A method for compensating the output error of a pendulum integrator gyroscope accelerometer

Abstract

This invention discloses a method for compensating the output error of a pendulum-type integrating gyroscope accelerometer. The method includes: obtaining the expression for the apparent acceleration; performing calibration tests based on the components of the apparent acceleration to obtain the β angle; quickly obtaining the outer ring position α1 at each power-on based on the β angle and the first peak or trough of the output; obtaining the outer ring position α at any given time (real-time) based on the cumulative value of the continuously recorded integrated pulse count and the outer ring position α1; and obtaining the error-compensated output of the pendulum-type integrating gyroscope accelerometer based on the outer ring position α, the inner ring angle β, the tilt angle θ, and the gravitational acceleration. This invention solves the problem of quickly obtaining the outer ring position of a pendulum-type integrating gyroscope accelerometer in an inertial navigation system. After error compensation, the output accuracy of the pendulum-type integrating gyroscope accelerometer is significantly improved, exhibiting the characteristics of speed, reliability, and practicality.

Description

Technical Field

[0001] This invention belongs to the field of inertial technology, and particularly relates to a method for compensating the output error of a pendulum-type integrating gyroscope accelerometer. Background Technology

[0002] The pendulum integrator gyroscope accelerometer has unique advantages such as high resolution, high measurement accuracy, large dynamic range, radiation resistance, and automatic integration. Therefore, it is preferred for use in high-precision mechanical inertial navigation systems to measure the apparent acceleration of moving vehicles.

[0003] A pendulum-type integrating gyro accelerometer is a pendulum-type accelerometer that uses gyro torque for feedback. It consists of an outer frame, an inner frame, and a rotor shaft. The coordinate system OX1Y1Z1 is fixed to the outer frame, where OX1 is the apparent acceleration sensing axis (also called the outer ring axis). The angle of rotation of the outer frame around the OX1 axis is called the outer ring position α, which is the angle of rotation of the outer frame relative to the instrument base. The coordinate system Oxyz is fixed to the inner frame, where Oz is the rotor shaft and Oy is the float inner ring axis. The angle of rotation of the inner frame around the inner ring axis is called the inner ring angle β, which is the angle of rotation of the inner frame relative to the outer frame.

[0004] These are the angular velocities of the outer frame relative to the instrument base and the inner frame relative to the outer frame, respectively. The apparent acceleration along the outer frame axis OX1 is sensitive to the pendulum integrator gyroscope accelerometer. The sum of various disturbance torques around the outer frame axis is given by _ml_, where _ml_ is the oscillation of the instrument along the inner frame axis. _H_ is the angular momentum of the instrument rotor. _M_ is the sum of the various disturbance torques around the outer frame axis. D This refers to the torque of the torque motor. The instrument also includes an angle sensor, servo digital control circuit, torque motor, and output device.

[0005] When there is apparent acceleration Along the outer ring axis OX1 of the instrument, the inner frame of the instrument generates an inertial torque. Under ideal conditions where there are no interfering torques on either the inner or outer frame, according to the principle of gyro precession, the rotor will precess along the OX1 direction along with the inner and outer frames, with a precession angular velocity of... Because the angular momentum H has a precession speed This generates gyroscopic torque within the inner frame. When steady state is reached, the inertial torque Precise gyro torque The balance, that is

[0006] or

[0007] With zero as the initial condition, the ideal output is:

[0008]

[0009] lateral acceleration With apparent acceleration Vertical, meaning perpendicular to the outer ring axis of the pendulum integrator accelerometer, acting on the pendulum integrator accelerometer. Because the eccentric mass is sensitive to lateral acceleration... This generates a oscillating moment about the outer ring axis. When lateral acceleration With apparent acceleration Simultaneously acting on the pendulum integrator accelerometer, the pendulum integrator accelerometer generates a first-order error, which varies sinusoidally with the outer ring position α, such as... Figure 1 The angular rate curve output by the pendulum integrating gyroscope accelerometer in the tilted state shows sinusoidal harmonic components, affecting the average angular rate output by the pendulum integrating gyroscope accelerometer and thus the ground calibration accuracy. Considering the large lateral acceleration experienced by the pendulum integrating gyroscope accelerometer in practical applications, the sinusoidal harmonic error in the pendulum integrating gyroscope accelerometer output is even larger. Therefore, in applications requiring high precision, compensation for harmonic errors must be considered.

[0010] The outer ring position α of the pendulum-type integrating gyroscope accelerometer is output in pulse form through the output device. This is an incremental position and cannot provide an absolute position, meaning the precise outer ring position α cannot be obtained. Based on the strong correlation (sine function) between the gyroscope accelerometer output fluctuation and the outer ring position, such as... Figure 1 As shown, if the position of the outer ring is unknown, the harmonic error of the pendulum integrator accelerometer output is difficult to eliminate. The outer ring position identification method of the pendulum integrator accelerometer proposed in patent CN202411056257.9 is characterized by a long identification time and is not suitable for the fast operation requirements of inertial navigation systems. Summary of the Invention

[0011] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for compensating for output harmonic errors of a pendulum integrator accelerometer based on the outer ring position. This method solves the problem of being unable to compensate for output harmonic errors caused by transverse accelerometers. The method is characterized by convenient engineering implementation, short running time, high accuracy, and reliability, and has a significant effect on improving the practical accuracy of pendulum integrator accelerometers.

[0012] The technical solution of this invention is:

[0013] In a first aspect, the present invention provides a method for compensating the output error of a pendulum-type integrating gyroscope accelerometer, comprising:

[0014] Determine the expression for the apparent acceleration sensed by the pendulum integrator accelerometer along the sensing axis;

[0015] The inner ring angle β of the pendulum-type integrating gyroscope accelerometer was calibrated to obtain the magnitude and sign of β.

[0016] Continuously record the precession angular velocity of the outer ring of the pendulum integrating gyroscope accelerometer and the cumulative value of the combined pulse count. When the precession angular velocity shows the first peak or trough, record the outer ring position α1 and the cumulative value of the combined pulse count.

[0017] The outer ring position α at any given time can be calculated based on the outer ring position, the cumulative value of the combined pulse count, and the number of output pulses per revolution of the outer ring.

[0018] Based on the known outer ring position α, inner ring angle β, gravitational acceleration g0, and tilt angle θ, the output of the pendulum integrating gyroscope accelerometer after error compensation is obtained.

[0019] Preferably, the expression for the apparent acceleration sensed by the pendulum integrator gyroscope accelerometer along the sensing axis is:

[0020]

[0021] When expressed in pulse form, the above equation is equivalent to:

[0022]

[0023] Under a gravitational field, they are simplified to:

[0024]

[0025] Where 'a' represents the apparent acceleration sensed by the pendulum integrator accelerometer along its sensing axis, and 'α' represents the precession angle of the outer ring axis of the outer frame. The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on. The apparent acceleration along the outer frame axis OX1 is sensitive to the pendulum integrator gyroscope accelerometer. Let be the combined disturbance torque of various disturbance torques about the outer frame axis, ml be the oscillation of the instrument along the inner frame axis, and H be the angular momentum of the instrument rotor. The lateral acceleration acting on the pendulum integrating gyroscope accelerometer along the outer frame axis OY1 is... Let a be the lateral acceleration acting on the pendulum integrator gyroscope accelerometer along the outer frame axis OZ1. ε For the sum of other errors, K1 is the scaling factor of the pendulum integrating gyroscope accelerometer, in LSB.

[0026] The preferred method for calibrating the inner ring angle β is as follows:

[0027] When the pendulum integrator accelerometer output shows the first peak When the outer ring position α is 90°, sinβ and β are both positive; when the outer ring position α is 270°, sinβ and β are both negative.

[0028] When the pendulum integrator accelerometer output shows the first trough When the outer ring position α is 90°, sinβ and β are both negative; when the outer ring position α is 270°, sinβ and β are both positive.

[0029] Preferably, the expression for the inner ring angle β is:

[0030]

[0031] in, The first peak appears in the output of the pendulum integrator accelerometer. Or the first trough The peak value; K1 is the scaling factor of the pendulum integrating gyroscope accelerometer, in LSB.

[0032] Preferably, the method for obtaining the outer ring position α1 is as follows:

[0033] The inertial navigation system controls the pendulum integrating gyroscope accelerometer to a small-angle tilt position via the main body. After the pendulum integrating gyroscope accelerometer is powered on, its output is recorded.

[0034] When β is positive, the pendulum integrator accelerometer output shows its first peak. At this moment, the outer ring position α1 = 90° is obtained, and the first trough appears in the output of the pendulum integrating gyroscope accelerometer. At this moment, the outer ring position α1 = 270° is obtained;

[0035] When β is negative, the pendulum integrator accelerometer output shows its first peak. At this moment, the outer ring position α1 = 270° is obtained, or the pendulum integrator gyroscope output shows the first trough. At this moment, the outer ring position α1 = 90° is obtained.

[0036] Preferably, the small-angle inclined state refers to the angle θ between the outer ring axis of the instrument's outer frame and the horizontal direction being 0.5° to 10°.

[0037] Preferably, the real-time outer ring position α is obtained by the following formula:

[0038]

[0039] Among them, the cumulative number of integrated pulses recorded in real time by the inertial navigation system is P. NAt the first peak or trough of the instrument output, the cumulative number of pulses recorded by the inertial navigation system is P0; N is the time series…,-3,-2,-1,0,1,2,3….

[0040] Preferably, the outer ring position at each past moment is calculated using the following formula:

[0041]

[0042] Preferably, the output of the pendulum integrator accelerometer after error compensation is obtained by the following formula:

[0043]

[0044] When the tilt angle of the pendulum-type integrating gyroscope accelerometer under gravity is θ

[0045]

[0046] When the output of a pendulum integrator accelerometer is expressed in pulse form, the formula is as follows:

[0047]

[0048] Where Δa is the apparent acceleration due to error; a 纠 The apparent acceleration after output error compensation The lateral acceleration acting on the pendulum integrating gyroscope accelerometer along the outer frame axis OY1 is... OZ1 is the lateral acceleration of the pendulum integrating gyroscope accelerometer acting on the outer frame axis; K1 is the scale factor of the pendulum integrating gyroscope accelerometer, in LSB. The first peak appears in the output of the pendulum integrator accelerometer. Or the first trough Peak size; Output the raw pulse for the pendulum integrator accelerometer; For the error term pulse; This is the pulse after error compensation.

[0049] In a second aspect, the present invention provides a terminal device, comprising:

[0050] Memory, used to store at least one instruction executed by a processor;

[0051] A processor for executing instructions stored in memory to implement the method described in the first aspect above.

[0052] Compared with the prior art, the present invention has the following advantages:

[0053] This invention addresses the harmonic error generated by a gyro accelerometer under lateral acceleration, which is sinusoidally related to the outer ring position α. ​​Considering the need for ease of implementation and use in inertial navigation systems, it presents a method for compensating for harmonic errors in gyro accelerometer output based on angles β and α. First, ground calibration is used to obtain the β angle and the inertial navigation system setup. Then, the outer ring position α angle is identified. Combined with the known lateral acceleration of the inertial navigation system, the harmonic error is subtracted from the gyro accelerometer output. Compared to existing technologies where the outer ring position α angle is unknown and output harmonic errors cannot be eliminated in engineering applications, this invention is the first to propose a rapid outer ring position identification method and an output harmonic error compensation method for pendulum-type integrating gyro accelerometers. It obtains the outer ring position within a short time after power-on and eliminates harmonic errors in real time when the gyro accelerometer measures apparent acceleration, significantly reducing the output error of the gyro accelerometer under lateral overload. This is beneficial for improving the measurement accuracy of gyro accelerometers in engineering applications and for improving the navigation accuracy of inertial navigation systems.

[0054] This invention is applicable to static accuracy testing of gravity fields. When using multi-position (including oblique) flip-to-calibrate pendulum integrator gyroscopes to calibrate the error coefficients, the lateral acceleration is known when the gyroscope is in an oblique position. This can also eliminate the output harmonic error when the gyroscope is in an oblique position, thereby improving the output accuracy when the gyroscope is in an oblique position. This further improves the calibration accuracy of the error coefficients of the pendulum integrator gyroscope, which is beneficial to improving the accuracy of instrumentation engineering applications. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the output of a pendulum-type integrating gyroscope accelerometer in the prior art;

[0056] Figure 2 This is a roadmap for implementing output compensation of the pendulum-type integrating gyroscope accelerometer provided by the present invention;

[0057] Figure 3 This is a schematic diagram of the parameters of the pendulum-type integral gyroscope accelerometer provided by the present invention when tilted at a small angle;

[0058] Figure 4 This is a schematic diagram comparing the output error compensation of the pendulum integrator gyroscope accelerometer provided by this invention before and after. Detailed Implementation

[0059] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0060] This invention proposes a method for compensating the output error of a pendulum integrating gyroscope accelerometer, which can be easily implemented in inertial navigation systems and is convenient to use, enabling the pendulum integrating gyroscope accelerometer to achieve higher measurement accuracy in practical applications of inertial navigation systems.

[0061] This invention discloses a method for compensating the output error of a pendulum integrating gyroscope accelerometer, comprising: obtaining an expression for the apparent acceleration sensed by the pendulum integrating gyroscope accelerometer along the sensitive axis; performing a calibration test on the inner ring angle β of the pendulum integrating gyroscope accelerometer to obtain the magnitude and sign of β; and continuously recording the outer ring precession angular velocity and the cumulative value P of the combined pulse count of the pendulum integrating gyroscope accelerometer by an inertial navigation system. N The first peak appears based on the precession angular velocity. or trough Obtain the outer ring position α1 and the cumulative count of the combined pulses P0 at this moment; based on the outer ring position α1, the cumulative count of the combined pulses P0, and the cumulative count of the combined pulses P N The outer ring position α is calculated by taking the number of pulses Q output during one revolution of the outer ring and the outer ring position α at any given moment. Based on the known outer ring position α, inner ring angle β, gravitational acceleration g0, and tilt angle θ, the inertial navigation system outputs the raw pulses from the pendulum integrating gyroscope accelerometer. Subtract the error term pulse that is sinusoidally related to the outer ring position α from the middle. The corrected output of the pendulum integral gyroscope accelerometer is obtained.

[0062] This invention solves the problem of quickly acquiring the outer ring position of a pendulum integral gyroscope accelerometer in an inertial navigation system. After error compensation, the output accuracy of the pendulum integral gyroscope accelerometer is greatly improved, and it has the characteristics of being fast, reliable and practical.

[0063] Example:

[0064] This embodiment provides a method for compensating the output error of a pendulum-type integrating gyroscope accelerometer, which is specifically implemented as follows:

[0065] Step 1: The output model of a pendulum integrator accelerometer can generally be derived from the dynamic equations of the inner ring axis. After simplification, the commonly used expression for the sensitive apparent acceleration of a pendulum integrator accelerometer is:

[0066]

[0067] When expressed in pulse form, the above equation is equivalent to:

[0068]

[0069] Where 'a' represents the apparent acceleration sensed by the pendulum-type integrator gyroscope accelerometer. The apparent acceleration input along the outer frame axis OX1, The lateral acceleration input along the outer frame axis OY1, a is the lateral acceleration input along the outer frame axis OZ1. ε To account for the combined errors caused by the disturbance torque, quadratic term errors, and other errors, α is the precession angle of the outer ring axis of the outer frame, and β is the inner ring angle. In an inertial navigation system, It could be the lateral acceleration measured by the inertial navigation system at the previous moment, which is a known quantity.

[0070] Step Two: Under the influence of gravity, the pendulum-type integrating gyroscope accelerometer is installed on a high-precision indexing head or in an inertial navigation system. After powering on, its attitude is adjusted to a small-angle tilt, i.e., the tilt angle θ (the angle between the outer ring axis of the outer frame and the horizontal) is 0.5° to 10°. Figure 3 As shown, in the above-mentioned pendulum integrating gyroscope accelerometer output error compensation method, when the pendulum integrating gyroscope accelerometer is tilted by θ under the gravitational field, at this time... The expression for the apparent acceleration sensitive by a pendulum integrator accelerometer is:

[0071]

[0072] When expressed in pulse form, the above equation is equivalent to:

[0073]

[0074] in,

[0075] α is the precession angle of the outer ring axis of the outer frame, with the inner ring axis in the OXY plane as the starting position (α=0);

[0076] β is the inner ring angle, which is a fixed value;

[0077] θ is the angle between the outer ring axis of the outer frame and the horizontal, which is a fixed value and is also called the tilt angle;

[0078] g0 is the acceleration due to gravity;

[0079] The angle between the rotor shaft and the OXZ plane at the moment of power-on.

[0080] Step 3: Based on Equation 4 from Step 2, determine the magnitude and sign of β and sin(β) through calibration tests:

[0081] The pendulum integrator accelerometer test equipment records the angular velocity of the instrument. At the same time, the position α of the outer ring of the pendulum integrator accelerometer is observed manually through the instrument window.

[0082] When the pendulum integrator accelerometer output monitored by the testing equipment shows the first peak At this time, if the manually observed outer ring position α is about 90°, then sinβ and β are both positive; if the manually observed outer ring position α is about 270°, then sinβ and β are both negative. When the pendulum integrating gyroscope accelerometer output monitored by the test equipment shows the first trough... If the observed outer ring position α is approximately 90°, then sinβ and β are both negative; if the observed outer ring position α is approximately 270°, then sinβ and β are both positive. End of test.

[0083] The size of angle β can be calculated according to equation 5:

[0084]

[0085] in, For peak or trough The peak value; K1 is the scaling factor of the pendulum integrating gyroscope accelerometer, in LSB.

[0086] β, obtained through calibration, serves as a binding parameter for the pendulum integral gyroscope accelerometer in the inertial navigation system.

[0087] Step 4: Based on β from Step 3, quickly identify the outer ring position of the pendulum integrating gyroscope accelerometer in the inertial navigation system:

[0088] Under a gravitational field, a pendulum-type integrating gyroscope accelerometer is mounted on a high-precision indexing head or in an inertial navigation system. The inertial navigation system controls the pendulum-type integrating gyroscope accelerometer to a small-angle tilt state, i.e., an tilt angle θ (the angle between the outer ring axis of the outer frame and the horizontal) of 0.5° to 10°. After the pendulum-type integrating gyroscope accelerometer is powered on, its output is recorded. Since β is known to be positive, the first peak appears in the output of the pendulum-type integrating gyroscope accelerometer. At that moment, we can obtain the outer ring position α1 = 90°, or the first trough will appear. At that moment, the outer ring position α1 = 270° can be obtained. Alternatively, since β is known to be negative, the pendulum integrator accelerometer output will show its first peak. This allows us to determine the current outer ring position α1 = 270°, or the occurrence of the first trough. We can then obtain the position of the outer ring at this moment: α1 = 90°.

[0089] Step 5: Based on the outer ring position α1 from Step 4, obtain the real-time outer ring position α of the pendulum integral gyroscope accelerometer.

[0090] The cumulative number of integrated pulses recorded in real time by the inertial navigation system is P. N At the first peak of the pendulum integrator accelerometer output or trough At time P0, the cumulative number of pulses recorded by the inertial navigation system is P0. Then, the future real-time outer loop position α can be obtained using Equation 6:

[0091]

[0092] At the same time, the position of the outer ring at each past moment can be calculated using Equation 7:

[0093]

[0094] Here, N is a time series…,-3,-2,-1,0,1,2,3….

[0095] Step 5: Based on the outer ring position α from Step 4, the inertial navigation system completes error compensation for the apparent acceleration sensitive to the pendulum integrating gyroscope accelerometer.

[0096]

[0097] When the pendulum-type integrating gyroscope accelerometer is tilted by θ under gravity field

[0098] When acceleration is expressed in pulse form, the output of the pendulum integrator gyroscope accelerometer is:

[0099]

[0100] In equations 8-10, g0, θ, α, and β are all known quantities in the inertial navigation system. Equations 8-10 can be used to compensate for errors in the apparent acceleration sensitive to the pendulum integrating gyroscope accelerometer, such as... Figure 4 As shown. When used in a gravitational field, g0cosθ is considered as the lateral acceleration experienced by the pendulum integral gyroscope accelerometer.

[0101] This invention addresses the output error of pendulum-type integrating gyroscope accelerometers, which suffers from a non-zero inner ring angle β due to lateral acceleration and exhibits a sinusoidal correlation with the outer ring position α. ​​It also considers the high-precision acceleration measurement and rapid operation requirements of inertial navigation systems. The invention provides a method for compensating the output error of pendulum-type integrating gyroscope accelerometers, rapidly identifying the outer ring position α and eliminating the sinusoidal error term from the accelerometer output. Compared to existing technologies that suffer from long outer ring position α identification times and difficulty in compensating for output errors, this invention is the first to propose a method for compensating the output error of pendulum-type integrating gyroscope accelerometers. This method allows the outer ring position to be obtained within tens of seconds of power-on, enabling error compensation for the instrument output at every subsequent moment. Furthermore, this method is easily implemented in inertial navigation systems, significantly improving the accuracy and performance of pendulum-type integrating gyroscope accelerometers in engineering applications.

[0102] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for compensating the output error of a pendulum-type integrating gyroscope accelerometer, characterized in that... include: Determine the expression for the apparent acceleration sensed by the pendulum integrator accelerometer along the sensing axis; The inner ring angle β of the pendulum-type integrating gyroscope accelerometer was calibrated to obtain the magnitude and sign of β. Continuously record the precession angular velocity of the outer ring of the pendulum integrating gyroscope accelerometer and the cumulative value of the combined pulse count. When the precession angular velocity shows the first peak or trough, record the outer ring position α1 and the cumulative value of the combined pulse count. The outer ring position α at any given time can be calculated based on the outer ring position, the cumulative value of the combined pulse count, and the number of output pulses per revolution of the outer ring. Based on the known outer ring position α, inner ring angle β, gravitational acceleration g0, and tilt angle θ, the output of the pendulum integrating gyroscope accelerometer after error compensation is obtained.

2. The method for compensating the output error of a pendulum-type integrating gyroscope accelerometer according to claim 1, characterized in that: The expression for the apparent acceleration sensed by the pendulum integrator gyroscope accelerometer along the sensing axis is: When expressed in pulse form, the above equation is equivalent to: Under a gravitational field, they are simplified to: In the formula, Where 'a' represents the apparent acceleration sensed by the pendulum integrator accelerometer along its sensing axis, and 'α' represents the precession angle of the outer ring axis of the outer frame. The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on. The apparent acceleration along the outer frame axis OX1 is sensitive to the pendulum integrator gyroscope accelerometer. Let be the combined disturbance torque of various disturbance torques about the outer frame axis, ml be the oscillation of the instrument along the inner frame axis, and H be the angular momentum of the instrument rotor. The lateral acceleration acting on the pendulum integrating gyroscope accelerometer along the outer frame axis OY1 is... Let a be the lateral acceleration acting on the pendulum integrator gyroscope accelerometer along the outer frame axis OZ1. ε For the sum of other errors, K1 is the scaling factor of the pendulum integrating gyroscope accelerometer, in LSB.

3. The method for compensating the output error of a pendulum-type integrating gyroscope accelerometer according to claim 1, characterized in that: The calibration test method for the inner ring angle β is as follows: When the pendulum integrator accelerometer output shows the first peak When the outer ring position α is 90°, sinβ and β are both positive; when the outer ring position α is 270°, sinβ and β are both negative. When the pendulum integrator accelerometer output shows the first trough When the outer ring position α is 90°, sinβ and β are both negative; when the outer ring position α is 270°, sinβ and β are both positive.

4. The method for compensating the output error of a pendulum integrating gyroscope accelerometer according to claim 1, characterized in that: The expression for the inner ring angle β is: in, The first peak appears in the output of the pendulum integrator accelerometer. Or the first trough The peak value; K1 is the scaling factor of the pendulum integrating gyroscope accelerometer, in LSB.

5. The method for compensating the output error of a pendulum integrating gyroscope accelerometer according to claim 1, characterized in that: The method for obtaining the outer ring position α1 is as follows: The inertial navigation system controls the pendulum integrating gyroscope accelerometer to a small-angle tilt position via the main body. After the pendulum integrating gyroscope accelerometer is powered on, its output is recorded. When β is positive, the pendulum integrator accelerometer output shows its first peak. At this moment, the outer ring position α1 = 90° is obtained, and the first trough appears in the output of the pendulum integrating gyroscope accelerometer. At this moment, the outer ring position α1 = 270° is obtained; When β is negative, the pendulum integrator accelerometer output shows its first peak. At this moment, the outer ring position α1 = 270° is obtained, or the pendulum integrator gyroscope output shows the first trough. At this moment, the outer ring position α1 = 90° is obtained.

6. The method for compensating the output error of a pendulum integrating gyroscope accelerometer according to claim 5, characterized in that: The small-angle inclined state refers to the angle θ between the outer ring axis of the instrument's outer frame and the horizontal direction being 0.5° to 10°.

7. The method for compensating the output error of a pendulum integrating gyroscope accelerometer according to claim 1, characterized in that: The real-time outer ring position α is obtained by the following formula: Among them, the cumulative number of integrated pulses recorded in real time by the inertial navigation system is P. N At the first peak or trough of the instrument output, the cumulative number of pulses recorded by the inertial navigation system is P0; N is the time series…,-3,-2,-1,0,1,2,3….

8. The method for compensating the output error of a pendulum integrating gyroscope accelerometer according to claim 7, characterized in that: The outer ring position at each past moment can be calculated using the following formula:

9. The method for compensating the output error of a pendulum-type integrating gyroscope accelerometer according to claim 1, characterized in that: The output of the pendulum integrator accelerometer after error compensation is obtained by the following formula: When the tilt angle of the pendulum-type integrating gyroscope accelerometer under gravity is θ When the output of a pendulum integrator accelerometer is expressed in pulse form, the formula is as follows: Where Δa is the apparent acceleration due to error; a 纠 The apparent acceleration after output error compensation The lateral acceleration acting on the pendulum integrating gyroscope accelerometer along the outer frame axis OY1 is... OZ1 is the lateral acceleration of the pendulum integrating gyroscope accelerometer acting on the outer frame axis; K1 is the scale factor of the pendulum integrating gyroscope accelerometer, in LSB. The first peak appears in the output of the pendulum integrator accelerometer. Or the first trough Peak size; Output the raw pulse for the pendulum integrator accelerometer; For the error term pulse; This is the pulse after error compensation.

10. A terminal device, characterized in that, include: Memory, used to store at least one instruction executed by a processor; A processor for executing instructions stored in memory to implement the method as described in any one of claims 1-9.

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