Drifting online self-compensation method, system and device based on four-gyroscope cone configuration

Abstract

The invention relates to the technical field of gyroscope compensation, and provides a drift online self-compensation method, system and device based on four-gyroscope cone configuration. Comprising the following steps: starting a hemispherical resonant inertial navigation system, carrying out initial alignment on the hemispherical resonant inertial navigation system, entering a navigation state, and obtaining initial attitude information; according to the initial attitude information, judging whether the navigation state of the carrier is a low dynamic environment, and switching the hemispherical resonant inertial navigation system into a full navigation mode; enabling the hemispherical resonant inertial navigation system to enter a navigation calibration working mode, and performing drift estimation compensation of redundant gyroscope damping unevenness on the hemispherical resonant inertial navigation system; judging whether the compensation of the four gyroscopes is finished or not, and if the compensation is finished, finishing the compensation; and if the compensation is not finished, returning. According to the method, the damping non-uniform drift terms of the four gyroscopes are estimated in sequence, so that the online self-compensation of the damping non-uniform drift of the hemispherical resonance inertial navigation is completed while the inertial navigation continuously outputs navigation information and does not depend on external input, and the navigation precision is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gyro compensation, and provides a drift online self-compensation method, system and device based on a four-gyro cone configuration. Background Art

[0002] The hemispherical resonant inertial navigation system mainly outputs angular velocity information from a hemispherical resonant gyroscope. The hemispherical resonant gyroscope based on the Coriolis vibration principle is a new type of high-precision solid-state vibration gyroscope. It uses the precession effect of vibration standing waves to sense external angular velocity. It has the advantages of simple structure, short startup time, and long-term drift stability. It is known as the sensor with the best cost, size, quality and power in the navigation field.

[0003] Due to limitations in current manufacturing processes, unevenly distributed internal stress remains within the resonator of a hemispherical resonator gyroscope (HRG), resulting in inconsistent damping at different locations on the resonator. This, in turn, causes the HRG's output to include drift caused by uneven damping. The mainstream solution to this problem is to perform error analysis and error modeling on the HRG, and to use this model to compensate for the uneven damping drift offline, thereby improving the gyro's accuracy. However, in engineering applications, it has been found that when factors such as the temperature, humidity, and pressure of the gyroscope's application environment change, and as the gyroscope ages, the HRG's uneven damping drift will undergo random variations. This means that the existing offline compensation method will no longer meet the requirements, and further research is needed on real-time online compensation methods for uneven damping drift. Summary of the Invention

[0004] The present invention aims to address at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, and device for online drift self-compensation based on a four-gyro conical configuration. This method achieves online self-compensation for uneven damping drift in a hemispherical resonant inertial navigation system while continuously outputting navigation information without relying on external input, effectively improving navigation accuracy.

[0005] The present invention provides a drift online self-compensation method based on a quad-gyro conical configuration, comprising: S1: Start the HRIS, perform initial alignment on the HRIS, enter the navigation state, and obtain initial attitude information. S2: judging whether the navigation state of the carrier is a low dynamic environment according to the posture information; if so, proceeding to step S4; if not, proceeding to step S3; S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return to step S2; S4: The HRIS enters the navigation calibration mode and performs drift estimation and compensation for the uneven damping of the redundant gyroscopes on the HRIS. S5: Determine whether the four gyroscopes have been compensated. If so, the compensation ends. If not, return to step S4.

[0006] According to a drift online self-compensation method based on a four-gyro conical configuration provided by the present invention, step S1 includes: starting a hemispherical resonant inertial navigation system, setting the inertial navigation to a full navigation working mode, so that all four gyros work in a full-angle mode, continuously aligning the time, and obtaining initial attitude information.

[0007] According to a drift online self-compensation method based on a quad-gyro cone configuration provided by the present invention, step S2 includes: when the angular velocity of the carrier movement is greater than the low dynamic threshold, the carrier is deemed not to be in a low dynamic environment; when the angular velocity of the carrier movement is less than or equal to the low dynamic threshold, the carrier is deemed to be in a low dynamic environment.

[0008] According to a drift online self-compensation method based on a quad-gyro conical configuration provided by the present invention, the navigation calibration working mode in step S4 includes the following steps: S41: Determine the reference orthogonal coordinate system based on the three orthogonal accelerometers, and calculate the carrier motion angular velocity based on the angular velocity output vector of the navigation gyroscope. S42: Projecting the carrier motion angular velocity onto the redundant gyroscope based on a reference orthogonal coordinate system to obtain a projection value of the carrier motion angular velocity on the redundant gyroscope; S43: Modeling the damping uneven drift of the redundant gyroscope according to the projection value; performing polynomial fitting based on the damping uneven drift modeling to obtain drift estimation compensation; S44: Compensating the hemispherical resonant inertial navigation system according to the drift estimation compensation.

[0009] According to a drift online self-compensation method based on a quad-gyro cone configuration provided by the present invention, step S41 includes: S411: Determine the reference orthogonal coordinate system of the carrier based on the three orthogonal configured accelerometers ,That The basis vectors of the direction are ;That The basis vectors of the direction are ,That The basis vectors of the direction are ; S412: 、 、 Converted into the unit vector of the first gyro angular velocity , the unit vector of the second gyro angular velocity , the unit vector of the third gyro angular velocity , the unit vector of the fourth gyro angular velocity : in, is the semi-cone angle of the cone; S413: According to , , and The direction of the first gyro angular velocity output vector is determined by , the output vector of the second gyro angular velocity , the output vector of the third gyro angular velocity , the output vector of the fourth gyro angular velocity ,according to Calculate the angular velocity of the carrier .

[0010] According to a drift online self-compensation method based on a quad-gyro cone configuration provided by the present invention, step S42 includes: according to and the unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope : ; Step S43 includes: S431: Calculate the damping uneven drift of redundant gyros at different vibration angles : in, is the resonant gyro force feedback force scale, is the angle control of the hemispherical resonant system, is the Blaine coefficient, is the gyro vibration mode precession angle; S432: Modeling the redundant gyro's damping uneven drift is performed based on the hemispherical resonant gyro error model: in, is the constant drift of the gyroscope, is the cosine drift of the gyroscope, is the sinusoidal drift of the gyroscope; S433: Perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation 、 、 .

[0011] According to a drift online self-compensation method based on a quad-gyro cone configuration provided by the present invention, step S3 includes: The least squares method is used to convert the four-gyro information into a three-axis orthogonal coordinate system: in is the equivalent transformation matrix calculated using the least squares method; Four-way angular velocity information output by four gyroscopes; It is the equivalent gyro sensitive angular velocity information in the orthogonal reference coordinate system.

[0012] According to the drift online self-compensation method based on the quad-gyro cone configuration provided by the present invention, step S4 further includes: When the first gyroscope is a redundant gyroscope, the second gyroscope, the third gyroscope, and the fourth gyroscope are navigation gyroscopes; When the second gyro is a redundant gyro, the first gyro, the third gyro, and the fourth gyro are navigation gyros; When the third gyroscope is a redundant gyroscope, the first gyroscope, the second gyroscope, and the fourth gyroscope are navigation gyroscopes; When the fourth gyroscope is a redundant gyroscope, the first gyroscope, the second gyroscope, and the third gyroscope are navigation gyroscopes.

[0013] The present invention also provides a drift online self-compensation system based on a four-gyro cone configuration, comprising: Initialization module: used to start the hemispherical resonance inertial navigation system, perform initial alignment on the hemispherical resonance inertial navigation system, enter the navigation state, and obtain the initial attitude information; The first judgment module is used to judge whether the navigation state of the carrier is a low dynamic environment based on the posture information; if it is, it enters the drift compensation module; if not, it enters the full navigation module; Full navigation module: used to switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return it to the first judgment module; Drift compensation module: used for the HRIS to enter the navigation calibration mode and perform drift estimation and compensation for the uneven damping of redundant gyroscopes in the HRIS. The second judgment module: judges whether the four gyroscopes have been compensated. If so, the compensation ends; if not, the module returns to the drift compensation module.

[0014] The present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of an online self-compensation method for drift based on a quad-gyro cone configuration as described above are implemented.

[0015] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention achieves the following advantages by designing a drift online self-compensation method, system and device based on a four-gyro cone configuration: 1. This solution breaks through the limitation of traditional solutions that treat the HRG's damping uneven drift as a fixed value and only compensate it offline once. By configuring a four-gyro conical configuration, this system achieves online, real-time compensation for the inertial navigation system's damping uneven drift error. This system can dynamically adapt to changes in the HRG's damping uneven drift model in actual applications, ensuring compensation accuracy that better matches complex actual working conditions and effectively improving the navigation accuracy of the HRG.

[0016] 2. Breaking through the limitations of traditional solutions that require the inertial navigation system to remain static for long periods of time or to rely on external equipment such as a turntable, this system does not rely on any external sensor information or any external equipment. By setting up a dynamic time-sharing working method, it can independently complete the self-compensation correction of the damping unevenness error during the dynamic movement of the carrier, relying solely on the inertial navigation system itself during the navigation process, forming a closed-loop mechanism of compensation during use, and further optimizing the compensation effect during use.

[0017] 3. This solution breaks through the limitation of the traditional hemispherical resonant inertial navigation system that cannot output navigation information during the damping uneven drift modeling and compensation process. It can simultaneously model and correct errors during continuous navigation, realize the function of compensation while navigating, avoid navigation interruption due to offline compensation, and significantly improve the practicality of the hemispherical resonant inertial navigation system.

[0018] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 The present invention provides a flow chart of an online self-compensation method for drift based on a four-gyro cone configuration.

[0021] Figure 2 This is the internal structure diagram of the hemispherical resonant inertial navigation system.

[0022] Figure 3 Diagram of the gyro switching sequence in navigation calibration mode.

[0023] Figure 4 This is a comparison diagram of the navigation attitude error before and after compensation of the uneven damping of the hemispherical resonant inertial navigation.

[0024] Figure 5 This is a comparison chart of navigation positioning errors before and after compensation of uneven damping of hemispherical resonant inertial navigation.

[0025] Figure 6 This is a structural block diagram of a drift online self-compensation system based on a four-gyro cone configuration provided by the present invention.

[0026] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention.

[0027] Reference numerals: 1. First gyroscope; 2. Second gyroscope; 3. Third gyroscope; 4. Fourth gyroscope; 5. Accelerometer; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0029] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of 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 operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0030] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0031] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0032] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0033] Example The following combination Figures 1 to 7 The present invention is described.

[0034] like Figure 1 As shown, Figure 1 The present invention provides a flow chart of a drift online self-compensation method based on a four-gyro cone configuration, comprising the following steps: S1: Start the HRIS, perform initial alignment on the HRIS, enter the navigation state, and obtain initial attitude information. S2: judging whether the navigation state of the carrier is a low dynamic environment according to the posture information; if so, proceeding to step S4; if not, proceeding to step S3; S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return to step S2; S4: The HRIS enters the navigation calibration mode and performs drift estimation and compensation for the uneven damping of the redundant gyroscopes on the HRIS. S5: Determine whether the four gyroscopes have been compensated. If so, the compensation ends. If not, return to step S4.

[0035] Hemispherical resonator gyros (HRGs) can be divided into two main operating modes: force feedback mode and full-angle mode. When in full-angle mode, the standing wave in the gyro's resonator precesses freely, allowing the gyro to function as a rate-integrating gyro, or angular position gyro. In force feedback mode, a force feedback control loop applies a feedback force to the resonator, causing the standing wave to overcome the Coriolis force and maintain alignment with the housing, maintaining a non-precessing state. The theoretical rotational angular velocity of the carrier can be calculated based on the magnitude of the applied feedback force. Comparing the two operating modes, the full-angle mode offers a wide dynamic range, making it suitable for high-dynamic scenarios and the mainstream solution in strapdown resonant inertial navigation. The force feedback mode has limited range and bandwidth, making it suitable for low-dynamic scenarios. However, by applying force, the standing wave can be stabilized at a specific vibration mode angle with minimal damping inequality, significantly reducing the impact of damping inequality on the gyro's output.

[0036] An analysis of the two operating modes of the resonant gyroscopes reveals that resolving the conflict between inertial navigation system damping drift self-compensation and system navigation output continuity requires that at any given moment in the inertial navigation process, at least three spatially independent gyroscopes operate in full-angle mode, and at least one redundant gyroscope is capable of operating in force feedback mode during low-dynamic conditions. For considerations of size, weight, cost, and power consumption, the hemispherical resonant inertial navigation system utilizes a four-gyro redundant configuration, with a conventional three-axis orthogonal accelerometer configuration.

[0037] After the HRIS system begins operation and completes initial alignment, a dynamic time-sharing operation method for the resonant inertial navigation system (IRNS) is designed based on the four-gyro configuration scheme and the intensity of the IRNS system's motion relative to inertial space. The RINS operating modes are divided into full navigation mode and navigation calibration mode. First, the carrier's angular velocity, as measured by the gyroscopes, is used to determine the carrier's dynamics and select the IRNS operating mode. When the carrier is in a high-dynamic environment, the IRNS system operates in full navigation mode, with all four gyroscopes operating in full-angle mode. Navigation calculations are performed based on the gyroscopes' outputs. When the carrier is in a low-dynamic environment, the IRNS system operates in navigation calibration mode, with three gyroscopes operating in full-angle mode to ensure the continuity and integrity of the IRNS system's navigation information output. The remaining redundant gyroscope operates in force feedback mode to model and compensate for the redundant gyroscopes' damping inequality drift. By sequentially switching the redundant gyroscopes, the system can fully compensate for the damping inequality drift of the four gyroscopes. This allows the HRIS system to self-compensate for damping inequality drift during continuous navigation, effectively improving the HRIS navigation performance.

[0038] Specifically, step S1 includes: starting the hemispherical resonant inertial navigation system, setting the inertial navigation to a full navigation working mode, making all four gyroscopes work in a full-angle mode, continuously aligning the time, and obtaining initial attitude information.

[0039] Specifically, step S2 includes: when the carrier's angular velocity is greater than the low-dynamic threshold, the carrier is deemed not to be in a low-dynamic environment; when the carrier's angular velocity is less than or equal to the low-dynamic threshold, the carrier is deemed to be in a low-dynamic environment.

[0040] like Figure 2 As shown, Figure 2 It is the internal structure of the hemispherical resonant inertial navigation system, including a first gyroscope 1, a second gyroscope 2, a third gyroscope 3, a fourth gyroscope 4, and an accelerometer 5.

[0041] Specifically, the navigation calibration working mode in step S4 includes the following steps: S41: Determine the reference orthogonal coordinate system based on the three orthogonal accelerometers, and calculate the carrier motion angular velocity based on the angular velocity output vector of the navigation gyroscope. S42: Projecting the carrier motion angular velocity onto the redundant gyroscope based on a reference orthogonal coordinate system to obtain a projection value of the carrier motion angular velocity on the redundant gyroscope; S43: Modeling the damping uneven drift of the redundant gyroscope according to the projection value; performing polynomial fitting based on the damping uneven drift modeling to obtain drift estimation compensation; S44: Compensating the hemispherical resonant inertial navigation system according to the drift estimation compensation.

[0042] Specifically, step S41 includes: S411: Determine the reference orthogonal coordinate system of the carrier based on the three orthogonal accelerometers 5 ,That The basis vectors of the direction are ;That The basis vectors of the direction are ,That The basis vectors of the direction are ; S412: 、 、 Converted into the unit vector of the first gyro angular velocity , the unit vector of the second gyro angular velocity , the unit vector of the third gyro angular velocity , the unit vector of the fourth gyro angular velocity : in, is the semi-cone angle of the cone, ; S413: According to , , and The direction of the first gyro angular velocity output vector is determined by , the output vector of the second gyro angular velocity , the output vector of the third gyro angular velocity , the output vector of the fourth gyro angular velocity ,according to Calculate the angular velocity of the carrier In the embodiment of the present invention, the fourth gyroscope 4 is used as a redundant gyroscope as an example to introduce the gyroscope damping uneven drift compensation scheme and the carrier motion angular velocity calculation formula for: in, Represents the modulo operation.

[0043] Specifically, step S42 includes: according to and the unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope : ; The calculation results in the embodiment of the present invention are: Step S43 includes: Since the hemispherical resonant gyroscope can calculate the gyroscope angular velocity according to the magnitude of the applied control force in the force feedback mode: in, is the resonant gyro force feedback force scale, is the angle control of the hemispherical resonant system, is the Blaine coefficient, is the gyro vibration mode precession angle, is the external input angular velocity, To damp uneven drift, is the first derivative of the gyro vibration mode precession angle with respect to time. To control the gyro to stabilize it at the set vibration mode angle, we have .

[0044] S431: Calculate the damping uneven drift of redundant gyros at different vibration angles: According to the hemispherical resonant gyro error model, the damping uneven drift of the resonant gyro is expressed as follows: in, represents the amplitude of the damping uneven drift, It represents the angle that the minimum damping axis rotates relative to the vibration mode angle of 0 degrees. This shows that the damping uneven drift is a symmetrical drift.

[0045] S432: Modeling the redundant gyro's damping uneven drift is performed based on the hemispherical resonant gyro error model: in, is the constant drift of the gyroscope, is the cosine drift of the gyroscope, is the sinusoidal drift of the gyroscope; S433: Perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation 、 、 .

[0046] The core of the full navigation working mode is that all four gyroscopes are in full-angle state, and the output of the four gyroscopes is used to perform high-precision and accurate measurement of the angular velocity of the carrier motion.

[0047] Since the state transfer matrix from the orthogonal coordinate system to the non-orthogonal coordinate system ,because The matrix is ​​not square and therefore not reversible, so the conversion between the orthogonal coordinate system and the gyroscopic non-orthogonal coordinate system is one-way.

[0048] Specifically, step S3 includes: The least squares method is used to convert the four-gyro information into a three-axis orthogonal coordinate system: in, is the equivalent transformation matrix calculated using the least squares method; Four-way angular velocity information output by four gyroscopes; It is the equivalent gyro sensitive angular velocity information in the orthogonal reference coordinate system.

[0049] Specifically, step S4 further includes: When the first gyroscope 1 is a redundant gyroscope, the second gyroscope 2, the third gyroscope 3, and the fourth gyroscope 4 are navigation gyroscopes; When the second gyroscope 2 is a redundant gyroscope, the first gyroscope 1, the third gyroscope 3, and the fourth gyroscope 4 are navigation gyroscopes; When the third gyroscope 3 is a redundant gyroscope, the first gyroscope 1, the second gyroscope 2, and the fourth gyroscope 4 are navigation gyroscopes; When the fourth gyroscope 4 is a redundant gyroscope, the first gyroscope 1 , the second gyroscope 2 , and the third gyroscope 3 are navigation gyroscopes.

[0050] Specifically, the carrier's dynamics are determined based on the carrier's angular velocity measured by the gyroscopes, and the inertial navigation operating mode is selected. When the carrier is in a low-dynamic environment, the system automatically switches to navigation calibration mode, selecting three gyroscopes from the four gyroscopes as navigation gyroscopes in the order shown in Table 1. This ensures the continuity and integrity of the navigation information output by the inertial navigation system. During navigation, the system also models and compensates for the damping inequality drift of the remaining redundant gyroscope.

[0051] Table 1 Redundant gyro switching sequence in navigation calibration mode

[0052] If the operating mode is switched due to high dynamics of the carrier during the self-compensation process of a certain gyro, the gyro will be given priority to modeling and compensating for the damping uneven drift when entering the navigation calibration working mode next time. By cyclically correcting the damping uneven drift of the four gyros according to Table 1, the self-compensation of the damping uneven drift of the hemispherical resonant inertial navigation system can be achieved. The switching sequence diagram is shown in the figure below. Figure 3 As shown, Figure 3 The red gyro in the middle is a redundant gyro in compensation state.

[0053] The specific test steps in the embodiment of the present invention are as follows: The hemispherical resonant inertial navigation system with four gyros in a conical configuration was powered on, the initial position coordinates were bound, and the inertial navigation was set to full navigation mode. All four gyros worked in full-angle mode. The outputs of the four gyros were used to perform an initial alignment for 5 minutes to obtain the initial attitude information.

[0054] When the body begins to move, set the angular velocity threshold to distinguish between the full navigation mode and the navigation calibration mode. The threshold is set to the average combined angular velocity of the four gyroscopes within 1 second, equal to 5° / s. That is, when the combined angular velocity measured by the four gyroscopes is less than or equal to 5° / s, the inertial navigation system is in navigation calibration mode. The operating mode determination period is 1 second.

[0055] When the inertial navigation system is in navigation calibration mode, the redundant gyro's vibration angle is controlled to precess from 0° to 90° at intervals of 3°, maintaining each vibration angle for 60 seconds. When the redundant gyro completes two complete vibration angle switching processes, the damping uneven drift model of this gyro is considered to be established. Subsequently, online compensation for damping uneven drift will be performed based on this model.

[0056] In the navigation calibration working mode, the damping uneven drift of the four gyroscopes is modeled and compensated in a set order.

[0057] If the operating mode is switched due to high dynamics of the carrier during the self-compensation of the damping unevenness of a gyroscope, the gyroscope will be given priority for modeling and compensation of the damping unevenness drift when entering the navigation calibration working mode next time.

[0058] The results are as follows Figure 4 and Figure 5 As shown. Among them, Figure 4 This is the navigation attitude error diagram before and after compensation of the uneven damping of the hemispherical resonant inertial navigation. Figure 4 (a) is the pitch angle error, Figure 4 (b) is the roll angle error, Figure 4 (c) in the middle is the heading angle error. It can be clearly seen that the navigation attitude error is significantly reduced after compensation using this solution.

[0059] Figure 5 This is the navigation positioning error before and after compensation for uneven damping of the hemispherical resonant inertial navigation. It can be clearly seen that the navigation positioning error is significantly reduced after compensation using this solution.

[0060] like Figure 6 As shown, Figure 6 The present invention adopts a drift online self-compensation system based on a four-gyro cone configuration, comprising the following modules: Initialization module: used to start the hemispherical resonance inertial navigation system, perform initial alignment on the hemispherical resonance inertial navigation system, enter the navigation state, and obtain the initial attitude information; The first judgment module is used to judge whether the navigation state of the carrier is a low dynamic environment based on the posture information; if it is, it enters the drift compensation module; if not, it enters the full navigation module; Full navigation module: used to switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return it to the first judgment module; Drift compensation module: used for the HRIS to enter the navigation calibration mode and perform drift estimation and compensation for the uneven damping of redundant gyroscopes in the HRIS. The second judgment module: judges whether the four gyroscopes have been compensated. If so, the compensation ends; if not, the module returns to the drift compensation module.

[0061] Figure 7 An example of a physical structure diagram of an electronic device is shown below. Figure 7 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a drift online self-compensation method based on a quad-gyro conical configuration, the method comprising: S1: Start the HRIS, perform initial alignment on the HRIS, enter the navigation state, and obtain initial attitude information. S2: judging whether the navigation state of the carrier is a low dynamic environment according to the posture information; if so, proceeding to step S4; if not, proceeding to step S3; S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return to step S2; S4: The HRIS enters the navigation calibration mode and performs drift estimation and compensation for the uneven damping of the redundant gyroscopes on the HRIS. S5: Determine whether the four gyroscopes have been compensated. If so, the compensation ends. If not, return to step S4.

[0062] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0063] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0064] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0066] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0067] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of a device described above can be further divided into being embodied by multiple devices.

[0068] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A drift online self-compensation method based on a four-gyro conical configuration, characterized in that: include: S1: Start the HRIS, perform initial alignment on the HRIS, enter the navigation state, and obtain initial attitude information. S2: judging whether the navigation state of the carrier is a low dynamic environment according to the posture information; if so, proceeding to step S4; if not, proceeding to step S3; S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return to step S2; S4: The HRIS enters the navigation calibration mode and performs drift estimation and compensation for the uneven damping of the redundant gyroscopes on the HRIS. S5: Determine whether the four gyroscopes have been compensated. If so, the compensation ends. If not, return to step S4.

2. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 1, characterized in that: Step S1 includes: starting the hemispherical resonant inertial navigation system, setting the inertial navigation system to a full navigation working mode, making all four gyroscopes work in a full-angle mode, continuously aligning the time, and obtaining initial attitude information.

3. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 2, characterized in that: Step S2 includes: when the carrier's angular velocity is greater than a low-dynamic threshold, the carrier is deemed not to be in a low-dynamic environment; when the carrier's angular velocity is less than or equal to the low-dynamic threshold, the carrier is deemed to be in a low-dynamic environment.

4. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 1, characterized in that: The navigation calibration working mode in step S4 includes the following steps: S41: Determine the reference orthogonal coordinate system based on the three orthogonal accelerometers, and calculate the carrier motion angular velocity based on the angular velocity output vector of the navigation gyroscope. S42: Projecting the carrier motion angular velocity onto the redundant gyroscope based on a reference orthogonal coordinate system to obtain a projection value of the carrier motion angular velocity on the redundant gyroscope; S43: Modeling the damping uneven drift of the redundant gyroscope according to the projection value; performing polynomial fitting based on the damping uneven drift modeling to obtain drift estimation compensation; S44: Compensating the hemispherical resonant inertial navigation system according to the drift estimation compensation.

5. The drift online self-compensation method based on the quad-gyro cone configuration according to claim 4, characterized in that: Step S41 includes: S411: Determine the reference orthogonal coordinate system of the carrier based on the three orthogonal configured accelerometers ,That The basis vectors of the direction are ;That The basis vectors of the direction are ,That The basis vectors of the direction are ; S412: 、 、 Converted into the unit vector of the first gyro angular velocity , the unit vector of the second gyro angular velocity , the unit vector of the third gyro angular velocity , the unit vector of the fourth gyro angular velocity : in, is the semi-cone angle of the cone; S413: According to , , and The direction of the first gyro angular velocity output vector is determined by , the output vector of the second gyro angular velocity , the output vector of the third gyro angular velocity , the output vector of the fourth gyro angular velocity ,according to Calculate the angular velocity of the carrier .

6. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 5, characterized in that: Step S42 includes: according to and the unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope : ； Step S43 includes: S431: Calculate the damping uneven drift of redundant gyros at different vibration angles : in, is the resonant gyro force feedback force scale, is the angle control of the hemispherical resonant system, is the Blaine coefficient, is the gyro vibration mode precession angle; S432: Modeling is performed based on the hemispherical resonant gyro error model to obtain a damping uneven drift model of the redundant gyro: in, is the constant drift of the gyroscope, is the cosine drift of the gyroscope, is the sinusoidal drift of the gyroscope; S433: Perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation 、 、 .

7. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 1, characterized in that: Step S3 includes: The least squares method is used to convert the four-gyro information into a three-axis orthogonal coordinate system: in, is the equivalent transformation matrix calculated using the least squares method; Four-way angular velocity information output by four gyroscopes; It is the equivalent gyro sensitive angular velocity information in the orthogonal reference coordinate system.

8. The drift online self-compensation method based on a quad-gyro cone configuration according to claim 1, characterized in that: Step S4 further includes: When the first gyroscope is a redundant gyroscope, the second gyroscope, the third gyroscope, and the fourth gyroscope are navigation gyroscopes; When the second gyro is a redundant gyro, the first gyro, the third gyro, and the fourth gyro are navigation gyros; When the third gyroscope is a redundant gyroscope, the first gyroscope, the second gyroscope, and the fourth gyroscope are navigation gyroscopes; When the fourth gyroscope is a redundant gyroscope, the first gyroscope, the second gyroscope, and the third gyroscope are navigation gyroscopes.

9. A drift online self-compensation system based on a quad-gyro conical configuration, used to implement the drift online self-compensation method based on a quad-gyro conical configuration as claimed in any one of claims 1 to 8, characterized in that: include: Initialization module: used to start the hemispherical resonance inertial navigation system, perform initial alignment on the hemispherical resonance inertial navigation system, enter the navigation state, and obtain the initial attitude information; The first judgment module is used to judge whether the navigation state of the carrier is a low dynamic environment based on the posture information; if it is, it enters the drift compensation module; if not, it enters the full navigation module; Full navigation module: used to switch the hemispherical resonant inertial navigation system to full navigation mode, obtain attitude information, and return it to the first judgment module; Drift compensation module: used for the HRIS to enter the navigation calibration mode and perform drift estimation and compensation for the uneven damping of redundant gyroscopes in the HRIS. The second judgment module: judges whether the compensation of the four gyroscopes is completed, and ends the compensation if the compensation is completed; If compensation is not completed, return to the drift compensation module.

10. An electronic device comprising a memory, a processor, a communication interface and a communication bus, characterized in that: When the processor executes the computer program, the steps of the drift online self-compensation method based on the quad-gyro cone configuration as claimed in any one of claims 1 to 8 are implemented.

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