Quick installation and calibration method for detachable combined inertial navigation

Abstract

The invention provides a quick installation and calibration method for detachable combined inertial navigation, and relates to the technical field of installation and calibration of vehicle-mounted combined inertial navigation. The method comprises the following steps: mounting the detachable combined inertial navigation equipment on a required carrier; based on the installation result, the installation angle deviation of the vehicle coordinate system and the IMU coordinate system is rapidly calibrated by adopting non-integrity constraint, and rapid installation and calibration of the detachable combined inertial navigation system are completed. According to the invention, the core problems of poor flexibility, high maintenance cost, insufficient dynamic adaptability and the like caused by fixed installation of the existing vehicle-mounted combined inertial navigation system are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of the installation and calibration of vehicle-mounted integrated inertial navigation, and particularly relates to a method for quickly installing and calibrating a detachable integrated inertial navigation. Background Art

[0002] The integration of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS) fully utilizes the advantages of these two subsystems to provide accurate and robust navigation information such as open sky position, velocity, and attitude, and has been widely used in civilian vehicle navigation and mobile mapping applications. However, the navigation accuracy of INS highly depends on the installation and calibration quality. Especially for detachable integrated inertial navigation systems, their frequent disassembly and quick installation requirements pose severe challenges to traditional calibration methods.

[0003] Currently, the installation and calibration technology for vehicle-mounted integrated inertial navigation is mainly based on a fixed design, that is, after the installation and calibration are completed in advance for a single vehicle, the inertial navigation module is permanently bound to the carrier and cannot be disassembled and reused.

[0004] This solution has the following significant defects in practical applications:

[0005] 1. Poor scene adaptability due to non-detachability: When the vehicle needs to replace the inertial navigation module (such as upgrading a high-precision IMU or repairing a faulty device), it is necessary to reinstall and perform a complete calibration process, which is time-consuming and laborious.

[0006] 2. Low maintenance and upgrade efficiency and difficult modular replacement: The existing fixed installation method is difficult to support the quick replacement of sensors or interface expansion (such as adding lidar for auxiliary calibration), resulting in the need for overall reconstruction of the system upgrade.

[0007] In short, the non-detachable vehicle-mounted integrated inertial navigation installation scheme is limited by core problems such as hardware immobilization, calibration isolation, and low maintenance efficiency, and the emerging scenario requirements such as high-frequency module replacement and unmanned operation and maintenance. Especially in the context of the increasing demand for high-precision positioning, it is urgent to break through the flexibility and efficiency bottlenecks of traditional solutions through detachable design and intelligent calibration technology. Summary of the Invention

[0008] Aiming at the above deficiencies in the prior art, the present invention provides a method for quickly installing and calibrating a detachable integrated inertial navigation, which solves the core problems of the existing vehicle-mounted integrated inertial navigation system such as poor flexibility, high maintenance cost, and insufficient dynamic adaptability caused by fixed installation. Through an integrated combined navigation installation platform, the combined navigation module can be quickly disassembled and installed between different vehicles or carriers without repeated manual calibration.

[0009] To achieve the above object, the technical solution adopted by the present invention is: a detachable combined inertial navigation rapid installation and calibration method, including the following steps:

[0010] S1. Install the detachable combined inertial navigation device on the required carrier;

[0011] S2. Based on the installation result, by using non-integrity constraints to quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, the rapid installation and calibration of the detachable combined inertial navigation are completed.

[0012] Further, the specific content of S1 is:

[0013] Deploy the GNSS module, the inertial navigation module, and the expandable sensor reserved position on the integrated platform;

[0014] Based on the type of the moving carrier, the connection between the integrated platform and the carrier is divided into a clip-on type and a magnetic adsorption type. Among them, for the clip-on type installation, connect the horizontal axis and the movable clip to the carrier; for the magnetic adsorption type installation, connect the magnetic chuck to the carrier.

[0015] Still further, the specific content of S2 is:

[0016] S201. Based on the installation result, drive the vehicle in an open area, and make repeated U-turns and straight-line driving in the driving route;

[0017] S202. Based on the data obtained by the GNSS module and the inertial navigation module, by using non-integrity constraints to quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, the rapid installation and calibration of the detachable combined inertial navigation are completed.

[0018] Still further, the specific content of S202 is:

[0019] Use the GNSS module to calculate and obtain the speed v(t) of the vehicle in the vehicle coordinate system and the carrier position

[0020] v v (t) = [v(t), 0, 0] T

[0021] where v v (t) represents the velocity vector, and the superscript v represents the vehicle coordinate system, represents the carrier position at the current epoch k of the GNSS solution in the navigation system;

[0022] Use the following formula to calculate the position increment of the carrier in the vehicle coordinate system:

[0023]

[0024] wherein, t k-1 and t k respectively represent the time of the current epoch and the previous epoch, represents the distance traveled by the vehicle in forward motion, and the calculation method is to integrate v v (t) from t k-1 to t k ;

[0025] Using the inertial navigation module, respectively obtain the initial attitude matrix of the IMU and the installation angle matrix to calculate the position increment in the navigation system

[0026]

[0027] wherein, the IMU attitude matrix at epoch k - 1, represents the installation angle matrix of the IMU, represents the position increment in the navigation system the position components in the north - east - down three directions, ΔS N,k 、ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north - east - down three directions in the navigation system;

[0028] Use the position increment in the navigation system for position update, and use the following formula to express it in the form of geographic latitude - longitude - altitude:

[0029]

[0030] h k = h k-1 - ΔS D,k

[0031] wherein, λ k and h k respectively represent the position at the current epoch expressed in the form of geographic latitude - longitude - altitude, λ k-1 and h k-1 respectively represent the position at the previous epoch expressed in the form of geographic latitude - longitude - altitude, ΔS N,k 、ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north - east - down three directions in the navigation system, R M represents the radius of the principal curvature of the meridian, R N represents the radius of the principal curvature of the prime vertical, h represents h at the previous epoch k-1 , represents the previous epoch

[0032] Based on the expression results, construct a state transition model and a measurement equation;

[0033] Based on the state transition model and the measurement equation, using extended Kalman filter estimation, during the entire filtering process, calculate the pitch angle error δΔθ and the heading angle error δΔψ until the errors σ Δθ and σ Δψ are less than the threshold threshold, obtain the final calibration parameters, that is, the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, complete the rapid installation and calibration of the detachable combined inertial navigation, and the calibrated installation angle deviation is used for GNSS / IMU loose integration navigation.

[0034] Furthermore, the error state vector estimated by the Kalman filter is as follows:

[0035] δx = [δr N , δr E , δr D , φ, θ, ψ, δΔθ, δΔψ, δ k T

[0036] where δx represents the error state vector, δr N , δr E and δr D all represent the position errors to be estimated, φ, θ, and ψ all represent the attitude misalignment angle errors to be estimated, T represents the transpose, δΔθ represents the pitch angle error, δΔψ represents the heading angle error, and δ k represents the scale factor of the position increment in the vehicle coordinate system.

[0037] Furthermore, the expression of the state transition model is as follows:

[0038] δx k = Φ k / k-1 δx k-1 + G k-1 W k-1

[0039] where δx k represents the error state vector at the current epoch k, δ represents the error symbol, Φ k / k-1 represents the state transition matrix, including the coupling terms of attitude error, installation angle deviation, and scale factor error, δx k-1 represents the error state vector at the previous epoch k - 1, G k-1 represents the driving matrix of the noise matrix, and W k-1 represents the process noise, including attitude drift, installation angle perturbation, and scale factor noise.

[0040] ​Furthermore, the expression of the measurement equation is as follows:

[0041]

[0042] where δ represents the error symbol, δz k represents the measurement information, D represents the matrix for converting the Cartesian coordinate system to the geographic coordinate system, represents the position of the vehicle obtained by dead reckoning INS, represents the position of the vehicle calculated by GNSS, represents the true value of the vehicle position, D -1 represents the matrix for converting the geographic coordinate system to the Cartesian coordinate system, represents the error between the dead reckoning vehicle position and the true value, e k represents the observation noise.

[0043] Advantages of the present invention:

[0044] (1) In the present invention, the GNSS module and the IMU module are integrated on the platform, and the GNSS module and the IMU module are integrally integrated through a common rigid base, eliminating the uncertainty in the measurement of the lever arm value caused by mechanical processing tolerances and temperature deformation in the traditional split installation. The base adopts a carbon fiber-titanium alloy composite structure to ensure lightweight and matching of the thermal expansion coefficient, so that the relative spatial relationship (lever arm vector) between the two modules is accurately calibrated and solidified by a laser tracker at the factory. Integrated platform design: The co-base integration of the GNSS module and the IMU module, the lever arm value (accuracy ≤ 2 mm) is solidified through pre-calibration at the factory, eliminating the traditional manual measurement error (±1 cm), and there is no need for repeated measurement during installation, saving the calibration preparation time.

[0045] (2) The present invention quickly estimates the installation error parameters online through continuous high-precision GNSS positioning combined with the extended Kalman filter (EKF), and finally obtains the installation angle deviation. The state transition model and the measurement equation under the framework of the extended Kalman filter (EKF) are constructed through a multi-source heterogeneous data fusion model, and the following observation information is fused: GNSS high-precision positioning output: The carrier phase smoothed pseudorange technology is adopted to suppress the positioning jump caused by the multipath effect; IMU raw data: The gyroscope zero bias compensation model through pre-calibration is used to improve the credibility of the angular velocity measurement; Vehicle motion constraint: The non-holonomic constraint condition (vehicle planar motion hypothesis) is introduced to reduce the degree of freedom redundancy. That is, the present invention quickly estimates the installation error parameters through dynamic environment adaptation and long-term stability through continuous high-precision GNSS positioning combined with the extended Kalman filter (EKF), shortening the calibration convergence time. Description of the Drawings

[0046] Figure 1 is the flowchart of the method of the present invention.

[0047] Figure 2 Schematic diagram (top view) of the integrated combined navigation installation platform.

[0048] Figure 3 Schematic diagram (side view) of the integrated combined navigation installation platform - gripper carrier.

[0049] Figure 4 Schematic diagram (side view) of the integrated combined navigation installation platform - magnetic adsorption carrier.

[0050] Figure 5 Flow chart for rapid calibration of the installation angle of the present invention.

[0051] Among them, 1 - horizontal axis, 2 - movable gripper, 3 - inertial navigation module, 4 - expandable sensor reserved position, 5 - magnetic chuck, 6 - GNSS module, 7 - integrated platform. Specific implementation manners

[0052] The following describes the specific implementation manners of the present invention to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation manners. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are within the scope of protection.

[0053] Embodiment

[0054] As Figure 1 shown, the present invention provides a method for rapid installation and calibration of a detachable combined inertial navigation, and its implementation method is as follows:

[0055] S1. Install the detachable combined inertial navigation device on the required carrier. As Figure 2 , Figure 3 and Figure 4 shown, specifically:

[0056] Deploy the GNSS module 6, the inertial navigation module 3, and the expandable sensor reserved position 4 on the integrated platform 7;

[0057] Based on the type of the moving carrier, the connection between the integrated platform 7 and the carrier is divided into a gripper type and a magnetic adsorption type. Among them, for the gripper type installation, connect the horizontal axis 1 and the movable gripper 2 to the carrier; for the magnetic adsorption type installation, connect the magnetic chuck 5 to the carrier.

[0058] In this embodiment, the method for rapid installation and calibration of the detachable combined inertial navigation of the present invention mainly includes the integrated combined navigation installation platform ( Figures 2 - 4As shown, the lever arm values X, Y, and Z can be directly obtained to quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, and a multi-sensor installation platform is reserved to support the synchronous hardware installation of lidar and vision cameras.

[0059] S2. Based on the installation results, quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system by using nonholonomic constraints to complete the quick installation and calibration of the detachable combined inertial navigation. The implementation method is as follows:

[0060] S201. Based on the installation results, drive the vehicle in an open area and make repeated U-turns and straight-line driving on the driving route;

[0061] S202. Based on the data obtained by the GNSS module 6 and the inertial navigation module 3, quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system by using nonholonomic constraints to complete the quick installation and calibration of the detachable combined inertial navigation. Specifically:

[0062] Use the GNSS module 6 to solve and obtain the speed v(t) and the carrier position

[0063] v v (t) = [v(t), 0, 0] T

[0064] where v v (t) represents the velocity vector, and the superscript v represents the vehicle coordinate system, represents the carrier position at the current epoch k in the navigation system by GNSS solution;

[0065] Use the following formula to calculate the position increment of the carrier in the vehicle coordinate system:

[0066]

[0067] where t k-1 and t k represent the current epoch and the previous epoch time respectively, represents the distance traveled by the vehicle forward, and the calculation method is to integrate v v (t) from t k-1 to t k ;

[0068] Use the inertial navigation module 3 to obtain the initial attitude matrix of the IMU and the installation angle matrix respectively to calculate the position increment in the navigation system

[0069]

[0070] where The IMU attitude matrix at epoch k-1 represents the installation angle matrix of the IMU represents the position increment in the navigation system The position components in the north-east-down directions, ΔS N,k 、ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north-east-down directions in the navigation system;

[0071] The position increment in the navigation system is used for position update and is expressed in the form of geodetic latitude-longitude-height using the following formula:

[0072]

[0073] h k =h k-1 -ΔS D,k

[0074] where λ k and h k respectively represent the positions at the current epoch expressed in the form of geodetic latitude-longitude-height, λ k-1 and h k-1 respectively represent the positions at the previous epoch expressed in the form of geodetic latitude-longitude-height, ΔS N,k 、ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north-east-down directions in the navigation system, R M represents the radius of curvature of the prime vertical, R N represents the radius of curvature of the meridian, h represents the h at the previous epoch k-1 , represents the previous epoch

[0075] Based on the expression results, a state transition model and a measurement equation are constructed;

[0076] Based on the state transition model and the measurement equation, using extended Kalman filter estimation, during the entire filtering process, the pitch angle error δΔθ and the heading angle error δΔψ are calculated until the errors σ Δθ and σ Δψ corresponding to the pitch angle error δΔθ and the heading angle error δΔψ are less than the threshold threshold, and the final calibration parameters, that is, the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, are obtained, completing the rapid installation and calibration of the detachable combined inertial navigation. The calibrated installation angle deviation is used for GNSS / IMU loose integration navigation.

[0077] In this embodiment, asFigure 5 As shown in Figure 5 , the rapid calibration process uses dead reckoning and an integrity constraint model to quickly estimate the installation angle deviation. The process is as follows: First, install the detachable combined inertial navigation device on the required carrier, then drive the vehicle in an open area to stimulate multi-axis movement, use the GNSS module 6 observations and the non-integrity constraint (NHC) to model the position update, and separate the influence of the installation angle deviation to complete the rapid calibration. The calculation method is as follows:

[0078] Assume that the vehicle motion satisfies the non-integrity constraint (no side slip, no treaty), and the front lower right coordinate system is adopted. The speed is expressed in the vehicle coordinate system (v system) as:

[0079] v v (t) = [v(t), 0, 0] T

[0080] where, v v (t) represents the velocity vector, and the superscript v represents the vehicle coordinate system.

[0081] The position increment in the navigation system (n system) is obtained by converting the IMU attitude matrix and the installation angle matrix as follows:

[0082]

[0083] where, represents the position increment in the navigation system, represents the position increment in the navigation system in the north-east-down three directions. Its value is obtained by subtracting the carrier geographical location at the current epoch calculated by the GNSS module 6 from the carrier geographical location at the previous epoch. represents the distance traveled by the vehicle forward. The calculation method is to integrate v v (t) from t k-1 to t k . ΔS N,k , ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north-east-down three directions in the navigation system. is the IMU attitude matrix at the k - 1 epoch, represents the installation angle matrix of the IMU.

[0084] Express the above position recurrence formula in the form of geographical latitude-longitude-height as:

[0085]

[0086] h k = hk-1 -ΔS D,k

[0087] in, λ k and h k They represent the position of the current epoch in the form of geographic latitude-longitude-altitude. λ k-1 and h k-1 They represent the position of the previous epoch in the form of geographic latitude, longitude and altitude, ΔS N,k , ΔS E,k and ΔS D,k It represents the position component of the position increment ΔS in the north-east-ground direction under the navigation system, R M Represents the principal radius of curvature of the meridian, R N represents the main curvature radius of the Maoyou circle, and h represents the previous epoch h k-1 , Indicates the last epoch

[0088] The error state vector estimated by the Kalman filter is defined to include position, attitude angle, installation angle, and scale factor errors, which are expressed as follows:

[0089] δx=[δr N ,δr E ,δr D ,φ,θ,ψ,δΔθ,δΔψ,δ k ] T

[0090] Among them, δx represents the error state vector, δr N ,δr E and δr D All represent the position error to be estimated, φ, θ and ψ all represent the attitude misalignment angle errors to be estimated, T represents transposition, δΔθ represents the pitch angle error, δΔψ represents the heading angle error, δ k Represents the scaling factor of the position increment in the vehicle coordinate system.

[0091] The state transition model is:

[0092] δx k =Φ k / k-1 δx k-1 +G k-1 W k-1

[0093] Among them, δx k represents the error state vector of the current epoch k, δ represents the error sign, Φ k / k-1 represents the state transfer matrix, which includes the coupling terms of attitude error, installation angle deviation and proportional factor error, δx k-1Denotes the error state vector of the previous epoch k-1, G k-1 Denotes the driving matrix of the noise matrix, W k-1 Denotes the process noise, including attitude drift, installation angle perturbation, and scale factor noise.

[0094] The expression of the measurement equation is as follows:

[0095]

[0096] Among them, δ denotes the error symbol, δz k Denotes the measurement information, D denotes the matrix for converting the Cartesian coordinate system to the geographical coordinate system, Denotes the vehicle position obtained by dead reckoning INS, Denotes the vehicle position calculated by GNSS, Denotes the true value of the vehicle position, D -1 Denotes the matrix for converting the geographical coordinate system to the Cartesian coordinate system, Denotes the error between the dead reckoning vehicle position and the true value, e k Denotes the observation noise.

[0097] In the sports car route, it is necessary to make repeated U-turns and straight-line driving. The error observability is enhanced in the following ways:

[0098] Straight section: Excite the longitudinal acceleration to separate the pitch angle error δΔθ;

[0099] Curve section: Excite the yaw angular acceleration to separate the heading angle error δΔψ.

[0100] Using the local optimization result as the initial value, perform full-state Kalman filtering to obtain the final calibration parameters. Use the calibrated installation angle parameters for GNSS / IMU loose integration navigation, and compare the following indicators:

[0101] Position error: When the GNSS signal is good, the horizontal error ≤ 0.3 m (RTK level).

[0102] Heading consistency: When the GNSS signal is lost within 30 seconds, the heading drift < 1°.

[0103] Residual analysis: Check the measurement residuals of the Kalman filter. If the residual sequence shows white noise characteristics, the calibration result is credible.

[0104] In summary, through the integrated combined navigation installation platform of the present invention, the combined navigation module can be quickly disassembled and installed between different vehicles or carriers, without repeated manual calibration, solving the core problems of the existing vehicle-mounted combined inertial navigation system such as poor flexibility, high maintenance cost, and insufficient dynamic adaptability caused by fixed installation.

Claims

1. A detachable combined inertial navigation rapid installation and calibration method, characterized in that, Including the following steps: S1. Install the detachable combined inertial navigation device on the required carrier; S2. Based on the installation result, quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system by using non-integrity constraints to complete the quick installation and calibration of the detachable combined inertial navigation.

2. The detachable combined inertial navigation rapid installation and calibration method according to claim 1, characterized in that, The specific content of S1 is as follows: Deploy the GNSS module (6), the inertial navigation module (3), and the expandable sensor reserved position (4) on the integrated platform (7); Based on the type of the moving carrier, the connection between the integrated platform (7) and the carrier is divided into a clip-on type and a magnetic adsorption type. Among them, for the clip-on type installation, connect the cross axis (1) and the movable clip (2) to the carrier; for the magnetic adsorption type installation, connect the magnetic chuck (5) to the carrier.

3. The detachable combined inertial navigation quick installation and calibration method according to claim 2, wherein The specific content of S2 is as follows: S201. Based on the installation result, drive the vehicle in an open area and make repeated U-turns and straight-line driving on the driving route; S202. Based on the data obtained by the GNSS module (6) and the inertial navigation module (3), quickly calibrate the installation angle deviation between the vehicle coordinate system and the IMU coordinate system by using non-integrity constraints to complete the quick installation and calibration of the detachable combined inertial navigation.

4. The detachable combined inertial navigation rapid installation and calibration method according to claim 3, characterized in that The specific content of S202 is as follows: Using the GNSS module (6), calculate and obtain the speed v(t) and the carrier position of the vehicle in the vehicle coordinate system v v \(\vec{v}(t)=[v(t),0,0]\) T where, v v (t) represents the velocity vector, and the superscript v represents the vehicle coordinate system, represents the vehicle position at the current epoch k of the GNSS solution in the navigation system; Use the following formula to calculate the position increment of the carrier in the vehicle coordinate system: where t k-1 and t k represent the time of the current epoch and the previous epoch respectively, represents the distance traveled by the vehicle forward, and the calculation method is to integrate v v (t) from t k-1 to t k ; The inertial navigation module (3) is used to respectively obtain the initial attitude matrix of the IMU and calculate the position increment in the navigation system by using the installation angle matrix Among them, the IMU attitude matrix at epoch k-1, represents the installation angle matrix of the IMU, represents the position increment in the navigation system the position components in the north-east-down three directions, ΔS N,k , ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north-east-down three directions in the navigation system; The position increment under the navigation system For position update, it is expressed in the form of geographical latitude-longitude-height by using the following formula: h k = h k-1 - ΔS D,k Among them, λ k and h k respectively represent the position of the current epoch expressed in the form of geodetic latitude-longitude-height, λ k-1 and h k-1 respectively represent the position of the previous epoch expressed in the form of geodetic latitude-longitude-height, ΔS N,k 、ΔS E,k and ΔS D,k represent the position components of the position increment ΔS in the north-east-down directions in the navigation system, R M represents the radius of the prime vertical curvature of the meridian, R N represents the radius of the prime vertical curvature of the prime vertical, h represents the h of the previous epoch k-1 , represents the previous epoch Based on the expression result, construct a state transition model and a measurement equation; Based on the state transition model and the measurement equation, using extended Kalman filter estimation, during the entire filtering process, calculate the pitch angle error δΔθ and the heading angle error δΔψ, and update and correct the conversion of the calibration parameters to the IMU attitude matrix and the installation angle matrix until the errors σ Δθ and σ Δψ are less than the threshold threshold, obtain the final calibration parameters, that is, the installation angle deviation between the vehicle coordinate system and the IMU coordinate system, complete the rapid installation and calibration of the detachable combined inertial navigation, and the calibrated installation angle deviation is used for GNSS / IMU loose integrated navigation.

5. The detachable combined inertial navigation rapid installation and calibration method according to claim 4, characterized in that The error state vector estimated by Kalman filter is as follows: δx = [δr N , δr E , δr D , φ, θ, ψ, δΔθ, δΔψ, δ k T ​ Among them, δx represents the error state vector, δr N , δr E and δr D all represent the position errors to be estimated, φ, θ, and ψ all represent the attitude misalignment angle errors to be estimated, T represents the transpose, δΔθ represents the pitch angle error, δΔψ represents the heading angle error, δ k represents the scale factor of the position increment in the vehicle coordinate system.

6. The detachable combined inertial navigation rapid installation and calibration method according to claim 5, characterized in that, The expression of the state transition model is as follows: δx k = Φ k / k-1 δx k-1 + G k-1 W k-1 Among them, δx k represents the error state vector at the current epoch k, δ represents the error symbol, and Φ k / k-1 represents the state transition matrix, which includes the coupling terms of attitude error, installation angle deviation, and scale factor error. δx k-1 represents the error state vector at the previous epoch k - 1, and G k-1 represents the driving matrix of the noise matrix, and W k-1 represents the process noise, including attitude drift, installation angle perturbation, and scale factor noise.

7. The detachable combined inertial navigation rapid installation and calibration method according to claim 6, wherein The expression of the measurement equation is as follows: where δ represents the error symbol, and δz k represents the measurement information, D represents the matrix for converting the Cartesian coordinate system to the geographic coordinate system, represents the vehicle position obtained by dead reckoning INS, represents the vehicle position calculated by GNSS, represents the true value of the vehicle position, D -1 represents the matrix for converting the geographic coordinate system to the Cartesian coordinate system, represents the error between the dead reckoning vehicle position and the true value, e k represents the observation noise.

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