A method, system, and device for online drift self-compensation based on a four-gyroscope conical configuration.

Abstract

This invention relates to the field of gyroscope compensation technology, providing a method, system, and apparatus for online self-compensation of drift based on a four-gyroscope conical configuration. The method includes: activating a hemispherical resonant inertial navigation system (INS), performing initial alignment of the INS, entering navigation mode, and acquiring initial attitude information; based on the initial attitude information, determining whether the carrier's navigation state is a low-dynamic environment and switching the INS to full navigation mode; the INS entering navigation calibration mode and performing drift estimation compensation for redundant gyroscope damping unevenness; determining whether the compensation of the four gyroscopes is complete, ending the compensation if complete, and returning if incomplete. This invention achieves online self-compensation for hemispherical resonant INS damping unevenness drift by sequentially estimating the damping unevenness drift term of the four gyroscopes, while continuously outputting navigation information without relying on external input, effectively improving navigation accuracy.

Description

Technical Field

[0001] This invention relates to the field of gyroscope compensation technology, and provides a method, system and device for online drift self-compensation based on a four-gyroscope conical configuration. Background Technology

[0002] Hemispherical resonant inertial navigation mainly outputs angular velocity information from hemispherical resonant gyroscopes. Based on the Coriolis vibration principle, the hemispherical resonant gyroscope 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 and has advantages such as simple structure, short start-up time, and long-term drift stability. It is hailed as the sensor with the best cost, size, mass and power in the navigation field.

[0003] Due to limitations in current manufacturing processes, unevenly distributed internal stresses remain within the resonator of a hemispherical resonator gyroscope, leading to inconsistent damping at different locations. This, in turn, causes drift in the gyroscope's output due to uneven damping. The mainstream solution to this problem involves error analysis and modeling of the hemispherical resonator, followed by offline compensation for uneven damping drift to improve accuracy. However, in engineering applications, it has been found that when environmental factors such as temperature, humidity, and pressure change, the uneven damping drift of the hemispherical resonator undergoes random variations as the gyroscope ages. This means that the original offline compensation method is insufficient, necessitating further research into real-time online compensation methods for uneven damping drift. Summary of the Invention

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

[0005] This invention provides an online self-compensation method for drift based on a four-gyroscope conical configuration, comprising:

[0006] S1: Start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information;

[0007] S2: Based on the attitude information, determine whether the navigation state of the vehicle is in a low-dynamic environment; if yes, proceed to step S4; otherwise, proceed to step S3.

[0008] S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to step S2;

[0009] S4: The hemispherical resonant inertial navigation system enters the navigation calibration working mode, and performs drift estimation and compensation for the hemispherical resonant inertial navigation system due to the uneven damping of redundant gyroscopes.

[0010] S5: Determine whether the four gyroscopes have been compensated. If they have been compensated, the compensation ends; otherwise, return to step S4.

[0011] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided. Step S1 includes: starting the hemispherical resonant inertial navigation system, setting the inertial navigation system to full navigation mode, so that all four gyroscopes work in full-angle mode, continuously aligning for a time, and acquiring initial attitude information.

[0012] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided, wherein step S2 includes: when the angular velocity of the carrier motion is greater than the low dynamic threshold, the carrier is considered not to be in a low dynamic environment; when the angular velocity of the carrier motion is less than or equal to the low dynamic threshold, the carrier is considered to be in a low dynamic environment.

[0013] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided. The navigation calibration working mode in step S4 includes the following steps:

[0014] S41: Determine the reference orthogonal coordinate system based on the three orthogonally configured accelerometers, and calculate the angular velocity of the carrier based on the angular velocity output vector of the navigation gyroscope.

[0015] S42: Based on the reference orthogonal coordinate system, the angular velocity of the carrier motion is projected onto the redundant gyroscope to obtain the projection value of the carrier motion angular velocity onto the redundant gyroscope;

[0016] S43: Model the damping uneven drift of the redundant gyroscope based on the projection value; perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation;

[0017] S44: Compensate the hemispherical resonant inertial navigation system according to the drift estimation compensation.

[0018] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided, wherein step S41 includes:

[0019] S411: Determine the reference orthogonal coordinate system of the carrier based on the triorthogonal configuration of 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 ;

[0020] S412: Will , , The unit vector converted to 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 :

[0021]

[0022] in, It is the semi-cone angle of the cone;

[0023] S413: According to , , and The direction determines the output vector of the first gyroscope angular velocity. The output vector of the second gyro angular velocity The output vector of the third gyroscope angular velocity The output vector of the fourth gyroscope angular velocity ,according to Calculate the angular velocity of the carrier. .

[0024] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided, wherein step S42 includes:

[0025] according to The unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope :

[0026] ;

[0027] Step S43 includes:

[0028] S431: Calculate the damping non-uniform drift of redundant gyroscopes at different mode angles. :

[0029]

[0030] in, For the force feedback force scale of the resonant gyroscope, For angle control of the hemispherical resonant system, The Bryan coefficient, This refers to the precession angle of the gyroscope's mode.

[0031] S432: Based on the aforementioned hemispherical resonant gyroscope error model, the damping unevenness drift model of the redundant gyroscope is obtained:

[0032]

[0033] in, This represents the constant drift of the gyroscope. For the cosine drift of the gyroscope, This refers to the sinusoidal drift of the gyroscope.

[0034] S433: Based on the aforementioned damping unevenness drift modeling, perform polynomial fitting to obtain the drift estimation compensation. , , .

[0035] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided, wherein step S3 includes:

[0036] The least squares method is used to transform the information from the four gyroscopes into a three-axis orthogonal coordinate system:

[0037]

[0038] in This is the equivalent transformation matrix calculated using the least squares method; Four angular velocity information output by four gyroscopes; This provides the equivalent gyroscope-sensitive angular velocity information in an orthogonal reference coordinate system.

[0039] According to the present invention, a drift online self-compensation method based on a four-gyroscope conical configuration is provided, wherein step S4 further includes:

[0040] When the first gyroscope is a redundant gyroscope, the second, third, and fourth gyroscopes are navigation gyroscopes;

[0041] When the second gyroscope is a redundant gyroscope, the first, third, and fourth gyroscopes are navigation gyroscopes;

[0042] When the third gyroscope is a redundant gyroscope, the first, second, and fourth gyroscopes are navigation gyroscopes;

[0043] When the fourth gyroscope is a redundant gyroscope, the first, second, and third gyroscopes are navigation gyroscopes.

[0044] The present invention also provides a drift online self-compensation system based on a four-gyroscope conical configuration, comprising:

[0045] Initialization module: Used to start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information;

[0046] The first judgment module is used to determine whether the navigation state of the vehicle is in a low-dynamic environment based on the attitude information; if so, it enters the drift compensation module; if not, it enters the full navigation module.

[0047] Full navigation module: Used to switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to the first judgment module;

[0048] Drift compensation module: used to compensate for the drift of the hemispherical resonant inertial navigation system when it enters the navigation calibration working mode, due to the uneven damping of redundant gyroscopes.

[0049] The second judgment module determines whether the four gyroscopes have completed compensation. If compensation is completed, the compensation ends; otherwise, it returns to the drift compensation module.

[0050] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a drift online self-compensation method based on a four-gyroscope conical configuration as described above.

[0051] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0052] This invention designs an online self-compensation method, system, and device for drift based on a four-gyroscope conical configuration, achieving the following advantages:

[0053] 1. Breaking through the limitations of traditional solutions that treat the damping uneven drift of the hemispherical resonant gyroscope as a fixed value and only compensate offline once, this method achieves online real-time compensation for the damping uneven drift error of the inertial navigation system through a four-gyroscope conical configuration. It can dynamically adapt to the changes in the damping uneven drift model of the hemispherical resonant gyroscope in actual applications, and the compensation accuracy is more in line with complex actual working conditions, effectively improving the navigation accuracy of the hemispherical resonant inertial navigation system.

[0054] 2. Breaking through the limitations of traditional solutions that require the inertial navigation system to remain static for extended periods or rely on external turntables or other equipment, this solution does not rely on any external sensor information or external equipment. By setting a dynamic time-sharing working method, it can autonomously compensate for uneven damping errors during navigation, relying solely on the inertial navigation system itself during the dynamic motion of the carrier. This forms a closed-loop mechanism of compensation as it is used, and further optimizes the compensation effect during use.

[0055] 3. Overcoming the limitation of traditional hemispherical resonant inertial navigation systems being unable to output navigation information during the modeling and compensation process for uneven damping drift, this system can simultaneously model and correct errors during continuous navigation, achieving the function of navigation while compensating, avoiding navigation interruption due to offline compensation, and significantly improving the practicality of the hemispherical resonant inertial navigation system.

[0056] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating an online self-compensation method for drift based on a four-gyroscope conical configuration provided by the present invention.

[0059] Figure 2 This is a diagram of the internal structure of a hemispherical resonant inertial navigation system.

[0060] Figure 3 Diagram showing the gyroscope switching sequence in navigation calibration mode.

[0061] Figure 4 This is a comparison chart of navigation attitude errors before and after compensation for uneven damping in the hemispherical resonant inertial navigation system.

[0062] Figure 5 This is a comparison chart of navigation and positioning errors before and after compensation for uneven damping in a hemispherical resonant inertial navigation system.

[0063] Figure 6 This is a structural block diagram of an online self-compensation system for drift based on a four-gyroscope conical configuration provided by the present invention.

[0064] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0065] Figure label:

[0066] 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 Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0068] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0070] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0071] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0072] Example

[0073] The following is combined Figures 1 to 7 This invention is described.

[0074] like Figure 1 As shown, Figure 1 A flowchart illustrating an online self-compensation method for drift based on a four-gyroscope conical configuration provided by this invention includes the following steps:

[0075] S1: Start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information;

[0076] S2: Based on the attitude information, determine whether the navigation state of the vehicle is in a low-dynamic environment; if yes, proceed to step S4; otherwise, proceed to step S3.

[0077] S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to step S2;

[0078] S4: The hemispherical resonant inertial navigation system enters the navigation calibration working mode, and performs drift estimation and compensation for the hemispherical resonant inertial navigation system due to the uneven damping of redundant gyroscopes.

[0079] S5: Determine whether the four gyroscopes have been compensated. If they have been compensated, the compensation ends; otherwise, return to step S4.

[0080] Hemispherical resonant gyroscopes can be mainly divided into two operating modes: force feedback mode and full-angle mode. In full-angle mode, the standing wave of the gyroscope's resonator precesses freely, and the resonant gyroscope can be used as a rate integral gyroscope, i.e., an angular position gyroscope. In force feedback mode, a feedback force is applied to the resonator through a force feedback control loop to excite the standing wave, causing it to overcome the Coriolis force and maintain a constant position with the shell in 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, full-angle mode has a larger dynamic range and is suitable for high-dynamic applications, making it the mainstream solution in strapdown resonant inertial navigation. Force feedback mode has limited gyroscope range and bandwidth, making it suitable for low-dynamic applications, but it can stabilize the standing wave at a specific mode angle with less damping unevenness drift by applying force, significantly reducing the impact of damping unevenness on the gyroscope output.

[0081] Analysis of the two operating modes of the resonant gyroscope reveals that, to resolve the contradiction between inertial navigation damping drift self-compensation and the continuity of system navigation output, at any given moment during inertial navigation operation, at least three spatially independent gyroscopes must be operating in full-angle mode, and at least one redundant gyroscope must be in force feedback mode when the carrier is in low dynamic range. Considering factors such as size, weight, cost, and power consumption, the hemispherical resonant inertial navigation system employs a four-gyroscope redundant configuration, while the accelerometers are a conventional three-axis orthogonal configuration.

[0082] After the hemispherical resonant inertial navigation system (INS) starts working and completes initial alignment, a dynamic time-division multiplexing method is designed based on a four-gyroscope configuration and the intensity of the INS's motion relative to inertial space. The INS operates in two modes: full navigation mode and navigation calibration mode. First, the carrier's dynamics are determined based on the angular velocity measured by the gyroscopes, and the INS operating mode is selected accordingly. When the carrier is in a high-dynamic environment, the INS operates in full navigation mode, with all four gyroscopes operating in full-angle mode, and navigation calculations are performed based on the outputs of the four gyroscopes. When the carrier is in a low-dynamic environment, the INS operates in navigation calibration mode, with three gyroscopes operating in full-angle mode to ensure the continuity and integrity of the navigation information output by the INS. The remaining redundant gyroscope operates in force feedback mode to model and compensate for the damping unevenness drift of the redundant gyroscope. By sequentially switching the redundant gyroscopes, comprehensive compensation for the damping unevenness drift of the four gyroscopes can be achieved, thus enabling the hemispherical resonant INS to achieve self-compensation for damping unevenness drift during continuous navigation, effectively improving the navigation performance of the hemispherical resonant INS.

[0083] Specifically, step S1 includes: starting the hemispherical resonant inertial navigation system, setting the inertial navigation system to full navigation mode, so that all four gyroscopes work in full-angle mode, continuously aligning for time, and acquiring initial attitude information.

[0084] Specifically, step S2 includes: when the angular velocity of the carrier is greater than the low dynamic threshold, the carrier is considered not to be in a low dynamic environment; when the angular velocity of the carrier is less than or equal to the low dynamic threshold, the carrier is considered to be in a low dynamic environment.

[0085] like Figure 2 As shown, Figure 2 The internal structure of the hemispherical resonant inertial navigation system includes a first gyroscope 1, a second gyroscope 2, a third gyroscope 3, a fourth gyroscope 4, and an accelerometer 5.

[0086] Specifically, the navigation calibration working mode in step S4 includes the following steps:

[0087] S41: Determine the reference orthogonal coordinate system based on the three orthogonally configured accelerometers, and calculate the angular velocity of the carrier based on the angular velocity output vector of the navigation gyroscope.

[0088] S42: Based on the reference orthogonal coordinate system, the angular velocity of the carrier motion is projected onto the redundant gyroscope to obtain the projection value of the carrier motion angular velocity onto the redundant gyroscope;

[0089] S43: Model the damping uneven drift of the redundant gyroscope based on the projection value; perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation;

[0090] S44: Compensate the hemispherical resonant inertial navigation system according to the drift estimation compensation.

[0091] Specifically, step S41 includes:

[0092] S411: Determine the reference orthogonal coordinate system of the carrier based on the three orthogonally configured 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 ;

[0093] S412: Will , , The unit vector converted to 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 :

[0094]

[0095] in, The semi-cone angle of the cone. ;

[0096] S413: According to , , and The direction determines the output vector of the first gyroscope angular velocity. The output vector of the second gyro angular velocity The output vector of the third gyroscope angular velocity The output vector of the fourth gyroscope angular velocity ,according to Calculate the angular velocity of the carrier. In this embodiment of the invention, the fourth gyroscope 4 is used as a redundant gyroscope as an example to introduce the gyroscope damping unevenness drift compensation scheme and the formula for calculating the carrier motion angular velocity. for:

[0097]

[0098] in, This indicates the modulo operation.

[0099] Specifically, step S42 includes:

[0100] according to The unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope :

[0101] ;

[0102] The calculation results in this embodiment of the invention are as follows:

[0103]

[0104] Step S43 includes:

[0105] Because a hemispherical resonant gyroscope in force feedback mode can calculate its angular velocity based on the magnitude of the applied control force:

[0106]

[0107] in, For the force feedback force scale of the resonant gyroscope, For angle control of the hemispherical resonant system, The Bryan coefficient, This refers to the precession angle of the gyroscope's mode. To input angular velocity from the outside, To damped uneven drift, This is the first derivative of the gyroscope's mode shape precession angle with respect to time. Controlling the gyroscope to stabilize it at a set mode shape angle yields... .

[0108] S431: Calculate the damping non-uniform drift of redundant gyroscopes at different mode angles:

[0109]

[0110] According to the error model of a hemispherical resonant gyroscope, the damping uneven drift of the resonant gyroscope is expressed by the following formula:

[0111]

[0112] in, Indicates the amplitude of damping unevenness drift. This represents the angle through which the minimum damping axis rotates relative to the mode shape angle of 0 degrees. Therefore, it can be seen that uneven damping drift exhibits symmetrical drift.

[0113] S432: Based on the aforementioned hemispherical resonant gyroscope error model, the damping unevenness drift model of the redundant gyroscope is obtained:

[0114]

[0115] in, This represents the constant drift of the gyroscope. For the cosine drift of the gyroscope, This refers to the sinusoidal drift of the gyroscope.

[0116] S433: Based on the aforementioned damping unevenness drift modeling, perform polynomial fitting to obtain the drift estimation compensation. , , .

[0117] The core of the full navigation working mode is that all four gyroscopes are in full-angle mode, and the output of the four gyroscopes is used to measure the angular velocity of the carrier's motion with high precision.

[0118] Due to the state transition matrix from orthogonal coordinate system to nonorthogonal coordinate system ,because Since the matrix is ​​not a square matrix, it is not invertible. Therefore, the transformation between the orthogonal coordinate system and the non-orthogonal coordinate system of the gyroscope is unidirectional.

[0119] Specifically, step S3 includes:

[0120] The least squares method is used to transform the information from the four gyroscopes into a three-axis orthogonal coordinate system:

[0121]

[0122] in, This is the equivalent transformation matrix calculated using the least squares method; Four angular velocity information output by four gyroscopes; This provides the equivalent gyroscope-sensitive angular velocity information in an orthogonal reference coordinate system.

[0123] Specifically, step S4 also includes:

[0124] 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;

[0125] 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;

[0126] 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;

[0127] 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.

[0128] Specifically, based on the angular velocity of the carrier measured by the gyroscope, the carrier's dynamics are determined, and the inertial navigation operating mode is selected. When the carrier is in a low-dynamic environment, the navigation calibration operating mode is automatically switched on, and three gyroscopes are selected sequentially from the four gyroscopes as navigation gyroscopes according to the order shown in Table 1. This ensures the continuity and integrity of the navigation information output by the inertial navigation system, and the damping uneven drift of the remaining redundant gyroscope is modeled and compensated during the navigation process.

[0129] Table 1. Redundant gyroscope switching sequence in navigation calibration mode

[0130]

[0131] If, during the self-compensation process of a gyroscope, a change in operating mode is encountered due to high dynamics of the carrier, the gyroscope will be prioritized for modeling and compensating for damping uneven drift upon entering the navigation calibration operating mode again. By sequentially and iteratively correcting the damping uneven drift of the four gyroscopes according to Table 1, self-compensation for damping uneven drift in the hemispherical resonant inertial navigation system can be achieved. The switching sequence diagram is shown below. Figure 3 As shown, where Figure 3 The red gyroscope in the middle is a redundant gyroscope in a compensated state.

[0132] The specific experimental steps in this embodiment of the invention are as follows:

[0133] The hemispherical resonant inertial navigation system with four gyroscopes in a conical configuration was powered on, and the initial position coordinates were set. The inertial navigation system was set to full navigation mode, with all four gyroscopes operating in full-angle mode. Initial alignment was performed for 5 minutes using the outputs of the four gyroscopes to obtain initial attitude information.

[0134] The system begins to move. An angular velocity threshold is set to distinguish between the hemispherical resonant inertial navigation system's full navigation mode and its navigation calibration mode. This threshold is set to the average resultant angular velocity of the four gyroscopes within 1 second, which equals 5° / s. In other words, when the resultant 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 mode discrimination period is 1 second.

[0135] When the inertial navigation system is in navigation calibration mode, the mode shape angle of the redundant gyroscope is controlled to precess from 0° to 90° at 3° intervals, and maintained at each mode shape angle for 60 seconds. When the redundant gyroscope completes two complete mode shape angle switching processes, it is considered that the damping uneven drift model of this gyroscope has been established. Subsequently, online compensation for damping uneven drift will be performed based on this model.

[0136] In the navigation calibration working mode, the damping uneven drift of the four gyroscopes is modeled and compensated in a set order.

[0137] If, during the self-compensation process of uneven damping of a certain gyroscope, a switch in the working mode is caused by the high dynamics of the carrier, then when entering the navigation calibration working mode again, the modeling and compensation of uneven damping drift of that gyroscope will be prioritized.

[0138] The result is as follows Figure 4 and Figure 5 As shown. Among them, Figure 4 The diagram shows the navigation attitude error before and after compensation for uneven damping in the hemispherical resonant inertial navigation system. Figure 4 In the middle (a), the pitch angle error is represented. Figure 4 (b) represents the roll angle error. Figure 4 In the middle (c), the heading angle error is shown. It can be clearly seen that the navigation attitude error is significantly reduced after using this scheme for compensation.

[0139] Figure 5 The navigation and positioning errors before and after compensation for uneven damping of the hemispherical resonant inertial navigation system are shown to be significantly reduced after using this compensation method.

[0140] like Figure 6 As shown, Figure 6 The present invention discloses an online self-compensation system for drift based on a four-gyroscope conical configuration, comprising the following modules:

[0141] Initialization module: Used to start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information;

[0142] The first judgment module is used to determine whether the navigation state of the vehicle is in a low-dynamic environment based on the attitude information; if so, it enters the drift compensation module; if not, it enters the full navigation module.

[0143] Full navigation module: Used to switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to the first judgment module;

[0144] Drift compensation module: used to compensate for the drift of the hemispherical resonant inertial navigation system when it enters the navigation calibration working mode, due to the uneven damping of redundant gyroscopes.

[0145] The second judgment module determines whether the four gyroscopes have completed compensation. If compensation is completed, the compensation ends; otherwise, it returns to the drift compensation module.

[0146] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As 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 can call logical instructions in the memory 830 to execute a drift online self-compensation method based on a four-gyroscope conical configuration, the method including:

[0147] S1: Start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information;

[0148] S2: Based on the attitude information, determine whether the navigation state of the vehicle is in a low-dynamic environment; if yes, proceed to step S4; otherwise, proceed to step S3.

[0149] S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to step S2;

[0150] S4: The hemispherical resonant inertial navigation system enters the navigation calibration working mode, and performs drift estimation and compensation for the hemispherical resonant inertial navigation system due to the uneven damping of redundant gyroscopes.

[0151] S5: Determine whether the four gyroscopes have been compensated. If they have been compensated, the compensation ends; otherwise, return to step S4.

[0152] Furthermore, the logical 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 part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0153] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0154] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part 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, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0156] It should be noted that the embodiments of this disclosure can be implemented using hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0157] Furthermore, although the operation of the methods of this disclosure is described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowcharts may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps. It should also be noted that the features and functions of two or more devices according to this disclosure may be embodied in one device. Conversely, the features and functions of one device described above may be further divided and embodied by multiple devices.

[0158] While this disclosure has been described with reference to several specific embodiments, it should be understood that this disclosure is not limited to the specific embodiments disclosed. This 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-gyroscope conical configuration, characterized in that, include: S1: Start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information; Step S1 includes: starting the hemispherical resonant inertial navigation system, setting the inertial navigation system to full navigation mode, so that all four gyroscopes work in full-angle mode, continuously aligning for time, and acquiring initial attitude information; S2: Based on the attitude information, determine whether the navigation state of the vehicle is in a low-dynamic environment; if yes, proceed to step S4; otherwise, proceed to step S3. S3: Switch the hemispherical resonant inertial navigation system to full navigation mode, acquire attitude information, and return to step S2; S4: The hemispherical resonant inertial navigation system enters the navigation calibration mode, performing drift estimation and compensation for the non-uniformity of redundant gyroscope damping in the hemispherical resonant inertial navigation system; the navigation calibration mode includes the following steps: S41: Determine the reference orthogonal coordinate system based on the three orthogonally configured accelerometers, and calculate the angular velocity of the carrier based on the angular velocity output vector of the navigation gyroscope. S42: Based on the reference orthogonal coordinate system, the angular velocity of the carrier motion is projected onto the redundant gyroscope to obtain the projection value of the carrier motion angular velocity onto the redundant gyroscope; S43: Model the damping uneven drift of the redundant gyroscope based on the projection value; perform polynomial fitting based on the damping uneven drift model to obtain drift estimation compensation; S44: Compensate the hemispherical resonant inertial navigation system according to the drift estimation compensation; It also includes: when the first gyroscope is a redundant gyroscope, the second, third, and fourth gyroscopes are navigation gyroscopes; When the second gyroscope is a redundant gyroscope, the first, third, and fourth gyroscopes are navigation gyroscopes; When the third gyroscope is a redundant gyroscope, the first, second, and fourth gyroscopes are navigation gyroscopes; When the fourth gyroscope is a redundant gyroscope, the first, second, and third gyroscopes are navigation gyroscopes. S5: Determine whether the four gyroscopes have been compensated. If they have been compensated, the compensation ends; otherwise, return to step S4.

2. The online self-compensation method for drift based on a four-gyroscope conical configuration according to claim 1, characterized in that, Step S2 includes: when the angular velocity of the carrier is greater than the low dynamic threshold, the carrier is considered not to be in a low dynamic environment; when the angular velocity of the carrier is less than or equal to the low dynamic threshold, the carrier is considered to be in a low dynamic environment.

3. The online self-compensation method for drift based on a four-gyroscope conical configuration according to claim 1, characterized in that, Step S41 includes: S411: Determine the reference orthogonal coordinate system of the carrier based on the triorthogonal configuration of 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: Will , , The unit vector converted to 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, It is the semi-cone angle of the cone; S413: According to , , and The direction determines the output vector of the first gyroscope angular velocity. The output vector of the second gyro angular velocity The output vector of the third gyroscope angular velocity The output vector of the fourth gyroscope angular velocity ,according to Calculate the angular velocity of the carrier. .

4. The online self-compensation method for drift based on a four-gyroscope conical configuration according to claim 3, characterized in that, Step S42 includes: according to The unit vector of the redundant gyroscope Calculate the projection size on the redundant gyroscope : ； Step S43 includes: S431: Calculate the damping non-uniform drift of redundant gyroscopes at different mode angles. : in, For the force feedback force scale of the resonant gyroscope, For angle control of the hemispherical resonant system, The Bryan coefficient, This refers to the precession angle of the gyroscope's mode. S432: Modeling the damping unevenness drift of redundant gyroscopes based on the error model of hemispherical resonant gyroscopes: in, This represents the constant drift of the gyroscope. For the cosine drift of the gyroscope, This refers to the sinusoidal drift of the gyroscope. S433: Based on the aforementioned damping unevenness drift modeling, perform polynomial fitting to obtain the drift estimation compensation. , , .

5. The online self-compensation method for drift based on a four-gyroscope conical configuration according to claim 1, characterized in that, Step S3 includes: The least squares method is used to transform the information from the four gyroscopes into a three-axis orthogonal coordinate system: in, This is the equivalent transformation matrix calculated using the least squares method; Four angular velocity information output by four gyroscopes; This provides the equivalent gyroscope-sensitive angular velocity information in an orthogonal reference coordinate system.

6. A drift online self-compensation system based on a four-gyroscope conical configuration, used to execute the drift online self-compensation method based on a four-gyroscope conical configuration as described in any one of claims 1 to 5, characterized in that, include: Initialization module: Used to start the hemispherical resonant inertial navigation system, perform initial alignment of the hemispherical resonant inertial navigation system, enter the navigation state, and obtain initial attitude information; The first judgment module is used to determine whether the navigation state of the vehicle is in a low-dynamic environment based on the attitude information; if so, 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, acquire attitude information, and return to the first judgment module; Drift compensation module: used to compensate for the drift of the hemispherical resonant inertial navigation system when it enters the navigation calibration working mode, due to the uneven damping of redundant gyroscopes. The second judgment module: determines whether the four gyroscopes have completed compensation. If the compensation is completed, the compensation ends. If compensation is not completed, return to the drift compensation module.

7. An electronic device comprising a memory, a processor, a communication interface, and a communication bus, characterized in that, When the processor executes a computer program, it implements the steps of the online self-compensation method for drift based on a four-gyroscope conical configuration as described in any one of claims 1 to 5.

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