A method, device and medium for attitude decoupling of a four-ring space-stable inertial navigation system

Abstract

Embodiments of the application disclose a four-loop space-stabilized inertial navigation system attitude decoupling method, device and medium. The method comprises: converting a terrestrial axis coordinate system of an inertial navigation system to an initial terrestrial axis coordinate system to obtain a terrestrial axis conversion matrix; converting an inner axis coordinate system of the inertial navigation system to an initial inner axis coordinate system to obtain an inner axis conversion matrix; converting a middle axis coordinate system of the inertial navigation system to an initial middle axis coordinate system to obtain a middle axis conversion matrix; converting an outer axis coordinate system of the inertial navigation system to an initial outer axis coordinate system to obtain an outer axis conversion matrix; and obtaining a four-loop space-stabilized inertial navigation system attitude decoupling result according to an inertial platform body attitude matrix, the terrestrial axis conversion matrix, the inner axis conversion matrix, the middle axis conversion matrix and the outer axis conversion matrix. The inertial platform body attitude matrix is decoupled to a geographical coordinate system of a four-loop space, and high-precision attitude output of the four-loop space-stabilized inertial navigation system is realized.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation system application technology, and in particular to an attitude decoupling method, device and medium for a four-ring space-stabilized inertial navigation system. Background Technology

[0002] During the maneuver, the carrier experiences angular motion in three directions. To keep the platform stable in the navigation carrier's coordinate system, the four-axis rotary inertial navigation system needs to completely isolate the carrier's angular motion from the Earth's angular motion through a four-frame linkage method.

[0003] A single-axis rotary inertial navigation system can be mathematically assumed to have the inner and middle frames of the motor carrier coordinate system aligned with the horizontal direction of the platform carrier coordinate system, thus eliminating the mutual coupling between axis angle errors. However, in a four-axis rotary inertial navigation system, the motor sensing axes are not orthogonal to each other due to machining and assembly issues. Furthermore, the constant value and sine wave error of the four axes during rotation cause coupling between the four frames during attitude decoupling. Therefore, the same mathematical assumptions as in a single-axis rotary inertial navigation system cannot be applied, making axis angle error compensation in a four-axis rotary inertial navigation system more complex than in single-axis, dual-axis, or three-axis rotary inertial navigation systems.

[0004] To address the aforementioned problems, this invention provides an attitude decoupling method for a four-ring spatially stabilized inertial navigation system, which enables the four-axis data representation of the attitude of the four-ring spatially stabilized inertial navigation system in a non-decoupled state. Summary of the Invention

[0005] This invention provides an attitude decoupling method, device, and medium for a four-ring space-stabilized inertial navigation system, so as to achieve high-precision attitude output of the four-ring space-stabilized inertial navigation system.

[0006] According to one aspect of the present invention, an attitude decoupling method for a four-ring space-stabilized inertial navigation system is provided, the method comprising:

[0007] Transform the inertial navigation system from the ground-axis coordinate system to the initial ground-axis coordinate system to obtain the ground-axis transformation matrix;

[0008] Transform the inertial navigation system's internal axis coordinate system to the initial internal axis coordinate system to obtain the internal axis transformation matrix;

[0009] Transform the inertial navigation system's central axis coordinate system to the initial central axis coordinate system to obtain the central axis transformation matrix;

[0010] Transform the external axis coordinate system of the inertial navigation system to the initial external axis coordinate system to obtain the external axis transformation matrix;

[0011] Based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the middle axis transformation matrix, and the outer axis transformation matrix, the attitude decoupling result of the four-ring space-stabilized inertial navigation system is obtained.

[0012] Optionally, based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix, the attitude decoupling result of the four-ring space-stabilized inertial navigation system is obtained, including:

[0013] The attitude matrix from the ground axis coordinate system to the geographic coordinate system is obtained by compensating for the axial swing angle error and the rotation error of the ground axis from the platform coordinate system to the ground axis coordinate system.

[0014] Compensation is performed on the axial swing angle error and rotation error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the attitude matrix from the inner axis coordinate system to the geographic coordinate system.

[0015] Compensation is performed on the axial swing angle error and axial rotation error of the inertial navigation system from the inner axis coordinate system to the central axis coordinate system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system.

[0016] The attitude matrix from the outer axis coordinate system to the geographic coordinate system is obtained by compensating for the axial swing angle error and the rotation error of the outer axis of the inertial navigation system.

[0017] The attitude matrix from the external axis coordinate system to the geographic coordinate system is used as the attitude decoupling result of the four-ring spatially stable inertial navigation system.

[0018] Optionally, the inertial navigation system's ground-axis coordinate system is transformed to the initial ground-axis coordinate system to obtain the ground-axis transformation matrix, including:

[0019] Rotation of the Earth's axis When the angle is determined, the Earth axis transformation matrix is: .

[0020] Optionally, the inertial navigation system is subjected to compensation for the axis swing angle error and the rotation error of the ground axis from the platform to the ground axis coordinate system, to obtain the attitude matrix from the ground axis coordinate system to the geographic coordinate system, including:

[0021] Compensation is performed on the axis swing angle error of the inertial navigation system from the platform to the ground axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the Earth's axis sway angle. ;

[0022] Compensation is performed on the axial swing angle and sinusoidal error of the ground axis rotation of the inertial navigation system from the platform to the ground axis coordinate system, resulting in the matrix. ;

[0023] in, This is the sine term related to the Earth's axial tilt angle and axial rotation angle. , , , , , , , , , ; The rotation angle of the Earth's axis. , , , The sinusoidal term axis swing angle error amplitude associated with the Earth's axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the Earth's axis rotation angle;

[0024] The attitude matrix from the Earth axis coordinate system to the geographic coordinate system is: ,in, Here is the attitude matrix of the inertial platform. This is the Earth axis transformation matrix.

[0025] Optionally, compensation for the axial tilt angle error and the rotation error of the inner axis are performed on the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the attitude matrix from the inner axis coordinate system to the geographic coordinate system, including:

[0026] Compensation is performed on the axial tilt angle error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the inner shaft sway angle. ;

[0027] Compensation is performed on the axial swing angle and sinusoidal rotation errors of the inertial navigation system from the ground-axis coordinate system to the inner-axis coordinate system to obtain the matrix. ;in, This is the sine term related to the inner shaft swing angle and the inner shaft rotation angle. ; , , , , , , , , ; The rotation angle of the inner shaft. , , , The magnitude of the sinusoidal term axis swing angle error associated with the inner axis rotation angle. , , , The phase of the sine-axis swing angle associated with the inner axis rotation angle;

[0028] The attitude matrix from the internal coordinate system to the geographic coordinate system is: ,in, This is the internal axis transformation matrix.

[0029] Optionally, the inertial navigation system is subjected to central axis yaw angle error compensation and central axis rotation error compensation from the internal axis coordinate system to the central axis coordinate system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system, including:

[0030] Compensation is performed on the axial swing angle and sine rotation error of the central axis from the inner axis coordinate system to the central axis coordinate system of the inertial navigation system, resulting in the matrix. ;in, This is the sine term related to the swing angle and rotation angle of the central axis. ; , , , , , , , , ; The rotation angle of the central axis. , , , The amplitude of the sine-axis swing angle error associated with the central axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the rotation angle of the central axis;

[0031] The attitude matrix from the central coordinate system to the geographic coordinate system is: , Let be the mid-axis swing angle error matrix from the inner-axis coordinate system to the mid-axis coordinate system. This is the central axis transformation matrix.

[0032] Optionally, compensation for the axial tilt angle error and the rotation error of the outer axis are performed on the inertial navigation system from the central axis coordinate system to the outer axis coordinate system to obtain the attitude matrix from the outer axis coordinate system to the geographic coordinate system, including:

[0033] Compensation is performed on the external axis sway angle and external axis rotation sinusoidal error from the central axis coordinate system to the external axis coordinate system of the inertial navigation system to obtain the matrix. ;in, This is the sine term related to the external shaft swing angle and the external shaft rotation angle. ; , , , , , , , , ; The rotation angle of the outer shaft. , , , The sinusoidal term axis swing angle error magnitude associated with the outer axis rotation angle. , , , The phase of the sine-axis swing angle associated with the external axis rotation angle;

[0034] The attitude matrix from the external coordinate system to the geographic coordinate system is: ;in, This is the external axis sway angle error matrix from the central axis coordinate system to the external axis coordinate system. This is the external axis transformation matrix.

[0035] According to another aspect of the present invention, an attitude decoupling device for a four-ring space-stabilized inertial navigation system is provided, the device comprising:

[0036] The Earth axis transformation matrix determination module is used to transform the Earth axis coordinate system of the inertial navigation system to the initial Earth axis coordinate system to obtain the Earth axis transformation matrix.

[0037] The inner axis transformation matrix determination module is used to transform the inner axis coordinate system of the inertial navigation system to the initial inner axis coordinate system to obtain the inner axis transformation matrix.

[0038] The central axis transformation matrix determination module is used to transform the central axis coordinate system of the inertial navigation system to the initial central axis coordinate system to obtain the central axis transformation matrix.

[0039] The external axis transformation matrix determination module is used to transform the external axis coordinate system of the inertial navigation system to the initial external axis coordinate system to obtain the external axis transformation matrix.

[0040] The attitude decoupling result determination module is used to obtain the attitude decoupling result of the four-ring space-stabilized inertial navigation system based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix.

[0041] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0042] At least one processor; and

[0043] A memory communicatively connected to the at least one processor; wherein,

[0044] 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 attitude decoupling method for the four-ring space-stabilized inertial navigation system according to any embodiment of the present invention.

[0045] 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 attitude decoupling method of the four-ring space-stabilized inertial navigation system according to any embodiment of the present invention.

[0046] 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 attitude decoupling method for a four-ring space-stabilized inertial navigation system as described in any embodiment of the present invention.

[0047] The technical solution of this invention transforms the ground axis coordinate system of the inertial navigation system to the initial ground axis coordinate system to obtain the ground axis transformation matrix; transforms the inner axis coordinate system of the inertial navigation system to the initial inner axis coordinate system to obtain the inner axis transformation matrix; transforms the central axis coordinate system of the inertial navigation system to the initial central axis coordinate system to obtain the central axis transformation matrix; transforms the outer axis coordinate system of the inertial navigation system to the initial outer axis coordinate system to obtain the outer axis transformation matrix; and obtains the attitude decoupling result of the four-ring spatially stable inertial navigation system based on the inertial table attitude matrix, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix. This solves the attitude decoupling problem of four-axis data in the non-decoupled state, and achieves high-precision attitude output of the four-ring spatially stable inertial navigation system by decoupling the inertial table attitude matrix to the geographic coordinate system of the four-ring space.

[0048] 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

[0049] 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.

[0050] Figure 1 This is a flowchart of an attitude decoupling method for a four-ring space-stabilized inertial navigation system according to Embodiment 1 of the present invention;

[0051] Figure 2This is a flowchart of an attitude decoupling method for a four-ring space-stabilized inertial navigation system according to Embodiment 2 of the present invention;

[0052] Figure 3 This is a schematic diagram of the attitude decoupling device for a four-ring space-stabilized inertial navigation system according to Embodiment 3 of the present invention;

[0053] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the attitude decoupling method of the four-ring space-stabilized inertial navigation system according to an embodiment of the present invention. Detailed Implementation

[0054] 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.

[0055] 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.

[0056] Example 1

[0057] Figure 1 This is a flowchart of an attitude decoupling method for a four-ring space-stabilized inertial navigation system according to Embodiment 1 of the present invention. This embodiment is applicable to attitude decoupling situations where the angular motion of the carrier and the angular motion of the Earth are isolated in a four-ring space-stabilized inertial navigation system. This method can be executed by an attitude decoupling device for the four-ring space-stabilized inertial navigation system, which can be implemented in hardware and / or software. This attitude decoupling device can be configured in electronic devices such as inertial navigation equipment. Figure 1 As shown, the method includes:

[0058] Step 110: Transform the ground coordinate system of the inertial navigation system to the initial ground coordinate system to obtain the ground transformation matrix.

[0059] In a four-ring space-stabilized inertial navigation system, there are four interconnected frames: the ground axis, the inner axis, the central axis, and the outer axis. In this four-frame interconnection, the rotation angle of each axis causes a coordinate system transformation. The corresponding transformation matrix can be determined based on the rotation angle of each axis.

[0060] Optionally, the inertial navigation system's ground-axis coordinate system is transformed to the initial ground-axis coordinate system to obtain the ground-axis transformation matrix, including: during ground-axis rotation. When the angle is determined, the Earth axis transformation matrix is: .

[0061] Step 120: Transform the inertial navigation system's internal axis coordinate system to the initial internal axis coordinate system to obtain the internal axis transformation matrix.

[0062] Rotation of the inner shaft When the angle is determined, the inner axis transformation matrix is: .

[0063] Step 130: Transform the inertial navigation system's central axis coordinate system to the initial central axis coordinate system to obtain the central axis transformation matrix.

[0064] Rotating on the central axis When the angle is determined, the central axis transformation matrix is: .

[0065] Step 140: Transform the external axis coordinate system of the inertial navigation system to the initial external axis coordinate system to obtain the external axis transformation matrix.

[0066] Rotation of the outer shaft When the angle is determined, the external axis transformation matrix is: .

[0067] Step 150: Based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the middle axis transformation matrix, and the outer axis transformation matrix, obtain the attitude decoupling result of the four-ring space-stabilized inertial navigation system.

[0068] By combining the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix, the attitude decoupling result of the four-ring space-stabilized inertial navigation system can be obtained. Specifically, the attitude decoupling result of the four-ring space-stabilized inertial navigation system is as follows: .in, Let be the attitude matrix of the inertial platform. Where R, P, and H are the roll angle, pitch angle, and heading angle of the platform, respectively.

[0069] The technical solution of this embodiment transforms the ground axis coordinate system of the inertial navigation system to the initial ground axis coordinate system to obtain the ground axis transformation matrix; transforms the inner axis coordinate system of the inertial navigation system to the initial inner axis coordinate system to obtain the inner axis transformation matrix; transforms the central axis coordinate system of the inertial navigation system to the initial central axis coordinate system to obtain the central axis transformation matrix; transforms the outer axis coordinate system of the inertial navigation system to the initial outer axis coordinate system to obtain the outer axis transformation matrix; and obtains the attitude decoupling result of the four-ring spatially stable inertial navigation system based on the inertial table attitude matrix, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix. This solves the attitude decoupling problem of four-axis data in the non-decoupled state. By decoupling the inertial table attitude matrix to the geographic coordinate system of the four-ring space, high-precision attitude output of the four-ring spatially stable inertial navigation system is achieved.

[0070] Example 2

[0071] Figure 2 This is a flowchart of an attitude decoupling method for a four-ring space-stabilized inertial navigation system according to Embodiment 2 of the present invention. This embodiment is a further addition and refinement of the above technical solution. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0072] In a four-ring space-stabilized inertial navigation system, the angular errors of the four axes are coupled with each other during the four-frame linkage process. During multiple full rotations, a "jump phenomenon" occurs in attitude error angle compensation when crossing zero points. To solve the "jump phenomenon" in attitude compensation at zero points in existing attitude compensation algorithms and achieve high-precision attitude output of the four-axis rotary inertial navigation system, in this embodiment of the invention, the constant error of the axial angular displacement of the four axes and the sine term related to the axial angular displacement and rotation angle are considered when performing attitude error compensation.

[0073] Optionally, based on the inertial platform attitude matrix, ground axis transformation matrix, inner axis transformation matrix, central axis transformation matrix, and outer axis transformation matrix, the attitude decoupling result of the four-ring space-stabilized inertial navigation system is obtained, including: compensating for the axial tilt angle error and rotation error of the ground axis from the platform coordinate system to the ground axis coordinate system to obtain the attitude matrix from the ground axis coordinate system to the geographic coordinate system; compensating for the axial tilt angle error and rotation error of the inner axis from the ground axis coordinate system to the inner axis coordinate system to obtain the attitude matrix from the inner axis coordinate system to the geographic coordinate system; compensating for the axial tilt angle error and rotation error of the central axis from the inner axis coordinate system to the central axis coordinate system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system; compensating for the axial tilt angle error and rotation error of the outer axis from the central axis coordinate system to the outer axis coordinate system to obtain the attitude matrix from the outer axis coordinate system to the geographic coordinate system; and using the attitude matrix from the outer axis coordinate system to the geographic coordinate system as the attitude decoupling result of the four-ring space-stabilized inertial navigation system.

[0074] like Figure 2 As shown, the method includes:

[0075] Step 210: Transform the ground coordinate system of the inertial navigation system to the initial ground coordinate system to obtain the ground transformation matrix.

[0076] Step 220: Transform the inertial navigation system's internal axis coordinate system to the initial internal axis coordinate system to obtain the internal axis transformation matrix.

[0077] Step 230: Transform the inertial navigation system's central axis coordinate system to the initial central axis coordinate system to obtain the central axis transformation matrix.

[0078] Step 240: Transform the external axis coordinate system of the inertial navigation system to the initial external axis coordinate system to obtain the external axis transformation matrix.

[0079] Step 250: Perform axis swing angle error compensation and axis rotation error compensation on the inertial navigation system from the platform to the ground axis coordinate system to obtain the attitude matrix from the ground axis coordinate system to the geographic coordinate system.

[0080] Optionally, the inertial navigation system is subjected to ground axis sway angle error compensation and ground axis rotation error compensation from the platform to the ground axis coordinate system to obtain the attitude matrix from the ground axis coordinate system to the geographic coordinate system. This includes: performing ground axis sway angle error compensation from the platform to the ground axis coordinate system of the inertial navigation system to obtain the matrix. ;in, This is the constant error vector of the Earth's axis sway angle. An angle value less than the preset degree is considered a small angle. Compensation is performed on the axial swing angle and sinusoidal error of the ground axis rotation of the inertial navigation system from the platform to the ground axis coordinate system, resulting in a matrix. ;in, This is the sine term related to the Earth's axial tilt angle and axial rotation angle. An angle less than the preset degree is considered a small angle. , , , , , , , , , ; The rotation angle of the Earth's axis. , , , The sinusoidal term axis swing angle error amplitude associated with the Earth's axis rotation angle. , , , The sinusoidal term axis swing angle phase associated with the Earth axis rotation angle; the attitude matrix from the Earth axis coordinate system to the geographic coordinate system is... ,in, Here is the attitude matrix of the inertial platform. This is the Earth axis transformation matrix.

[0081] It should be noted that this invention creatively incorporates the sinusoidal error matrix relating the Earth's axial tilt angle to its rotation. The angular frequency is set to an integer value to avoid the compensation angle jump problem when the rotation angle crosses zero, achieving high-precision attitude decoupling of the four-ring space-stabilized inertial navigation system, which has high engineering application value. Specifically, the sinusoidal error matrix related to the earth axis swing angle and the earth axis rotation is used. Setting the angular frequency in the matrix to an integer value can be achieved by setting the sine term (sin) in the matrix. Setting the coefficients to 1 and 2 can solve the problem of compensation angle jump when the rotation angle crosses zero.

[0082] Step 260: Perform internal axis yaw angle error compensation and internal axis rotation error compensation on the inertial navigation system from the ground axis coordinate system to the internal axis coordinate system to obtain the attitude matrix from the internal axis coordinate system to the geographic coordinate system.

[0083] Optionally, the inertial navigation system is subjected to internal axis sway angle error compensation and internal axis rotation error compensation from the ground axis coordinate system to the internal axis coordinate system to obtain the attitude matrix from the internal axis coordinate system to the geographic coordinate system. This includes: performing internal axis sway angle error compensation from the ground axis coordinate system to the internal axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the inner shaft sway angle. An angle less than the preset angle value is considered a small angle. The inertial navigation system's transition from the ground-axis coordinate system to the inner-axis coordinate system is compensated for sinusoidal errors in the inner-axis swing angle and rotation, resulting in a matrix. ;in, This is the sine term related to the inner shaft swing angle and the inner shaft rotation angle. An angle smaller than the preset angle value is considered a small angle. ; , , , , , , , , ; The rotation angle of the inner shaft. , , , The magnitude of the sinusoidal term axis swing angle error associated with the inner axis rotation angle. , , , The sinusoidal term axis swing angle phase associated with the internal axis rotation angle; the attitude matrix from the internal axis coordinate system to the geographic coordinate system is... ,in, This is the internal axis transformation matrix.

[0084] It should be noted that this invention creatively incorporates the sinusoidal error matrix relating the inner shaft sway angle to the inner shaft rotation. The angular frequency is set to an integer value to avoid the compensation angle jump problem when the rotation angle crosses zero, achieving high-precision attitude decoupling of the four-ring space-stabilized inertial navigation system, which has high engineering application value. Specifically, the sinusoidal error matrix related to the inner axis swing angle and the inner axis rotation is set... Setting the angular frequency in the matrix to an integer value can be achieved by setting the sine term (sin) in the matrix. Setting the coefficients to 1 and 2 can solve the problem of compensation angle jump when the rotation angle crosses zero.

[0085] Step 270: Perform axis swing angle error compensation and axis rotation error compensation on the inertial navigation system from the inner axis coordinate system to the central axis coordinate system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system.

[0086] Compensation is performed on the axial tilt angle error of the inertial navigation system from the inner axis coordinate system to the central axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the central axis swing angle. Less than the preset angle value, which is a small angle; and .

[0087] Optionally, the attitude matrix from the inertial navigation system's inner axis coordinate system to the central axis coordinate system is obtained by compensating for the central axis axial tilt angle error and the central axis rotation error, including: compensating for the central axis axial tilt angle and the central axis rotation sinusoidal error from the inertial navigation system's inner axis coordinate system to the central axis coordinate system, to obtain the matrix. ;in, This is the sine term related to the swing angle and rotation angle of the central axis. An angle smaller than the preset angle value is considered a small angle. ; , , , , , , , , ; The rotation angle of the central axis. , , , The amplitude of the sine-axis swing angle error associated with the central axis rotation angle. , , , The sinusoidal term axis swing angle phase associated with the central axis rotation angle; the attitude matrix from the central axis coordinate system to the geographic coordinate system is... , Let be the mid-axis swing angle error matrix from the inner-axis coordinate system to the mid-axis coordinate system. This is the central axis transformation matrix.

[0088] It should be noted that this invention creatively incorporates the sinusoidal error matrix relating the central axis swing angle to the central axis rotation. The angular frequency is set to an integer value to avoid the compensation angle jump problem when the rotation angle crosses zero, achieving high-precision attitude decoupling of the four-ring space-stabilized inertial navigation system, which has high engineering application value. Specifically, the sinusoidal error matrix related to the central axis swing angle and central axis rotation is used. Setting the angular frequency in the matrix to an integer value can be achieved by setting the sine term (sin) in the matrix. Setting the coefficients to 1 and 2 can solve the problem of compensation angle jump when the rotation angle crosses zero.

[0089] Step 280: Perform external axis yaw angle error compensation and external axis rotation error compensation on the inertial navigation system from the central axis coordinate system to the external axis coordinate system to obtain the attitude matrix from the external axis coordinate system to the geographic coordinate system.

[0090] Specifically, the axis swing angle error of the outer axis is compensated for from the central axis coordinate system to the outer axis coordinate system of the inertial navigation system, resulting in a matrix. ;in, This is the error vector for the constant angle of the outer-axis pendulum. An angle smaller than the preset angle is considered a small angle. .

[0091] Optionally, compensation for the axial tilt angle error and the external rotation error of the inertial navigation system from the central axis coordinate system to the external axis coordinate system is performed to obtain the attitude matrix from the external axis coordinate system to the geographic coordinate system. This includes: compensating for the axial tilt angle and the external rotation sinusoidal error of the inertial navigation system from the central axis coordinate system to the external axis coordinate system to obtain the matrix. ;in, This is the sine term related to the external shaft swing angle and the external shaft rotation angle. An angle smaller than the preset angle is considered a small angle. ; , , , , , , , , ; The rotation angle of the outer shaft. , , , The sinusoidal term axis swing angle error magnitude associated with the outer axis rotation angle. , , , The sinusoidal term-axis swing angle phase associated with the external axis rotation angle; the attitude matrix from the external axis coordinate system to the geographic coordinate system is... ;in, This is the external axis sway angle error matrix from the central axis coordinate system to the external axis coordinate system. This is the external axis transformation matrix.

[0092] It should be noted that this invention creatively incorporates the sinusoidal error matrix relating the external shaft sway angle to the external shaft rotation. The angular frequency is set to an integer value to avoid the compensation angle jump problem when the rotation angle crosses zero, achieving high-precision attitude decoupling of the four-ring space-stabilized inertial navigation system, which has high engineering application value. Specifically, the sinusoidal error matrix related to the outer axis swing angle and the outer axis rotation is... Setting the angular frequency in the matrix to an integer value can be achieved by setting the sine term (sin) in the matrix. Setting the coefficients to 1 and 2 can solve the problem of compensation angle jump when the rotation angle crosses zero.

[0093] Step 290: Use the attitude matrix from the external axis coordinate system to the geographic coordinate system as the attitude decoupling result of the four-ring spatially stable inertial navigation system.

[0094] That is, through The attitude decoupling results of the four-ring space-stabilized inertial navigation system were obtained.

[0095] The technical solution of this invention involves transforming the ground axis coordinate system of the inertial navigation system (INS) to the initial ground axis coordinate system to obtain a ground axis transformation matrix; transforming the internal axis coordinate system of the INS to the initial internal axis coordinate system to obtain an internal axis transformation matrix; transforming the central axis coordinate system of the INS to the initial central axis coordinate system to obtain a central axis transformation matrix; transforming the external axis coordinate system of the INS to the initial external axis coordinate system to obtain an external axis transformation matrix; performing ground axis sway angle error compensation and ground axis rotation error compensation on the INS from the platform to the ground axis coordinate system to obtain an attitude matrix from the ground axis coordinate system to the geographic coordinate system; performing internal axis sway angle error compensation and internal axis rotation error compensation on the INS from the ground axis coordinate system to the internal axis coordinate system to obtain an attitude matrix from the internal axis coordinate system to the geographic coordinate system; and performing central axis sway angle error compensation on the INS from the internal axis coordinate system to the central axis coordinate system. Error compensation and central axis rotation error compensation are performed to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system. External axis axial swing angle error compensation and external axis rotation error compensation are then performed on the inertial navigation system from the central axis coordinate system to the external axis coordinate system to obtain the attitude matrix from the external axis coordinate system to the geographic coordinate system. The attitude matrix from the external axis coordinate system to the geographic coordinate system is used as the attitude decoupling result of the four-ring spatially stabilized inertial navigation system, solving the attitude decoupling problem of four-axis data in the non-decoupling state. By decoupling the inertial platform attitude matrix to the geographic coordinate system of the four-ring space, and considering the constant error of the four-axis axial swing angle and the sine term related to the axial swing angle and rotation angle, the angular frequency of the sine error term related to the axial swing angle and rotation angle is set to an integer value, avoiding the compensation angle jump problem caused when the rotation angle crosses zero, thus achieving high-precision attitude decoupling output of the four-ring spatially stabilized inertial navigation system.

[0096] Example 3

[0097] Figure 3 This is a schematic diagram of the attitude decoupling device for a four-ring space-stabilized inertial navigation system according to Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a ground axis transformation matrix determination module 310, an inner axis transformation matrix determination module 320, a central axis transformation matrix determination module 330, an outer axis transformation matrix determination module 340, and an attitude decoupling result determination module 350. Wherein:

[0098] The ground axis transformation matrix determination module 310 is used to transform the ground axis coordinate system of the inertial navigation system to the initial ground axis coordinate system to obtain the ground axis transformation matrix.

[0099] The inner axis transformation matrix determination module 320 is used to transform the inner axis coordinate system of the inertial navigation system to the initial inner axis coordinate system to obtain the inner axis transformation matrix.

[0100] The central axis transformation matrix determination module 330 is used to transform the central axis coordinate system of the inertial navigation system to the initial central axis coordinate system to obtain the central axis transformation matrix.

[0101] The outer axis transformation matrix determination module 340 is used to transform the outer axis coordinate system of the inertial navigation system to the initial outer axis coordinate system to obtain the outer axis transformation matrix.

[0102] The attitude decoupling result determination module 350 is used to obtain the attitude decoupling result of the four-ring space-stabilized inertial navigation system based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix.

[0103] Optionally, the attitude decoupling result determination module 350 includes:

[0104] The ground axis compensation unit is used to compensate for the axial swing angle error and the rotation error of the ground axis from the platform to the ground axis coordinate system of the inertial navigation system, so as to obtain the attitude matrix from the ground axis coordinate system to the geographic coordinate system.

[0105] The inner axis compensation unit is used to compensate for the inner axis sway angle error and the inner axis rotation error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system, so as to obtain the attitude matrix from the inner axis coordinate system to the geographic coordinate system.

[0106] The central axis compensation unit is used to compensate for the central axis axial tilt angle error and central axis rotation error from the internal axis coordinate system to the central axis coordinate system of the inertial navigation system, so as to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system.

[0107] The outer axis compensation unit is used to compensate for the axial tilt angle error and rotation error of the outer axis of the inertial navigation system from the central axis coordinate system to the outer axis coordinate system, so as to obtain the attitude matrix from the outer axis coordinate system to the geographic coordinate system.

[0108] The attitude decoupling result determination unit is used to take the attitude matrix from the external axis coordinate system to the geographic coordinate system as the attitude decoupling result of the four-ring space-stabilized inertial navigation system.

[0109] Optionally, the earth axis transformation matrix determination module 310 includes:

[0110] Earth axis transformation matrix determining unit, used for rotation of the earth axis When the angle is determined, the Earth axis transformation matrix is: .

[0111] Optional, the ground axis compensation unit is specifically used for:

[0112] Compensation is performed on the axis swing angle error of the inertial navigation system from the platform to the ground axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the Earth's axis sway angle. ;

[0113] Compensation is performed on the axial swing angle and sinusoidal error of the ground axis rotation of the inertial navigation system from the platform to the ground axis coordinate system, resulting in the matrix. ;

[0114] in, This is the sine term related to the Earth's axial tilt angle and axial rotation angle. , , , , , , , , , ; The rotation angle of the Earth's axis. , , , The sinusoidal term axis swing angle error amplitude associated with the Earth's axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the Earth's axis rotation angle;

[0115] The attitude matrix from the Earth axis coordinate system to the geographic coordinate system is: ,in, Here is the attitude matrix of the inertial platform. This is the Earth axis transformation matrix.

[0116] Optional, internal shaft compensation unit, specifically used for:

[0117] Compensation is performed on the axial tilt angle error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the inner shaft sway angle. ;

[0118] Compensation is performed on the axial swing angle and sinusoidal rotation errors of the inertial navigation system from the ground-axis coordinate system to the inner-axis coordinate system to obtain the matrix. ;in, This is the sine term related to the inner shaft swing angle and the inner shaft rotation angle. ; , , , , , , , , ; The rotation angle of the inner shaft. , , , The magnitude of the sinusoidal term axis swing angle error associated with the inner axis rotation angle. , , , The phase of the sine-axis swing angle associated with the inner axis rotation angle;

[0119] The attitude matrix from the internal coordinate system to the geographic coordinate system is: ,in, This is the internal axis transformation matrix.

[0120] Optional, a central axis compensation unit, specifically used for:

[0121] Compensation is performed on the axial swing angle and sine rotation error of the central axis from the inner axis coordinate system to the central axis coordinate system of the inertial navigation system, resulting in the matrix. ;in, This is the sine term related to the swing angle and rotation angle of the central axis. ; , , , , , , , , ; The rotation angle of the central axis. , , , The amplitude of the sine-axis swing angle error associated with the central axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the rotation angle of the central axis;

[0122] The attitude matrix from the central coordinate system to the geographic coordinate system is: , Let be the mid-axis swing angle error matrix from the inner-axis coordinate system to the mid-axis coordinate system. This is the central axis transformation matrix.

[0123] Optional, external shaft compensation unit, specifically used for:

[0124] Compensation is performed on the external axis sway angle and external axis rotation sinusoidal error from the central axis coordinate system to the external axis coordinate system of the inertial navigation system to obtain the matrix. ;in, This is the sine term related to the external shaft swing angle and the external shaft rotation angle. ; , , , , , , , , ; The rotation angle of the outer shaft. , , , The sinusoidal term axis swing angle error magnitude associated with the outer axis rotation angle. , , , The phase of the sine-axis swing angle associated with the external axis rotation angle;

[0125] The attitude matrix from the external coordinate system to the geographic coordinate system is: ;in, This is the external axis sway angle error matrix from the central axis coordinate system to the external axis coordinate system. This is the external axis transformation matrix.

[0126] The attitude decoupling device for a four-ring space-stabilized inertial navigation system provided in this embodiment of the invention can execute the attitude decoupling method for a four-ring space-stabilized inertial navigation system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0127] Example 4

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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 attitude decoupling method for a four-ring space-stabilized inertial navigation system.

[0132] In some embodiments, the attitude decoupling method for a four-ring 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 attitude decoupling method for a four-ring space-stabilized inertial navigation system described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the attitude decoupling method for a four-ring space-stabilized inertial navigation system by any other suitable means (e.g., by means of firmware).

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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).

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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. An attitude decoupling method for a four-ring space-stabilized inertial navigation system, characterized in that, include: Transform the inertial navigation system from the ground-axis coordinate system to the initial ground-axis coordinate system to obtain the ground-axis transformation matrix; Transform the inertial navigation system's internal axis coordinate system to the initial internal axis coordinate system to obtain the internal axis transformation matrix; Transform the inertial navigation system's central axis coordinate system to the initial central axis coordinate system to obtain the central axis transformation matrix; Transform the external axis coordinate system of the inertial navigation system to the initial external axis coordinate system to obtain the external axis transformation matrix; Based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the middle axis transformation matrix, and the outer axis transformation matrix, the attitude decoupling result of the four-ring space-stabilized inertial navigation system is obtained. Specifically, based on the attitude matrix of the inertial platform, the ground axis transformation matrix, the inner axis transformation matrix, the central axis transformation matrix, and the outer axis transformation matrix, the attitude decoupling results of the four-ring space-stabilized inertial navigation system are obtained, including: The attitude matrix from the ground axis coordinate system to the geographic coordinate system is obtained by compensating for the axial swing angle error and the rotation error of the ground axis from the platform coordinate system to the ground axis coordinate system. Compensation is performed on the axial swing angle error and rotation error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the attitude matrix from the inner axis coordinate system to the geographic coordinate system. Compensation is performed on the axial swing angle error and axial rotation error of the inertial navigation system from the inner axis coordinate system to the central axis coordinate system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system. The attitude matrix from the outer axis coordinate system to the geographic coordinate system is obtained by compensating for the axial swing angle error and the rotation error of the outer axis of the inertial navigation system. The attitude matrix from the external axis coordinate system to the geographic coordinate system is used as the attitude decoupling result of the four-ring spatially stable inertial navigation system.

2. The attitude decoupling method for a four-ring space-stabilized inertial navigation system according to claim 1, characterized in that, Transform the inertial navigation system's ground-axis coordinate system to the initial ground-axis coordinate system to obtain the ground-axis transformation matrix, including: Rotation of the Earth's axis When the angle is determined, the Earth axis transformation matrix is: .

3. The attitude decoupling method for a four-ring space-stabilized inertial navigation system according to claim 1, characterized in that, Compensation is performed on the axial tilt angle error and axial rotation error of the inertial navigation system from the platform to the ground coordinate system to obtain the attitude matrix from the ground coordinate system to the geographic coordinate system, including: Compensation is performed on the axis swing angle error of the inertial navigation system from the platform to the ground axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the Earth's axis sway angle. ; Compensation is performed on the axial swing angle and sinusoidal error of the ground axis rotation of the inertial navigation system from the platform to the ground axis coordinate system, resulting in the matrix. ; in, This is the sine term related to the Earth's axial tilt angle and axial rotation angle. , , , , , , , , , ; The angle of rotation of the Earth's axis. , , , The sinusoidal term axis swing angle error amplitude associated with the Earth's axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the Earth's axis rotation angle; The attitude matrix from the Earth axis coordinate system to the geographic coordinate system is: ,in, The attitude matrix of the inertial platform. This is the Earth axis transformation matrix.

4. The attitude decoupling method for a four-ring space-stabilized inertial navigation system according to claim 3, characterized in that, Compensation is performed on the internal axis yaw angle error and internal axis rotation error of the inertial navigation system from the ground axis coordinate system to the internal axis coordinate system to obtain the attitude matrix from the internal axis coordinate system to the geographic coordinate system, including: Compensation is performed on the axial tilt angle error of the inertial navigation system from the ground axis coordinate system to the inner axis coordinate system to obtain the matrix. ;in, This is the constant error vector of the inner shaft sway angle. ; Compensation is performed on the axial swing angle and sinusoidal rotation errors of the inertial navigation system from the ground-axis coordinate system to the inner-axis coordinate system to obtain the matrix. ;in, This is the sine term related to the inner shaft swing angle and the inner shaft rotation angle. ; , , , , , , , , ; The rotation angle of the inner shaft. , , , The magnitude of the sinusoidal term axis swing angle error associated with the inner axis rotation angle. , , , The phase of the sine-axis swing angle associated with the inner axis rotation angle; The attitude matrix from the internal coordinate system to the geographic coordinate system is: ,in, This is the internal axis transformation matrix.

5. The attitude decoupling method for a four-ring space-stabilized inertial navigation system according to claim 4, characterized in that, Compensation is performed on the central axis yaw angle error and central axis rotation error from the internal axis coordinate system to the central axis coordinate system of the inertial navigation system to obtain the attitude matrix from the central axis coordinate system to the geographic coordinate system, including: Compensation is performed on the axial swing angle and sine rotation error of the central axis from the inner axis coordinate system to the central axis coordinate system of the inertial navigation system, resulting in the matrix. ;in, This is the sine term related to the swing angle and rotation angle of the central axis. ; , , , , , , , , ; The rotation angle of the central axis. , , , The amplitude of the sine-axis swing angle error associated with the central axis rotation angle. , , , The phase of the sinusoidal term axis swing angle associated with the rotation angle of the central axis; The attitude matrix from the central coordinate system to the geographic coordinate system is: , Let be the mid-axis swing angle error matrix from the inner-axis coordinate system to the mid-axis coordinate system. This is the central axis transformation matrix.

6. The attitude decoupling method for a four-ring space-stabilized inertial navigation system according to claim 5, characterized in that, Compensation is performed on the axial tilt angle error and rotation error of the outer axis of the inertial navigation system from the central axis coordinate system to the outer axis coordinate system to obtain the attitude matrix from the outer axis coordinate system to the geographic coordinate system, including: Compensation is performed on the external axis sway angle and external axis rotation sinusoidal error from the central axis coordinate system to the external axis coordinate system of the inertial navigation system to obtain the matrix. ;in, This is the sine term related to the external shaft swing angle and the external shaft rotation angle. ; , , , , , , , , ; The rotation angle of the outer shaft. , , , The sinusoidal term axis swing angle error magnitude associated with the outer axis rotation angle. , , , The phase of the sine-axis swing angle associated with the external axis rotation angle; The attitude matrix from the external coordinate system to the geographic coordinate system is: ;in, This is the external axis sway angle error matrix from the central axis coordinate system to the external axis coordinate system. This is the external axis transformation matrix.

7. 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 attitude decoupling method for the four-ring space-stabilized inertial navigation system according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the attitude decoupling method of the four-ring space-stabilized inertial navigation system according to any one of claims 1-6.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the attitude decoupling method for a four-ring space-stabilized inertial navigation system according to any one of claims 1-6.

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