Single-axis rotation modulation inertial measurement unit resolver angle calibration compensation method based on attitude calculation

Abstract

The invention discloses a single-axis rotation modulation inertial measurement unit resolver angle calibration compensation method based on attitude calculation, which comprises the following steps: calibrating an installation deviation angle, and establishing an attitude conversion matrix of a body coordinate system B and a rotating shaft resolver coordinate system S; performing self-alignment by the inertial measurement unit to obtain a reference attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n; the inertial measurement unit enters a navigation tracking mode, the internal frame drives the body sensitive body to rotate for a whole circle, multiple groups of attitude conversion matrixes of the body coordinate system B relative to the geographic coordinate n at the same moment are collected and recorded, and the frame rotates to output angles; according to a matrix conversion relation, obtaining an attitude conversion matrix between a rotating shaft resolver coordinate system S (k) and a box coordinate system G corresponding to each resolver angle position k; according to the matrix corresponding to each resolver angle position k, calculating to obtain a theoretical frame angle value corresponding to each resolver angle position k; and obtaining a fitting function according to the error angle and the frame resolver output angle, and obtaining a rotation angle value after real-time compensation.

Description

TECHNICAL FIELD

[0001] The application relates to a single-axis rotary modulation inertial measurement unit resolver angle calibration compensation method based on attitude solution, and belongs to the technical field of error compensation of mechatronic assemblies. BACKGROUND

[0002] The resolver has the advantages of good stability, low cost, high precision and strong anti-interference, and is a widely used angular displacement sensor, and plays an important role in rotary inertial navigation assemblies, rotary table control, electric vehicles and the like. As a measurement and feedback device of the angular position and angular velocity in a control system, the resolver determines the control effect, and in particular, when the rotary inertial navigation assembly is used for rotary modulation navigation, the accuracy of the resolver directly determines the accuracy of the attitude demodulation. However, due to the reasons of manufacturing and installation, distortion of the excitation signal and harmonic interference, the output signal of the resolver inevitably has errors such as uneven amplitude, phase shift and harmonic disturbance, and the rotation angle value directly solved from the output signal contains an error angle, thereby reducing the system accuracy. Therefore, the resolver must be calibrated and compensated.

[0003] In the 24th volume of the 2nd issue of Computer Technology and Development, Shandan of the School of Automation, Northwestern Polytechnical University, proposes a resolver error analysis and correction method. In view of the problem that the output signal of the resolver has errors and affects the angular measurement accuracy, the error model of the measured angle is established from three main aspects of the structure of the resolver, harmonic interference of the excitation signal and noise interference, the actual error value of the angle is obtained by using a 24-face polyhedron and a collimator calibration method, and the error model parameters are calculated by combining a general global optimization algorithm and a curve fitting method. However, the method mainly has the following problems:

[0004] The method needs to use a polyhedron and a collimator device, and has a strong dependence on external devices.

[0005] If the resolver is installed in a miniaturized device, especially in a miniaturized rotary modulation inertial measurement unit, the above method cannot be used for calibration and compensation. SUMMARY

[0006] The technical problem of the application is to overcome the shortcomings of the prior art, and to provide a single-axis rotary modulation inertial measurement unit resolver angle calibration compensation method based on attitude solution, which is free from dependence on external collimator and polyhedron devices, and realizes simple and high-precision resolver compensation.

[0007] The technical solution of the application is:

[0008] The application discloses a single-axis rotary modulation inertial measurement unit resolver angle calibration compensation method based on attitude solution, which comprises the following steps:

[0009] Calibrate installation deviation angle, and establish the attitude conversion matrix of the body coordinate system B and the rotation axis rotation variable coordinate system S;

[0010] The inertial measurement unit performs self-alignment to obtain a reference attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n;

[0011] The inertial measurement unit enters a navigation tracking mode, and records the attitude conversion matrix of the body coordinate system relative to the geographic coordinate system and the frame rotation variable output angle at the kth angle position of the rotation variable;

[0012] According to the reference attitude conversion matrix, the attitude conversion matrix of the body coordinate system relative to the geographic coordinate system at each corresponding rotation variable angle position k, and the attitude conversion matrix, the attitude conversion matrix between the rotation axis rotation variable coordinate system S(k) and the box coordinate system G corresponding to each rotation variable angle position k is obtained through matrix conversion relationship;

[0013] According to the matrix corresponding to each rotation variable angle position k, the theoretical frame angle value corresponding to each rotation variable angle position k is calculated;

[0014] According to the theoretical frame angle value and the frame rotation variable output angle, the fitting function coefficient is obtained;

[0015] According to the fitting function, the compensated rotation angle value is obtained.

[0016] Further, in the above method, the calibration installation deviation angle, and the establishment of the attitude conversion matrix of the body coordinate system B and the rotation axis rotation variable coordinate system S are specifically as follows:

[0017]

[0018] Wherein, is the attitude conversion matrix of the body coordinate system B and the rotation axis rotation variable coordinate system S, B is the body sensitive component measurement coordinate system; S is the rotation axis rotation variable coordinate system; G is the single-axis rotation modulation inertial measurement unit box coordinate system, Δθ is the pitch angle error of the body sensitive component measurement coordinate system B and the rotation axis rotation variable coordinate system S, and Δγ is the roll angle error of the body sensitive component measurement coordinate system B and the rotation axis rotation variable coordinate system S.

[0019] Further, in the above method, the reference attitude conversion matrix is specifically as follows:

[0020] After the self-alignment of the inertial measurement unit is completed, the conversion matrix of the body sensitive coordinate system B relative to the geographic coordinate system n is obtained

[0021] The rotation modulation inertial measurement unit is placed on the platform and kept fixed, and the box coordinate system G is kept unchanged relative to the geographic coordinate system n. After the frame in the inertial measurement unit returns to zero position, the rotation axis rotation variable coordinate system S coincides with the box coordinate system G, that is,

[0022]

[0023] the base attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n is:

[0024]

[0025] wherein, is the transpose matrix of.

[0026] Further, in the above method, the body coordinate system relative to the geographic coordinate attitude conversion matrix at the kth angle position of the rotation variable and the frame rotation variable output angle are collected, specifically:

[0027] The single-axis rotation modulation inertial measurement unit enters the navigation tracking mode, the single-axis rotation modulation inertial measurement unit drives the body sensitive body to rotate one revolution, and the rotation angle position data sampling is performed at equal angle intervals. The sampling time interval is the same as the navigation period; the total number of sampling points is N;

[0028] The body coordinate system B(k) relative to the geographic coordinate n at the kth angle position of the rotation variable is output in real time And collect the angle a output by the frame rotation variable x(k) wherein k = 1, 2, 3, … N.

[0029] Further, in the above method, the attitude conversion matrix is specifically:

[0030]

[0031] wherein, is the attitude conversion matrix between the rotation variable axis coordinate system S(k) and the box coordinate system G corresponding to each rotation variable angle position k, is the base attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n; is the attitude conversion matrix of the body coordinate system B(k) relative to the geographic coordinate n at the kth angle position; is the relative conversion matrix of the body coordinate system B(k) to the rotation variable axis coordinate system S(k) at the kth angle position; is the attitude conversion matrix of the body coordinate system B and the rotation variable axis coordinate system S.

[0032] Further, in the above method, the theoretical frame angle value corresponding to each rotation variable angle position k is specifically:

[0033]

[0034] wherein, For each rotation angle position k, the attitude conversion matrix between the rotation axis coordinate system S(k) and the box coordinate system G is obtained; r(k) is the theoretical frame angle value corresponding to each resolver angle position k, k = 1, 2, ... N, N is the number of sampling points.

[0035] Furthermore, in the above method, the fitting function is specifically:

[0036] The theoretical frame angle value α corresponding to each resolver angle position k r(k) , and the corresponding frame resolver output angle α x(k) Subtract and get the error angle Δα corresponding to each resolver angle position k k , where k = 1, 2, 3, ... N, N is the total number of sampling points;

[0037] With error angle Δα k As the dependent variable, the frame rotation output angle α x(k) As the independent variable, the fitting function coefficient a is obtained by fitting i , b i , c i ;

[0038] According to the fitting function coefficients, the fitting function is obtained:

[0039]

[0040] Among them, θ is the rotation angle output value, The compensation angle value is calculated by fitting the function corresponding to the current rotation angle output value.

[0041] Furthermore, in the above method, the corresponding compensated rotation angle value is obtained according to the fitting function, specifically:

[0042]

[0043] Among them, θ' is the rotation angle value after compensation, θ is the rotation angle output value, The compensation angle value is calculated by fitting the function corresponding to the current rotation angle output value.

[0044] The beneficial effects of the present invention and the prior art are:

[0045] (1) The present invention adopts a posture matrix established by a high-precision inertial instrument and a solution for calibrating and compensating the output angle of the rotary transformer, thereby improving the accuracy of the rotary transformer angle of the rotary modulation inertial group and reducing the attitude demodulation accuracy error of the rotary modulation inertial group, and has high engineering application value;

[0046] (2) the application adopts the rotary modulation inertial measurement unit placed on the marble platform box coordinate system fixed, and combines the attitude conversion matrix relationship, realizes the multi-point data acquisition and error compensation calculation of the whole rotation angle, and the rotary variable angle compensation precision is high;

[0047] (3) the application adopts the fitting compensation scheme of the sine function polynomial, realizes the high-precision compensation of the rotary variable angle, solves the technical problems of large error caused by self-manufacturing installation, excitation signal distortion and harmonic interference, and the fitting formula is simple and reliable, and the engineering is easy to realize. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is the schematic diagram of the single-axis rotary modulation inertial measurement unit of the application;

[0049] Figure 2 is the rotary variable angle compensation implementation flowchart of the rotary modulation inertial measurement unit of the application. DETAILED DESCRIPTION

[0050] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0051] As shown in the drawings, Figure 2 the application provides a rotary modulation inertial measurement unit rotary variable angle calibration compensation method based on attitude solution, comprising the following steps:

[0052] The application discloses a single-axis rotary modulation inertial measurement unit rotary variable angle calibration compensation method based on attitude solution, comprising:

[0053] Calibrate the installation deviation angle, and establish the attitude conversion matrix of the body coordinate system B and the rotation axis rotary variable coordinate system S

[0054] The inertial measurement unit is self-aligned, and the reference attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n is obtained

[0055] The inertial measurement unit enters the navigation tracking mode, and the body coordinate system relative to the geographic coordinate attitude conversion matrix at the same moment of the kth angle position of the rotary variable is collected and recorded and the frame rotary variable output angle alpha x(k) ;

[0056] According to the reference attitude conversion matrix The body coordinate system relative to the geographic coordinate attitude conversion matrix of each corresponding rotary variable angle position k and the attitude conversion matrix Through the matrix conversion relationship, the attitude conversion matrix between the rotation axis rotary variable coordinate system S(k) and the box coordinate system G corresponding to each rotary variable angle position k is obtained

[0057] According to the matrix corresponding to each rotation angle position k The theoretical frame angle value a corresponding to each rotation angle position k is calculated r(k) ;

[0058] The theoretical frame angle value a r(k) is subtracted from the frame rotation output angle a x(k) to obtain the error angle D a corresponding to each rotation angle position k k ;

[0059] The error angle D a k is taken as the dependent variable, and the frame rotation output angle a x(k) is taken as the independent variable to perform data fitting to obtain the fitting function coefficient;

[0060] According to the fitting function, the compensated rotation angle value is obtained.

[0061] Preferably, the installation deviation angle is calibrated to establish the attitude conversion matrix of the body coordinate system B and the rotation shaft rotation coordinate system S Specifically:

[0062]

[0063] Wherein, B is the body sensitive component measurement coordinate system; S is the rotation shaft rotation coordinate system; G is the single-axis rotation modulation inertial measurement unit box coordinate system, D theta is the pitch angle error of the body sensitive component measurement coordinate system B and the rotation shaft rotation coordinate system S, and D gamma is the roll angle error of the body sensitive component measurement coordinate system B and the rotation shaft rotation coordinate system S.

[0064] Preferably, the reference attitude conversion matrix Specifically:

[0065] After the inertial measurement unit self-alignment is completed, the conversion matrix of the body sensitive coordinate system B relative to the geographic coordinate system n is obtained

[0066] The rotation modulation inertial measurement unit is placed on the platform and kept fixed, and the box coordinate system G relative to the geographic coordinate system n remains unchanged. After the inner frame of the inertial measurement unit returns to zero, the rotation shaft rotation coordinate system S coincides with the box coordinate system G, that is,

[0067]

[0068] The reference attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n is:

[0069]

[0070] Wherein, is the transpose matrix of .

[0071] Preferably, the body coordinate system at the kth rotation angle position is recorded simultaneously with the attitude conversion matrix of the body coordinate system relative to the geographic coordinate system and the frame rotation output angle α x(k) Specifically,

[0072] The single-axis rotation modulation inertial measurement unit enters a navigation tracking mode, the single-axis rotation modulation inertial measurement unit drives the body sensitive body to rotate one revolution, and the rotation angle position data is sampled at equal angle intervals, the sampling time interval is the same as the navigation period; the total number of sampling points is N.

[0073] The body coordinate system B(k) at the kth rotation angle position is recorded simultaneously with the attitude conversion matrix of the body coordinate system relative to the geographic coordinate system n and the frame rotation output angle α x(k) , wherein k = 1, 2, 3, … N.

[0074] Preferably, the attitude conversion matrix Specifically,

[0075]

[0076] , wherein is the reference attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n; is the attitude conversion matrix of the body coordinate system B(k) at the kth rotation angle position relative to the geographic coordinate system n; is the relative conversion matrix of the body coordinate system B(k) at the kth rotation angle position to the rotation axis coordinate system S(k); is the attitude conversion matrix of the body coordinate system B and the rotation axis rotation modulation coordinate system S.

[0077] Preferably, the theoretical frame angle value α r(k) corresponding to each rotation angle position k of the rotation modulation

[0078]

[0079] , wherein is the attitude conversion matrix between the rotation axis rotation modulation coordinate system S(k) and the box coordinate system G corresponding to each rotation angle position k of the rotation modulation; α r(k) is the theoretical frame angle value corresponding to each rotation angle position k, k = 1, 2, … N, and N is the number of sampling points.

[0080] Preferably, the fitting function is specifically

[0081] The theoretical frame angle value α r(k) corresponding to each rotation angle position k of the rotation modulation is fitted with the corresponding frame rotation output angle α x(k)Subtract and get the error angle Δα corresponding to each resolver angle position k k , where k = 1, 2, 3, ... N, N is the total number of sampling points;

[0082] With error angle Δα k As the dependent variable, the frame rotation output angle α x(k) As the independent variable, the fitting function coefficient a is obtained by fitting i , b i , c i ;

[0083] According to the fitting function coefficients, the fitting function is obtained:

[0084]

[0085] Among them, θ is the rotation angle output value, The compensation angle value is calculated by fitting the function corresponding to the current rotation angle output value.

[0086] Preferably, the corresponding compensated rotation angle value is obtained according to the fitting function, specifically:

[0087]

[0088] Among them, θ' is the rotation angle value after compensation, θ is the rotation angle output value, The compensation angle value is calculated by fitting the function corresponding to the current rotation angle output value.

[0089] Example

[0090] like Figure 2 As shown, this embodiment provides a method for calibrating and compensating the rotation angle of a rotation-modulated inertial unit based on attitude solution, comprising the following steps:

[0091] 1. Use Figure 1 The single-axis rotation modulation inertial group device shown in the figure calibrates the installation deviation angle and establishes the attitude transformation matrix between the body coordinate system B and the axis rotation coordinate system S. Specifically:

[0092]

[0093] Among them, B is the measurement coordinate system of the body sensitive component, which is fixedly connected to the body sensitive component; S is the shaft resolver coordinate system, which is fixedly connected to the resolver rotation axis and rotates with the body sensitive component; G is the single-axis rotation modulation inertial group box coordinate system, Δθ is the pitch angle error between the body sensitive component measurement coordinate system B and the shaft resolver coordinate system S, and Δγ is the roll angle error between the body sensitive component measurement coordinate system B and the shaft resolver coordinate system S.

[0094] Since the single-axis rotation modulation makes the body sensitive body rotate one circle with the frame, the coordinate system of the body sensitive component at the kth position is B(K), and the rotation axis coordinate system is S(K). Since the rotation axis is fixed with the body sensitive body, the relative conversion matrix of B(K) to S(K) remains unchanged, and thus the following is obtained:

[0095]

[0096] wherein and are the transpose matrices of and respectively.

[0097] 2. After the self-alignment of the rotation modulation inertial measurement unit is completed, the reference attitude conversion matrix is obtained after the internal frame of the inertial measurement unit is returned to the zero position Specifically,

[0098] After the self-alignment of the inertial measurement unit is completed, the conversion matrix of the body sensitive coordinate system B relative to the geographic coordinate system n can be obtained Since the rotation modulation inertial measurement unit is placed on a marble platform and remains fixed, the box coordinate system G remains unchanged relative to the geographic coordinate system n. At the same time, after the internal frame of the inertial measurement unit is returned to the zero position, the rotation axis coordinate system S coincides with the box coordinate system G, i.e.

[0099]

[0100] Therefore, the attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n, i.e. the reference attitude conversion matrix can be obtained by the following formula:

[0101]

[0102] 3. The rotation angle position is sampled at equal intervals, and the attitude conversion matrix between the rotation axis coordinate system S(k) and the box coordinate system G corresponding to each rotation angle position k is obtained The theoretical frame angle value α corresponding to each rotation angle position k is calculated r(k) .

[0103] For the single-axis rotation modulation inertial measurement unit, then perform a 0-360° full circle rotation at a speed of 20° / s, which takes 9s. The sampling time interval is the same as the navigation period, which is 5ms, so the total number of sampling points is 1800, and the angle interval is 0.1°. When the single-axis rotation modulation inertial measurement unit enters the navigation tracking mode, the attitude conversion matrix of the body coordinate system B(K) relative to the geographic coordinate n at the kth angle position can be output in real time and the angle α output by the frame rotation is collected x(k) wherein k = 1, 2, 3, 4, 5, 6 … 1800.

[0104] Then each rotation angle position k corresponds to the attitude conversion matrix between the rotation axis coordinate system S(k) and the box coordinate system G The following formula can be obtained:

[0105]

[0106] Wherein is the attitude conversion matrix of the box coordinate system G relative to the geographic coordinate system n, that is, the reference attitude conversion matrix; is the attitude conversion matrix of the body coordinate system B(k) at the kth angle position relative to the geographic coordinate n is the relative conversion matrix from the body coordinate system B(k) to the rotation axis coordinate system S(k) at the kth angle position, which is a fixed value obtained from step S1; α r(k) is the theoretical frame angle value corresponding to each rotation angle position k.

[0107] From the above formula, the theoretical angle value α of each frame position can be obtained r(k) , wherein k=1, 2, 3, 4, 5, 6……1800.

[0108] 4、According to the theoretical frame angle and the rotation angle, the error angle is calculated, the data is fitted, the fitting function coefficient is obtained, and the theoretical frame angle value α of each rotation angle position k corresponding to each rotation angle position k is obtained r(k) (wherein k=1, 2, 3, 4, 5, 6……1800), and the frame rotation output angle α x(k) is subtracted (wherein k=1, 2, 3, 4, 5, 6……1800), and the error angle Δα corresponding to each rotation angle position k is obtained k (wherein k=1, 2, 3, 4, 5, 6……1800); then taking the error angle data Δα k as the dependent variable, and the frame rotation output angle α x(k) as the independent variable, the fitting function coefficient is obtained by fitting, here the 8th order sine function is used for fitting according to the rotation angle error mechanism analysis and engineering practice, the fitting degree is optimal, and the specific fitting function form is as follows:

[0109]

[0110] Wherein, a i , b i , c i are the fitting function coefficients, θ is the rotation angle output value, is the compensation angle value calculated by the fitting function corresponding to the current rotation angle output value.

[0111] 5、According to the fitting function coefficient and the form, the code is realized, For the compensation value corresponding to the real-time collected rotary transformer angle θ, the following formula is used: The compensation value is superimposed on the real-time collected rotary transformer angle θ, and the compensated rotary angle value is obtained.

[0112] Although the content of the present application has been described in detail by the above preferred embodiments, it should be recognized that the above description should not be considered as limiting the present application. After reading the above content, various modifications and substitutions of the present application will be apparent to those skilled in the art. Therefore, the protection scope of the present application should be defined by the appended claims.

[0113] The content not described in detail in the specification of the present application belongs to the known technology of the skilled in the art.

Claims

1. A method for calibrating and compensating the resolver angle of a single-axis rotation modulation inertial unit based on attitude calculation, characterized in that: include: Calibrate the installation deviation angle and establish the attitude transformation matrix between the body coordinate system B and the axis rotation coordinate system S; The IMU performs self-alignment to obtain the reference attitude transformation matrix of the box coordinate system G relative to the geographic coordinate system n; The IMU enters the navigation tracking mode, collects and records the k-th angular position of the resolver, and at the same time, the attitude conversion matrix of the body coordinate system relative to the geographic coordinates and the output angle of the frame resolver; According to the reference attitude conversion matrix, the attitude conversion matrix of the body coordinate system relative to the geographic coordinates for each corresponding rotation angle position k, and the attitude conversion matrix, the attitude conversion matrix between the rotation axis rotation coordinate system S(k) and the box coordinate system G corresponding to each rotation angle position k is obtained through the matrix conversion relationship; According to the matrix corresponding to each resolver angle position k, the theoretical frame angle value corresponding to each resolver angle position k is calculated; According to the theoretical frame angle value and the frame resolver output angle, the fitting function coefficient is obtained; According to the fitting function, the rotation angle value after compensation is obtained.

2. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The calibration installation deviation angle is used to establish the posture conversion matrix of the body coordinate system B and the shaft rotation coordinate system S, specifically: in, is the attitude conversion matrix between the body coordinate system B and the rotating shaft rotation coordinate system S, B is the measurement coordinate system of the body sensitive component; S is the rotating shaft rotation coordinate system; G is the coordinate system of the single-axis rotation modulation inertial group box, Δθ is the pitch angle error between the body sensitive component measurement coordinate system B and the rotating shaft rotation coordinate system S, and Δγ is the roll angle error between the body sensitive component measurement coordinate system B and the rotating shaft rotation coordinate system S.

3. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The reference attitude conversion matrix is ​​specifically: After the IMU self-alignment is completed, the transformation matrix of the body sensitive coordinate system B relative to the geographic coordinate system n is obtained. The rotation modulation inertial group is placed on the platform and kept fixed. The box coordinate system G remains unchanged relative to the geographic coordinate system n. After the internal frame of the inertial group returns to zero position, the axis rotation coordinate system S coincides with the box coordinate system G, which is The reference attitude transformation matrix of the box coordinate system G relative to the geographic coordinate system n for: in, for The transposed matrix of .

4. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The body coordinate system relative to the geographic coordinate attitude conversion matrix and the frame rotation output angle at the moment of collecting and recording the k-th angular position of the rotation are specifically: The single-axis rotation modulation inertial group enters the navigation tracking mode. The internal frame of the single-axis rotation modulation inertial group drives the main body sensitive body to rotate one circle, and performs angle interval data sampling of the rotation angle position. The sampling time interval is the same as the navigation cycle; the total number of sampling points is N; Output the attitude transformation matrix of the body coordinate system B(K) relative to the geographic coordinate n at the kth angular position in real time And collect the angle α output by the frame resolver x(k) , where k = 1, 2, 3, ... N.

5. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The posture transformation matrix is: in, For each rotation angle position k, the attitude conversion matrix between the rotation axis coordinate system S(k) and the box coordinate system G is is the reference attitude transformation matrix of the box coordinate system G relative to the geographic coordinate system n; is the attitude transformation matrix of the body coordinate system B(K) relative to the geographic coordinate n at the moment of the kth angular position; is the relative transformation matrix from the body coordinate system B(k) to the axis coordinate system S(K) at the kth angular position; is the attitude transformation matrix between the body coordinate system B and the axis rotation coordinate system S.

6. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The theoretical frame angle value corresponding to each resolver angle position k is: in, For each rotation angle position k, the attitude conversion matrix between the rotation axis coordinate system S(k) and the box coordinate system G is obtained; r(k) is the theoretical frame angle value corresponding to each resolver angle position k, k = 1, 2, ... N, N is the number of sampling points.

7. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: The fitting function is specifically: The theoretical frame angle value α corresponding to each resolver angle position k r(k) , and the corresponding frame resolver output angle α x(k) Subtract and get the error angle Δα corresponding to each resolver angle position k k , where k = 1, 2, 3, ... N, N is the total number of sampling points; With error angle Δα k As the dependent variable, the frame rotation output angle α x(k) As the independent variable, the fitting function coefficient a is obtained by fitting i , b i , c i ; According to the fitting function coefficients, the fitting function is obtained: Among them, θ is the rotation angle output value, The compensation angle value calculated by fitting the function corresponding to the current rotation angle output value.

8. The method for calibrating and compensating the single-axis rotation modulation inertial unit resolver angle based on attitude calculation according to claim 1, characterized in that: According to the fitting function, the corresponding rotation angle value after compensation is obtained, specifically: Among them, θ' is the rotation angle value after compensation, θ is the rotation angle output value, The compensation angle value calculated by fitting the function corresponding to the current rotation angle output value.

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