Inertial platform stability control method based on superhelix algorithm and high-order dynamic compensation

Abstract

The invention particularly relates to an inertial platform stability control method based on a superhelix algorithm and high-order dynamic compensation, which comprises the following steps: when an inertial platform is unstable, acquiring measurement angle data of a first gyroscope and a second gyroscope of the inertial platform, determining a gyroscope switching strategy according to a measurement angle comparison result, and determining the stability of the inertial platform according to the gyroscope switching strategy; configuring the measured angle data of the fault-free gyroscope as target angle data; wherein the first gyroscope and the second gyroscope are redundant gyroscopes for each other; inputting the target angle data into an instability recovery controller, and outputting motor control parameters; wherein the instability recovery controller is constructed by compensating high-order dynamic parameters of the measured angular velocity of the gyroscope into a superhelix algorithm. The instability recovery controller of the method has very strong robustness and anti-interference performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, and in particular to an inertial platform stabilization control method based on a super-spiral algorithm and high-order dynamic compensation. BACKGROUND

[0002] In related technologies, an inertial platform is a high-precision positioning and navigation system based on inertial principles, widely used in aerospace, marine, military, geological exploration and other fields. It can provide continuous and stable navigation information without external signals by sensing the attitude, velocity and acceleration of the platform through inertial sensors such as accelerometers and gyroscopes. In order to ensure that the inertial platform can maintain stability during operation, a stabilization loop is usually designed. The stabilization loop is used to compensate for deviations caused by external environmental changes or internal system errors, ensuring that the platform can continuously provide accurate navigation information. In order to ensure the normal operation of the stabilization loop, fault-tolerant control (FTC) technology is a hot spot in the research of inertial platforms, aiming to improve the reliability and fault-tolerant capability of the system.

[0003] The angle measurement unit of the stabilized platform is a gyroscope. After the gyroscope fails, the stabilization loop control based on the feedback of this faulty gyroscope will lose stability. The existing solution to solve the problem of stabilization recovery after the stabilization loop loses stability is to use the method of switching redundant gyroscopes to detect faults and perform fault-tolerant stabilization recovery control. The traditional fault-tolerant stabilization recovery control method based on PID or root locus switching cannot guarantee the stability of the stabilization loop when the gyroscope is switched.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The present application provides an inertial platform stabilization control method based on a super-spiral algorithm and high-order dynamic compensation, a computer program product, a storage medium, and an electronic device, which can effectively overcome the defects in the prior art to some extent.

[0006] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0007] According to a first aspect of the present application, an inertial platform stabilization control method based on a super-spiral algorithm and high-order dynamic compensation is provided, the method comprising: The measurement angle data of the first gyroscope and the second gyroscope of the inertial platform is acquired when the inertial platform is unstable, a gyroscope switching strategy is determined according to a comparison result of the measurement angles, and the measurement angle data of the fault-free gyroscope is configured as target angle data; wherein the first gyroscope and the second gyroscope are redundant gyroscopes. The target angle data is input into a loss-of-stability recovery controller, and motor control parameters are output; wherein the loss-of-stability recovery controller is constructed based on the high-order dynamic parameters of the measurement angular velocity of the gyroscope into the super-spiral algorithm.

[0008] In some example embodiments, the loss-of-stability recovery controller comprises:

[0009] wherein, is the motor control input; is the output error, , is the expected output of the inertial platform; is the intermediate state of the loss-of-stability recovery controller; is the high-order dynamic parameter of the measurement angular velocity of the gyroscope; and are preset model parameters, and the values are: , , , is a fault parameter added to the measurement angular velocity of the gyroscope.

[0010] In some example embodiments, the method further comprises: constructing an input-output transfer function model corresponding to the stable loop of the inertial platform based on the motor control parameters of the inertial platform and the platform angle parameters of the gyroscope; determining the high-order dynamic parameter of the measurement angular velocity of the gyroscope based on the input-output transfer function model; compensating the high-order dynamic parameter of the measurement angular velocity of the gyroscope to the super-spiral algorithm in the form of a transfer function to construct the loss-of-stability recovery controller.

[0011] In some example embodiments, the input-output transfer function model comprises:

[0012] wherein the motor control parameter is the control current of the motor ; the platform angle of the gyroscope ; , , and are model parameters; is a fault / disturbance added to the measurement angular velocity of the gyroscope.

[0013] In some example embodiments, the method further comprises: defining a transfer function of the high-order dynamic parameter of the measured angular velocity of the gyroscope to an input-output transfer function model of the super-spiral algorithm, comprising:

[0014] wherein, represents the high-order dynamic parameter of the measured angular velocity of the gyroscope; determining the super-spiral algorithm comprises:

[0015] wherein, is a disturbance / fault value; and is a parameter, and the value of the parameter is: , , , is a fault added to the measured angular velocity of the gyroscope; compensating the high-order dynamic parameter of the measured angular velocity of the gyroscope to the super-spiral algorithm in the form of a transfer function to construct the instability recovery controller.

[0016] In some example embodiments, the fault added to the measured angular velocity of the gyroscope comprises a mode jump fault and / or a jitter fault.

[0017] In some example embodiments, the method of obtaining the measured angular data of the first gyroscope and the second gyroscope of the inertial platform, determining the gyroscope switching strategy according to the comparison result of the measured angular data, and configuring the measured angular data of the fault-free gyroscope as the target angular data comprises: obtaining the measured angular data of the first gyroscope and the second gyroscope at each sampling time; calculating the difference value of the measured angular data between the gyros and comparing it with a preset instability angle threshold of the inertial platform, and determining the faulty gyroscope according to the numerical comparison result; configuring the measured angular data of the fault-free gyroscope as the target angular data.

[0018] According to a second aspect of the present application, a computer program product is provided, which stores a computer program, and the computer program is executed by a processor to implement the above-mentioned inertial platform stability control method based on the super-spiral algorithm and high-order dynamic compensation.

[0019] According to a third aspect of the present application, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; The processor is configured to implement the inertial platform stabilization control method based on the super-twisting algorithm and high-order dynamic compensation by executing the executable instructions.

[0020] According to a fourth aspect of the present application, a storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the inertial platform stabilization control method based on the super-twisting algorithm and high-order dynamic compensation.

[0021] The inertial platform stabilization control method based on the super-twisting algorithm and high-order dynamic compensation provided by the embodiments of the present application determines the gyro switching strategy according to the comparison result of the measurement angles of the two gyroscopes, configures the measurement angle data of the fault-free gyroscope as the target angle data and uses the target angle data as the input parameter of the instability recovery controller; the instability recovery controller is constructed by using the high-order dynamic feedback of the gyro measurement angular velocity and the Super-Twisting second-order sliding mode algorithm, the feedback directly uses the known transfer function model of the system to cancel the high-order dynamics of the system, avoids processing the high-order states in the state space, and the Super-Twisting second-order sliding mode algorithm is used for dynamic stabilization control, so that the instability recovery controller has strong robustness and anti-interference performance; and the final stable loop system is finite time stable, and the convergence time is only related to the initial state of the system, so that the inertial platform stabilization loop instability recovery controller based on the Super-Twisting algorithm and high-order dynamic feedback compensation has good control performance.

[0022] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The schematic diagram of the inertial platform stabilization control method based on the super-twisting algorithm and high-order dynamic compensation according to the exemplary embodiments of the present application is schematically shown; Figure 2 The schematic diagram of the control structure of the inertial platform stabilization control method based on the super-twisting algorithm and high-order dynamic compensation according to the exemplary embodiments of the present application is schematically shown; Figure 3A schematic diagram of a model architecture of an inertial platform stabilization loop according to an example embodiment of the present application is shown schematically; Figure 4 A schematic diagram of a comparison of the effects of PID control and a shaking base under different amplitude mode jump faults according to an example embodiment of the present application is shown schematically; Figure 5 A schematic diagram of a comparison of the effects of PID control and a shaking base under different frequency jitter faults according to an example embodiment of the present application is shown schematically; Figure 6 A schematic diagram of the composition of an electronic device according to an example embodiment of the present application is shown schematically. DETAILED DESCRIPTION

[0025] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0026] In addition, the accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings:

[0027] In view of the shortcomings and deficiencies of the prior art, an inertial platform stabilization control method based on a super-helix algorithm and high-order dynamic compensation is provided in the example embodiments, which can be applied to the instability control of an inertial platform system. Referring to Figure 1 As shown, the inertial platform stabilization control method based on the super-helix algorithm and high-order dynamic compensation can specifically include the following steps: Step S11, when the inertial platform is unstable, the measurement angle data of the first gyroscope and the second gyroscope of the inertial platform are obtained, the gyroscope switching strategy is determined according to the comparison result of the measurement angle, and the measurement angle data of the fault-free gyroscope is configured as target angle data; wherein the first gyroscope and the second gyroscope are redundant gyroscopes; Step S12, inputting the target angle data into the instability recovery controller, and outputting motor control parameters; wherein the instability recovery controller is constructed based on the high-order dynamic parameter compensation of the measurement angular velocity of the gyroscope into the super-helix algorithm.

[0028] The steps of the inertial platform stabilization control method based on the super-spiral algorithm and high-order dynamic compensation in the example embodiment will be described in more detail below in combination with the drawings and examples.

[0029] For example, referring to the stabilization loop of the inertial platform system shown in Figure 3 The platform body can be arranged on the base, and when the base moves to cause the platform body to change in posture, the posture information can be collected by the plurality of gyroscopes, and it can be determined whether the gyroscopes have failed. The detection data of the gyroscopes without failure is input into the stabilization loop, and the corresponding motor control parameters are calculated to make the inertial platform return to the desired angle, so as to realize the instability recovery control.

[0030] For example, the method described above can include: Step S21, constructing an input-output transfer function model corresponding to the inertial platform stabilization loop according to the motor control parameters of the inertial platform and the platform angle parameters based on the gyroscopes; Step S22, determining the high-order dynamic parameters of the measured angular velocity of the gyroscopes based on the input-output transfer function model; Step S23, compensating the high-order dynamic parameters of the measured angular velocity of the gyroscopes to the super-spiral algorithm in the form of a transfer function to construct the instability recovery controller.

[0031] Specifically, the input of the inertial platform stabilization loop system is the motor control current , and the output is the angle of the inertial platform measured by the gyroscope Correspondingly, the input-output transfer function model of the stabilization loop can be defined as:

[0032] wherein the motor control parameter is the control current of the motor ; the platform angle based on the gyroscope ; , , and are model parameters; is the fault / disturbance added to the measured angular velocity of the gyroscope.

[0033] For the input-output transfer function model of the stabilization loop, the high-order dynamics of the measured angular velocity of the gyroscope can be taken out. Specifically, the high-order dynamics of the measured angular velocity of the gyroscope is denoted as , and the transfer function from the high-order dynamics of the measured angular velocity of the gyroscope to the input is:

[0034] wherein represents the high-order dynamic parameters of the measured angular velocity of the gyroscope.

[0035] For Super-Twisting algorithm, it can be expressed as:

[0036] wherein, is the disturbance / fault value; and is a parameter, which takes the value of: , , , is the fault added to the measured angular velocity of the gyroscope.

[0037] Compensating the high-order dynamics (transfer function form) of the measured angular velocity of the gyroscope into the Super-Twisting algorithm, the instability recovery controller is:

[0038] wherein, is the motor control input; is the output error, , is the expected output of the inertial platform; is the intermediate state of the instability recovery controller; is the high-order dynamic parameter of the measured angular velocity of the gyroscope; and are respectively preset model parameters, which take the value of: , , , is the fault parameter added to the measured angular velocity of the gyroscope.

[0039] Exemplarily, the fault added to the measured angular velocity of the gyroscope includes a mode jump fault and / or a jitter fault.

[0040] Specifically, the mode jump fault can be expressed as:

[0041] The jitter fault can be expressed as:

[0042] wherein, and are respectively the time when the fault occurs and ends. is the amplitude of the mode jump fault; is the amplitude of the jitter fault, is the frequency of the jitter fault.

[0043] Exemplarily, in actual operation of the inertial platform, the instability recovery control of the inertial platform can be achieved through the above steps S11-S12.

[0044] Exemplarily, in step S11, the step can specifically include: obtaining measurement angle data of the first gyroscope and the second gyroscope at each sampling time; calculating the difference of the measurement angle data between the gyros and comparing the difference with a preset instability angle threshold of the inertial platform, and determining the faulty gyro according to the numerical comparison result; configuring the measurement angle data of the non-faulty gyro as target angle data.

[0045] Specifically, the first gyro can be a main gyro, and the second gyro can be a redundant gyro. The fault detection switching strategy based on the comparison of the output angles of the redundant gyro and the main gyro is used to switch the gyro selection.

[0046] For example, the switching strategy based on the output angles of the redundant gyro and the main gyro can include the following pseudo code: Initialization: ,

[0047] At each sampling time: if

[0048] and keep end if

[0049]

[0050] else

[0051] end wherein, is the angle value for determining the instability of the inertial platform; is the angle measurement value output by the main gyro, is the angle measurement value output by the redundant gyro.

[0052] The input of the switching strategy is the measurement angle output of the two mutually redundant gyros, and the output is the measurement value of the non-faulty gyro. The switching strategy is used to detect whether the main gyro is faulty. If the main gyro is faulty, the switching strategy switches to the redundant gyro for instability recovery control.

[0053] Exemplarily, in step S12, the input of the instability recovery controller is the measurement value without fault, and the output is the motor control parameter. Figure 2 As shown in the formula, the motor is controlled by using the motor control parameter.

[0054] Exemplarily, as shown in the formula, the motor is controlled by using the motor control parameter. Figure 4 、 Figure 5 As shown in the comparison simulation results of the method and the PID control, the PID control cannot control the inertial platform to the stable state after the instability of the stable loop, while the Super-Twisting can make the inertial platform after the instability recover to the stable state, which verifies that the robustness of the proposed control law is improved compared with the PID control.

[0055] As shown in the formula, the motor is controlled by using the motor control parameter. Figure 2 Firstly, the switching strategy is used to switch the redundant gyroscope and the main gyroscope, and the switching strategy can accurately find the fault and switch the gyroscope. Then, the controller is designed by using the high-order dynamic feedback of the gyroscope measurement angular velocity and the Super-Twisting second-order sliding mode algorithm. The method directly uses the known transfer function model of the system for feedback, and the feedback offsets the high-order dynamics of the system, avoids processing the high-order state in the state space, and has strong robustness and anti-interference performance due to the use of the Super-Twisting second-order sliding mode algorithm for dynamic stability control. The final stable loop system is finite time stable, and the convergence time is only related to the initial state of the system. Therefore, the inertial platform stable loop instability recovery controller based on the Super-Twisting algorithm and the high-order dynamic feedback compensation has good control performance.

[0056] The method is compared with the PID control method in the simulation experiment, and the results prove that the method can make the inertial platform after the instability recover to the stable state, while the PID control cannot make the inertial platform after the instability recover to the stable state, which proves the superiority of the method.

[0057] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not for limiting purposes. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of the processes. In addition, it is also easy to understand that the processes can be executed synchronously or asynchronously in multiple modules, for example.

[0058] It should be noted that, although several modules or units of the devices for action execution are mentioned in the above detailed description, such a division is not mandatory. Indeed, according to an embodiment of the application, the features and functionalities of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functionalities of one module or unit described above can be further divided into embodied by a plurality of modules or units.

[0059] Figure 6 A schematic diagram of an electronic device suitable for implementing embodiments of the application is shown.

[0060] It should be noted that, Figure 6 The electronic device 1000 shown is merely an example and should not limit the function and scope of use of embodiments of the application in any way.

[0061] As Figure 6 shown, the electronic device 1000 includes a Central Processing Unit (CPU) 1001 that can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. Various programs and data required for system operation are also stored in the RAM 1003. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004. Further, the electronic device 1000 includes an FPGA device, a SOC device.

[0062] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as necessary. A removable recording medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1010 as necessary, so that a computer program read therefrom is installed in the storage section 1008 as necessary.

[0063] In particular, according to embodiments of the present application, the processes described below with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a storage medium, the computer program comprising program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0064] In particular, the electronic device described above can be an onboard intelligent electronic device, such as an onboard video processing device.

[0065] It should be noted that the storage medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a carrier wave part of a data signal, which carries the computer readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any storage medium other than the computer readable storage medium, which can send, propagate or transmit the program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0066] The computer program product of the present application includes a computer program, which, when executed by a processor, implements the steps of the above-mentioned method embodiments.

[0067] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described may also be implemented as a processor. In some cases, the names of the units are not intended to be limiting.

[0068] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device, or can exist independently without being assembled into the electronic device. The storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments. For example, the electronic device can implement each step of the method shown in Figure 1

[0069] In one embodiment, the present application provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the above-mentioned method embodiments.

[0070] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the time sequence of the processes. In addition, it is also easy to understand that the processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0071] ​Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

[0072] It is to be understood that the application is not limited to the precise structures hereinabove described and shown in the drawings, for purposes of illustration and education only, and that variations in changes can be made by persons skilled in the art without departing from the scope of the present application. The scope of the application should be determined only by the claims appended hereto.

Claims

1. A method for inertial platform stabilization control based on super-spiral algorithm and high-order dynamic compensation, characterized in that, The method comprises: When the inertial platform is unstable, measurement angle data of a first gyroscope and a second gyroscope of the inertial platform are acquired, a gyroscope switching strategy is determined according to a comparison result of the measurement angles, and measurement angle data of a non-faulty gyroscope is configured as target angle data; wherein the first gyroscope and the second gyroscope are redundant gyroscopes; The target angle data is input into a loss-of-stability recovery controller, and motor control parameters are output; wherein the loss-of-stability recovery controller is constructed based on compensation of high-order dynamic parameters of the measurement angular velocity of the gyroscope into the super-spiral algorithm.

2. The method of claim 1, wherein, The loss-of-stability recovery controller comprises: wherein, is a motor control input; is an output error, , is a desired output of the inertial platform; is an intermediate state of the instability recovery controller; is a high order dynamic parameter of the measured angular velocity of the gyroscope; and are preset model parameters, and the values are: , , , is a fault parameter added to the measured angular velocity of the gyroscope.

3. The method according to claim 1 or 2, characterized in that, The method further comprises: Based on the motor control parameters of the inertial platform and the platform angle parameters of the gyroscope, an input-output transfer function model corresponding to the stable loop of the inertial platform is constructed; Based on the input-output transfer function model, high-order dynamic parameters of the measurement angular velocity of the gyroscope are determined; The high-order dynamic parameters of the measurement angular velocity of the gyroscope are compensated into the super-spiral algorithm in the form of a transfer function, so as to construct the loss-of-stability recovery controller.

4. The method of claim 3, wherein, The input-output transfer function model comprises: wherein the motor control parameter is a control current of the motor ; platform angle based on gyroscope ; , , and are model parameters; is a fault / disturbance added to the angular velocity measured by the gyroscope.

5. The method of claim 4, wherein, The method further comprises: The transfer function of the high-order dynamic parameters of the measurement angular velocity of the gyroscope to the input-output transfer function model is defined, comprising: wherein denotes the measured angular velocity of the gyroscope as a high-order dynamic parameter; The super-spiral algorithm is determined, comprising: wherein is a disturbance / fault value; and is a parameter, which takes the value , , , is a fault added to the measured angular velocity of the gyroscope; The high-order dynamic parameters of the measurement angular velocity of the gyroscope are compensated into the super-spiral algorithm in the form of a transfer function, so as to construct the loss-of-stability recovery controller.

6. The method of claim 5, wherein, The faults added to the measurement angular velocity of the gyroscope include mode jumping faults and / or jitter faults.

7. The method of claim 1, wherein, The acquisition of the measurement angle data of the first gyroscope and the second gyroscope of the inertial platform, the determination of the gyroscope switching strategy according to the comparison result of the measurement angles, and the configuration of the measurement angle data of the non-faulty gyroscope as the target angle data, comprise: The measurement angle data of the first gyroscope and the second gyroscope corresponding to each sampling time are acquired; The difference between the measurement angle data of the gyroscopes is calculated, compared with a preset inertial platform instability angle threshold, and the faulty gyroscope is determined according to the numerical comparison result; The measurement angle data of the non-faulty gyroscope is configured as the target angle data.

8. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the inertial platform stabilization control method based on the super-spiral algorithm and high-order dynamic compensation according to any one of claims 1 to 7.

9. An electronic device, comprising: Comprise: A processor; And A memory for storing executable instructions of the processor; Wherein the processor is configured to execute the inertial platform stabilization control method based on the super-spiral algorithm and high-order dynamic compensation according to any one of claims 1 to 7 via execution of the executable instructions.

10. A storage medium, characterized by A computer program is stored thereon, which, when executed by a processor, implements the inertial platform stabilization control method based on the super-spiral algorithm and high-order dynamic compensation according to any one of claims 1 to 7.

Images