An equivalent error identification method and device for a four-axis space-stable inertial navigation system

Abstract

The embodiment of the application discloses a four-axis space stabilization inertial navigation system equivalent error identification method and equipment. The method comprises the following steps: collecting navigation positioning error data of the four-axis space stabilization inertial navigation system to obtain latitude positioning error and longitude positioning error; determining latitude equivalent error coupling coefficients according to a preset latitude equivalent error vector, the latitude positioning error and the relationship between the latitude positioning error and the latitude equivalent error; determining longitude equivalent error coupling coefficients according to a preset longitude equivalent error vector, the longitude positioning error and the relationship between the longitude positioning error and the longitude equivalent error; and performing navigation calculation of the four-axis space stabilization inertial navigation system according to the latitude equivalent error coupling coefficients and the longitude equivalent error coupling coefficients. Through identification of equivalent errors in the four-axis space stabilization inertial navigation system, accurate navigation calculation can be realized, and the purpose of accurate positioning in long navigation can be achieved.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation system application technology, and in particular to an equivalent error identification method and device for a four-axis spatially stabilized inertial navigation system. Background Technology

[0002] A four-axis spatially stabilized inertial navigation system (INS) achieves attitude stabilization of the platform through four-axis coordinated control for navigation and positioning. Typically, four-axis spatially stabilized and rotationally modulated INS employ a technique of "strap-integrated mathematical solution + inertial spatial stabilization + rotational modulation error" for navigation and positioning.

[0003] In existing navigation and positioning technologies, theoretically, the system's navigation and positioning accuracy is only related to unmodulated high-frequency random noise. However, in reality, due to the combined effects of calibration residuals, rotation errors, random drift modulation residuals, and environmental changes, four-axis spatially stabilized inertial navigation systems generally have equivalent errors to rotationally modulated inertial navigation systems. This equivalent error can lead to accumulated positioning errors over long periods, resulting in deviations in long-term navigation of four-axis spatially stabilized inertial navigation systems. Summary of the Invention

[0004] This invention provides a method and device for identifying the equivalent error of a four-axis spatially stabilized inertial navigation system, in order to identify the equivalent error of a four-axis spatially stabilized and rotationally modulated inertial navigation system, and to achieve accurate positioning for long-term navigation.

[0005] According to one aspect of the present invention, an equivalent error identification method for a four-axis space-stabilized inertial navigation system is provided, the method comprising:

[0006] Navigation and positioning error data of a four-axis space-stabilized inertial navigation system are collected to obtain latitude positioning error and longitude positioning error;

[0007] Based on the preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error, the latitude equivalent error coupling coefficient is determined.

[0008] Based on the preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error, the longitude equivalent error coupling coefficient is determined;

[0009] The navigation solution of the four-axis space-stabilized inertial navigation system is performed based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient.

[0010] Optionally, the latitude equivalent error coupling coefficient includes: latitude equivalent error source coupling coefficient, latitude error identification equivalent eastward gyroscope drift, latitude error identification equivalent northward gyroscope drift, latitude error identification equivalent celestial gyroscope drift, latitude error identification equivalent first horizontal attitude error, and latitude error identification equivalent second horizontal attitude error.

[0011] Optionally, the preset latitude equivalent error vector is ;in, For navigation time, This is the Earth's rotational angular rate.

[0012] Optionally, the longitude equivalent error coupling coefficient includes: longitude equivalent error source coupling coefficient, longitude error identification equivalent eastward gyroscope drift, longitude error identification equivalent northward gyroscope drift, longitude error identification equivalent celestial gyroscope drift, longitude error identification equivalent first horizontal attitude error, and longitude error identification equivalent second horizontal attitude error.

[0013] Optionally, the preset longitude equivalent error vector is: ;in, For navigation time, ω represents the Earth's rotational angular rate; L represents the current geographic latitude of the four-axis spatially stabilized and rotationally modulated inertial navigation system.

[0014] Optionally, navigation calculations for a four-axis space-stabilized inertial navigation system are performed based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient, including:

[0015] Based on latitude error identification and longitude error identification, the equivalent eastward gyroscope error coupling coefficient in inertial space is determined.

[0016] Based on the identification of equivalent northward gyroscope drift using latitude error and equivalent northward gyroscope drift using longitude error, the coupling coefficient of equivalent northward gyroscope error in inertial space is determined.

[0017] Based on latitude error identification and longitude error identification of equivalent astrogyr drift, the inertial space equivalent astrogyr error coupling coefficient is determined.

[0018] Based on the preset intermediate transformation matrix of the coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent celestial gyroscope error coupling coefficient, the inertial space equivalent error coupling transformation is performed to the solution coordinate system to perform navigation solution of the four-axis spatially stable inertial navigation system.

[0019] Optionally, the method further includes:

[0020] Rotate the platform in the four-axis space-stabilized inertial navigation system to align with the direction of Earth's rotation to obtain the first intermediate transformation sub-matrix;

[0021] The second intermediate transformation sub-matrix is ​​obtained by isolating the Earth's rotation angle motion;

[0022] The preset intermediate transformation matrix is ​​obtained based on the first intermediate transformation sub-matrix and the second intermediate transformation sub-matrix.

[0023] According to another aspect of the present invention, an equivalent error identification device for a four-axis space-stabilized inertial navigation system is provided, the device comprising:

[0024] The positioning error determination module is used to collect navigation and positioning error data of the four-axis space-stabilized inertial navigation system to obtain latitude positioning error and longitude positioning error;

[0025] The latitude equivalent error coupling coefficient determination module is used to determine the latitude equivalent error coupling coefficient based on the preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error.

[0026] The longitude equivalent error coupling coefficient determination module is used to determine the longitude equivalent error coupling coefficient based on the preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error.

[0027] The navigation calculation module is used to perform navigation calculations for a four-axis spatially stable inertial navigation system based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient.

[0028] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0029] At least one processor; and

[0030] A memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the equivalent error identification method for a four-axis space-stabilized inertial navigation system according to any embodiment of the present invention.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the equivalent error identification method for a four-axis spatially stable inertial navigation system according to any embodiment of the present invention.

[0033] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the equivalent error identification method for a four-axis spatially stable inertial navigation system as described in any embodiment of the present invention.

[0034] The technical solution of this invention collects navigation and positioning error data from a four-axis spatially stabilized inertial navigation system to obtain latitude and longitude positioning errors. Based on a preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error, a latitude equivalent error coupling coefficient is determined. Similarly, based on a preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error, a longitude equivalent error coupling coefficient is determined. Navigation calculations for the four-axis spatially stabilized inertial navigation system are then performed based on these latitude and longitude equivalent error coupling coefficients. This solves the problem of equivalent errors in four-axis spatially stabilized and rotationally modulated inertial navigation systems. By identifying the equivalent errors, accurate navigation calculations can be achieved, enabling precise positioning during long-distance navigation.

[0035] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of an equivalent error identification method for a four-axis spatially stable inertial navigation system according to Embodiment 1 of the present invention;

[0038] Figure 2 This is a flowchart of an equivalent error identification method for a four-axis spatially stable inertial navigation system according to Embodiment 2 of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of an equivalent error identification device for a four-axis space-stabilized inertial navigation system according to Embodiment 3 of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the equivalent error identification method for a four-axis spatially stable inertial navigation system according to an embodiment of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] Example 1

[0044] Figure 1 This is a flowchart illustrating an equivalent error identification method for a four-axis spatially stabilized inertial navigation system according to Embodiment 1 of the present invention. This embodiment is applicable to the precise positioning of a four-axis spatially stabilized inertial navigation system. The method can be executed by an equivalent error identification device for the four-axis spatially stabilized inertial navigation system. This equivalent error identification device can be implemented in hardware and / or software and can be configured in electronic devices such as inertial navigation positioning equipment. Figure 1 As shown, the method includes:

[0045] Step 110: Collect navigation and positioning error data of the four-axis space-stabilized inertial navigation system to obtain latitude positioning error and longitude positioning error.

[0046] To fully identify the equivalent error, navigation and positioning error data for at least 24 hours should be collected. The equivalent drift error coefficient of the navigation and positioning error data should be calibrated, and the latitude positioning error can be obtained during the calibration. The longitude positioning error is .in, The latitude positioning error of the four-axis spatially stable and rotationally modulated inertial navigation system acquired at time j is given. The longitude positioning error of the four-axis spatially stable and rotationally modulated inertial navigation system acquired at time j is given.

[0047] Step 120: Determine the latitude equivalent error coupling coefficient based on the preset latitude equivalent error vector, latitude positioning error, and the relationship between latitude positioning error and latitude equivalent error.

[0048] The relationship between latitude positioning error and latitude equivalent error can be expressed as the product of a preset latitude equivalent error vector and a latitude equivalent error coupling coefficient. The latitude equivalent error coupling coefficient can be calculated using the least squares method based on the relationship between latitude positioning error and latitude equivalent error, the preset latitude equivalent error vector, and the latitude positioning error itself.

[0049] For example, the relationship between latitude positioning error and latitude equivalent error is as follows: .in, This is a preset latitude equivalent error vector; The latitude equivalent error coupling coefficient can be expressed as: .

[0050] Optionally, the latitude equivalent error coupling coefficient includes: latitude equivalent error source coupling coefficient, latitude error identification equivalent eastward gyroscope drift, latitude error identification equivalent northward gyroscope drift, latitude error identification equivalent celestial gyroscope drift, latitude error identification equivalent first horizontal attitude error, and latitude error identification equivalent second horizontal attitude error.

[0051] That is, .in, The coupling coefficient of the latitude equivalent error source. To identify the equivalent eastward gyroscope drift for latitude error, To identify equivalent northward gyroscope drift for latitude error, To identify equivalent astrogyroscope drift for latitude errors, To identify the equivalent first horizontal attitude error for latitude error. Identify the equivalent second horizontal attitude error for latitude error.

[0052] Optionally, the preset latitude equivalent error vector is: ;in, For navigation time, This is the Earth's rotational angular rate.

[0053] When collecting navigation and positioning error data for no less than 24 hours, the preset latitude equivalent error vector can be expressed as: .

[0054] Step 130: Determine the longitude equivalent error coupling coefficient based on the preset longitude equivalent error vector, longitude positioning error, and the relationship between longitude positioning error and longitude equivalent error.

[0055] The relationship between longitude positioning error and longitude equivalent error can be expressed as the product of a preset longitude equivalent error vector and a longitude equivalent error coupling coefficient. The longitude equivalent error coupling coefficient can be calculated using the least squares method based on the relationship between the longitude positioning error and the longitude equivalent error, the preset longitude equivalent error vector, and the longitude positioning error itself.

[0056] For example, the relationship between longitude positioning error and longitude equivalent error is as follows: .in, This is a preset longitude equivalent error vector; The longitude equivalent error coupling coefficient can be expressed as: .

[0057] Optionally, the longitude equivalent error coupling coefficient includes: longitude equivalent error source coupling coefficient, longitude error identification equivalent eastward gyroscope drift, longitude error identification equivalent northward gyroscope drift, longitude error identification equivalent celestial gyroscope drift, longitude error identification equivalent first horizontal attitude error, and longitude error identification equivalent second horizontal attitude error.

[0058] That is, .in, The coupling coefficient of the longitude equivalent error source is... To identify the equivalent eastward gyroscope drift for longitude error, To identify the equivalent northward gyroscope drift for longitude error, To identify the equivalent astronomical gyroscope drift for longitude error, To identify the equivalent first horizontal attitude error for longitude error, Identify the equivalent second horizontal attitude error for longitude error.

[0059] Optionally, the preset longitude equivalent error vector is: ;in, For navigation time, ω represents the Earth's rotational angular rate; L represents the current geographic latitude of the four-axis spatially stabilized and rotationally modulated inertial navigation system.

[0060] When collecting navigation and positioning error data for no less than 24 hours, the preset longitude equivalent error vector can be expressed as: .

[0061] Step 140: Perform navigation calculations for the four-axis space-stabilized inertial navigation system based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient.

[0062] Based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient, error compensation can be performed on navigation and positioning data, thereby achieving accurate navigation calculation of a four-axis spatially stable inertial navigation system.

[0063] The technical solution of this embodiment obtains latitude and longitude positioning errors by collecting navigation and positioning error data from a four-axis spatially stabilized inertial navigation system. Based on a preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error, a latitude equivalent error coupling coefficient is determined. Similarly, based on a preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error, a longitude equivalent error coupling coefficient is determined. Navigation calculations for the four-axis spatially stabilized inertial navigation system are then performed based on these latitude and longitude equivalent error coupling coefficients. This solves the problem of equivalent errors in four-axis spatially stabilized and rotationally modulated inertial navigation systems. By identifying the equivalent errors, accurate navigation calculations can be achieved, enabling precise positioning during long-distance navigation.

[0064] Example 2

[0065] Figure 2 This is a flowchart of an equivalent error identification method for a four-axis spatially stable inertial navigation system according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0066] Optionally, navigation calculations for a four-axis spatially stable inertial navigation system are performed based on the latitude-equivalent error coupling coefficient and the longitude-equivalent error coupling coefficient. This includes: determining the inertial space equivalent eastward gyroscope error coupling coefficient based on the latitude error identification of the equivalent eastward gyroscope drift and the longitude error identification of the equivalent eastward gyroscope drift; determining the inertial space equivalent northward gyroscope error coupling coefficient based on the latitude error identification of the equivalent northward gyroscope drift and the longitude error identification of the equivalent northward gyroscope drift; determining the inertial space equivalent astronomical gyroscope error coupling coefficient based on the latitude error identification of the equivalent astronomical gyroscope drift and the longitude error identification of the equivalent astronomical gyroscope drift; and converting the inertial space equivalent error coupling to the solution coordinate system based on the preset intermediate transformation matrix of the coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent astronomical gyroscope error coupling coefficient, to perform navigation calculations for the four-axis spatially stable inertial navigation system.

[0067] like Figure 2 As shown, the method includes:

[0068] Step 210: Collect navigation and positioning error data of the four-axis space-stabilized inertial navigation system to obtain latitude positioning error and longitude positioning error.

[0069] Step 220: Determine the latitude equivalent error coupling coefficient based on the preset latitude equivalent error vector, latitude positioning error, and the relationship between latitude positioning error and latitude equivalent error.

[0070] Optionally, the latitude equivalent error coupling coefficient includes: latitude equivalent error source coupling coefficient, latitude error identification equivalent eastward gyroscope drift, latitude error identification equivalent northward gyroscope drift, latitude error identification equivalent celestial gyroscope drift, latitude error identification equivalent first horizontal attitude error, and latitude error identification equivalent second horizontal attitude error.

[0071] Optionally, the preset latitude equivalent error vector is: ;in, For navigation time, This is the Earth's rotational angular rate.

[0072] Step 230: Determine the longitude equivalent error coupling coefficient based on the preset longitude equivalent error vector, longitude positioning error, and the relationship between longitude positioning error and longitude equivalent error.

[0073] Optionally, the longitude equivalent error coupling coefficient includes: longitude equivalent error source coupling coefficient, longitude error identification equivalent eastward gyroscope drift, longitude error identification equivalent northward gyroscope drift, longitude error identification equivalent celestial gyroscope drift, longitude error identification equivalent first horizontal attitude error, and longitude error identification equivalent second horizontal attitude error.

[0074] Optionally, the preset longitude equivalent error vector is: ;in, For navigation time, ω represents the Earth's rotational angular rate; L represents the current geographic latitude of the four-axis spatially stabilized and rotationally modulated inertial navigation system.

[0075] Step 240: Based on the latitude error identification and the longitude error identification, determine the inertial space equivalent eastward gyroscope error coupling coefficient.

[0076] For example, the average of the latitude error identification equivalent eastward gyroscope drift and the longitude error identification equivalent eastward gyroscope drift can be used as the inertial space equivalent eastward gyroscope error coupling coefficient. That is, the inertial space equivalent eastward gyroscope error coupling coefficient is... .

[0077] Step 250: Identify the equivalent northward gyroscope drift based on latitude error and longitude error, and determine the inertial space equivalent northward gyroscope error coupling coefficient.

[0078] For example, the average of the latitude error identification equivalent northward gyroscope drift and the longitude error identification equivalent northward gyroscope drift can be used as the inertial space equivalent northward gyroscope error coupling coefficient. That is, the inertial space equivalent northward gyroscope error coupling coefficient is... .

[0079] Step 260: Identify the equivalent astrogyr drift based on latitude error and longitude error, and determine the inertial space equivalent astrogyr drift coupling coefficient.

[0080] For example, the average of the latitude error identification equivalent gyroscope drift and the longitude error identification equivalent gyroscope drift can be used as the inertial space equivalent gyroscope error coupling coefficient. Because The longitude error identification equivalent gyroscope drift can be used as the inertial space equivalent gyroscope error coupling coefficient. That is, the inertial space equivalent gyroscope error coupling coefficient is... .

[0081] Step 270: Based on the preset intermediate transformation matrix of coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent upward gyroscope error coupling coefficient, the inertial space equivalent error coupling transformation is performed to the solution coordinate system, and the navigation solution of the four-axis space-stabilized inertial navigation system is performed.

[0082] For example, the preset intermediate transformation matrix is Based on the inertial space equivalent eastward gyroscope error coupling coefficient Inertial space equivalent northward gyroscope error coupling coefficient and the inertial space equivalent gyroscope error coupling coefficient The equivalent error coupling term in inertial space can be obtained as follows: The product of the pre-defined intermediate transformation matrix and the equivalent error coupling term in inertial space can be used as the equivalent error coupling term in the solution coordinate system. Let the equivalent error coupling term in the solution coordinate system be denoted as... ,but Specifically, The parameters of the equivalent error coupling term in the solution coordinate system are as follows: , , .

[0083] Optionally, the method further includes: rotating the platform in the four-axis space-stabilized inertial navigation system to be consistent with the direction of Earth's rotation to obtain a first intermediate transformation sub-matrix; isolating the Earth's rotation angular motion to obtain a second intermediate transformation sub-matrix; and obtaining a preset intermediate transformation matrix based on the first intermediate transformation sub-matrix and the second intermediate transformation sub-matrix.

[0084] Specifically, the first intermediate transformation sub-matrix is ​​obtained by rotating the platform in the four-axis space-stabilized inertial navigation system to the same direction as the Earth's rotation, such as the first intermediate transformation sub-matrix being... The second intermediate transformation submatrix is ​​obtained by isolating the Earth's rotation angle motion, as shown in the example of the second intermediate transformation submatrix. The product of the second intermediate transformation submatrix and the first intermediate transformation submatrix is ​​the preset intermediate transformation matrix, i.e. .

[0085] The technical solution of this invention involves collecting navigation and positioning error data from a four-axis spatially stabilized inertial navigation system to obtain latitude and longitude positioning errors; determining the latitude equivalent error coupling coefficient based on a preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error; determining the longitude equivalent error coupling coefficient based on a preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error; determining the inertial space equivalent eastward gyroscope error coupling coefficient based on the latitude error identification equivalent eastward gyroscope drift and the longitude error identification equivalent eastward gyroscope drift; and determining the inertial space equivalent eastward gyroscope error coupling coefficient based on the latitude error identification equivalent northward gyroscope drift and the longitude error identification equivalent northward gyroscope drift. The inertial space equivalent northward gyroscope error coupling coefficient is determined. Based on latitude and longitude errors, the equivalent astronomical gyroscope drift is identified, and the inertial space equivalent astronomical gyroscope error coupling coefficient is determined. Using the preset intermediate transformation matrix for coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent astronomical gyroscope error coupling coefficient, the inertial space equivalent error is coupled and transformed to the solution coordinate system for navigation calculation of the four-axis spatially stable inertial navigation system. This solves the problem of equivalent errors in four-axis spatially stable and rotation-modulated inertial navigation systems. By identifying the equivalent error, accurate navigation calculation can be achieved, enabling precise positioning during long-distance navigation.

[0086] Example 3

[0087] Figure 3 This is a schematic diagram of the equivalent error identification device for a four-axis space-stabilized inertial navigation system according to Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a positioning error determination module 310, a latitude equivalent error coupling coefficient determination module 320, a longitude equivalent error coupling coefficient determination module 330, and a navigation calculation module 340. Wherein:

[0088] The positioning error determination module 310 is used to collect navigation and positioning error data of the four-axis space-stabilized inertial navigation system to obtain latitude positioning error and longitude positioning error;

[0089] The latitude equivalent error coupling coefficient determination module 320 is used to determine the latitude equivalent error coupling coefficient based on the preset latitude equivalent error vector, latitude positioning error, and the relationship between latitude positioning error and latitude equivalent error.

[0090] The longitude equivalent error coupling coefficient determination module 330 is used to determine the longitude equivalent error coupling coefficient based on the preset longitude equivalent error vector, longitude positioning error, and the relationship between longitude positioning error and longitude equivalent error.

[0091] The navigation calculation module 340 is used to perform navigation calculations for a four-axis spatially stable inertial navigation system based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient.

[0092] Optionally, the latitude equivalent error coupling coefficient includes: latitude equivalent error source coupling coefficient, latitude error identification equivalent eastward gyroscope drift, latitude error identification equivalent northward gyroscope drift, latitude error identification equivalent celestial gyroscope drift, latitude error identification equivalent first horizontal attitude error, and latitude error identification equivalent second horizontal attitude error.

[0093] Optionally, the preset latitude equivalent error vector is: ;in, For navigation time, This is the Earth's rotational angular rate.

[0094] Optionally, the longitude equivalent error coupling coefficient includes: longitude equivalent error source coupling coefficient, longitude error identification equivalent eastward gyroscope drift, longitude error identification equivalent northward gyroscope drift, longitude error identification equivalent celestial gyroscope drift, longitude error identification equivalent first horizontal attitude error, and longitude error identification equivalent second horizontal attitude error.

[0095] Optionally, the preset longitude equivalent error vector is: ;in, For navigation time, ω represents the Earth's rotational angular rate; L represents the current geographic latitude of the four-axis spatially stabilized and rotationally modulated inertial navigation system.

[0096] Optionally, the navigation solution module 340 includes:

[0097] The equivalent eastward gyroscope error coupling coefficient determination unit is used to identify the equivalent eastward gyroscope drift based on latitude error and longitude error, and to determine the inertial space equivalent eastward gyroscope error coupling coefficient.

[0098] The equivalent northward gyroscope error coupling coefficient determination unit is used to identify the equivalent northward gyroscope drift based on latitude error and longitude error, and to determine the inertial space equivalent northward gyroscope error coupling coefficient.

[0099] The equivalent astrogyroscope error coupling coefficient determination unit is used to identify the equivalent astrogyroscope drift based on latitude error and longitude error, and to determine the inertial space equivalent astrogyroscope error coupling coefficient.

[0100] The navigation calculation unit is used to perform navigation calculations for a four-axis space-stabilized inertial navigation system by coupling and transforming the inertial space equivalent error to the solution coordinate system based on the preset intermediate transformation matrix of the coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent upward gyroscope error coupling coefficient.

[0101] Optionally, the device may also include:

[0102] The first intermediate transformation sub-matrix determination module is used to rotate the platform in the four-axis space-stabilized inertial navigation system to be consistent with the direction of Earth's rotation, and obtain the first intermediate transformation sub-matrix.

[0103] The second intermediate transformation sub-matrix determination module is used to isolate the Earth's rotation angle motion to obtain the second intermediate transformation sub-matrix;

[0104] The preset intermediate transformation matrix determination module is used to obtain the preset intermediate transformation matrix based on the first intermediate transformation sub-matrix and the second intermediate transformation sub-matrix.

[0105] The equivalent error identification device for a four-axis spatially stable inertial navigation system provided in this embodiment of the invention can execute the equivalent error identification method for a four-axis spatially stable inertial navigation system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0106] Example 4

[0107] Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0108] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) or random access memory (RAM), communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. Input / output (I / O) interfaces are also connected to the bus 14.

[0109] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0110] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the equivalent error identification method for a four-axis spatially stabilized inertial navigation system.

[0111] In some embodiments, the equivalent error identification method for a quadcopter space-stabilized inertial navigation system can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the equivalent error identification method for a quadcopter space-stabilized inertial navigation system described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the equivalent error identification method for a quadcopter space-stabilized inertial navigation system by any other suitable means (e.g., by means of firmware).

[0112] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0114] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0116] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0117] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0118] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0119] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for identifying the equivalent error of a four-axis spatially stabilized inertial navigation system, characterized in that, include: Navigation and positioning error data of a four-axis space-stabilized inertial navigation system are collected to obtain latitude positioning error and longitude positioning error; Based on the preset latitude equivalent error vector, the latitude positioning error, and the relationship between the latitude positioning error and the latitude equivalent error, the latitude equivalent error coupling coefficient is determined. Based on the preset longitude equivalent error vector, the longitude positioning error, and the relationship between the longitude positioning error and the longitude equivalent error, the longitude equivalent error coupling coefficient is determined; Based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient, the navigation solution of the four-axis space-stabilized inertial navigation system is performed; The latitude equivalent error coupling coefficient includes: latitude equivalent error source coupling coefficient, latitude error identification equivalent eastward gyroscope drift, latitude error identification equivalent northward gyroscope drift, latitude error identification equivalent celestial gyroscope drift, latitude error identification equivalent first horizontal attitude error, and latitude error identification equivalent second horizontal attitude error. The preset latitude equivalent error vector is: ;in, For navigation time, This is the Earth's rotational angular rate; The longitude equivalent error coupling coefficient includes: longitude equivalent error source coupling coefficient, longitude error identification equivalent eastward gyroscope drift, longitude error identification equivalent northward gyroscope drift, longitude error identification equivalent celestial gyroscope drift, longitude error identification equivalent first horizontal attitude error, and longitude error identification equivalent second horizontal attitude error. The preset longitude equivalent error vector is: ;in, For navigation time, L is the Earth's rotation angular rate; L is the current geographic latitude of the four-axis spatially stabilized and rotationally modulated inertial navigation system. Based on the latitude equivalent error coupling coefficient and the longitude equivalent error coupling coefficient, the navigation solution of the four-axis space-stabilized inertial navigation system is performed, including: Based on latitude error identification and longitude error identification, the equivalent eastward gyroscope error coupling coefficient in inertial space is determined. Based on the identification of equivalent northward gyroscope drift using latitude error and equivalent northward gyroscope drift using longitude error, the coupling coefficient of equivalent northward gyroscope error in inertial space is determined. Based on latitude error identification and longitude error identification of equivalent astrogyr drift, the inertial space equivalent astrogyr error coupling coefficient is determined. Based on the preset intermediate transformation matrix of the coordinate system transformation, the inertial space equivalent eastward gyroscope error coupling coefficient, the inertial space equivalent northward gyroscope error coupling coefficient, and the inertial space equivalent celestial gyroscope error coupling coefficient, the inertial space equivalent error coupling transformation is performed to the solution coordinate system to perform navigation solution of the four-axis spatially stable inertial navigation system.

2. The equivalent error identification method for a four-axis spatially stabilized inertial navigation system according to claim 1, characterized in that, Also includes: Rotate the platform in the four-axis space-stabilized inertial navigation system to align with the direction of Earth's rotation to obtain the first intermediate transformation sub-matrix; The second intermediate transformation sub-matrix is ​​obtained by isolating the Earth's rotation angle motion; The preset intermediate transformation matrix is ​​obtained based on the first intermediate transformation sub-matrix and the second intermediate transformation sub-matrix.

3. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the equivalent error identification method for a four-axis space-stabilized inertial navigation system as described in any one of claims 1-2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the equivalent error identification method for the four-axis space-stabilized inertial navigation system as described in any one of claims 1-2.

5. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the equivalent error identification method for a four-axis space-stabilized inertial navigation system according to any one of claims 1-2.

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