accuracy meets the requirements; otherwise, it is determined that the irregular test accuracy does not meet the requirements; The timing test accuracy is determined based on the range of multiple groups of alignment results b; if the range of multiple groups of alignment results b is less than the preset accuracy value, it is determined that the timing test accuracy meets the requirements; otherwise, it is determined that the timing test accuracy does not meet the requirements.

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