Hemispherical resonator inertial navigation gyroscope self-calibration method, system, device, product and medium

Abstract

The present application relates to the field of inertial navigation gyroscopes, and provides a self-calibration method, system, device, product and medium for a hemispherical resonator inertial navigation gyroscope, comprising determining a to-be-calibrated inertial navigation gyroscope, obtaining drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a primary-calibrated inertial navigation gyroscope; obtaining an angular velocity expression using a measurement model and a gyroscope scale error matrix; calculating a corrected angular velocity, obtaining component measurement error according to the corrected angular velocity, the gyroscope scale error matrix and the angular velocity expression; establishing a state vector, obtaining an attitude error equation and a state transition matrix, and thereby establishing a filtering state equation; formulating a multi-rotation correction process, and actuating the primary-calibrated inertial navigation gyroscope according to the multi-rotation correction process to obtain output data; and using the filtering state equation and the output data to perform feedback correction on the primary-calibrated inertial navigation gyroscope, thereby completing calibration of the to-be-calibrated inertial navigation gyroscope.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial navigation gyroscopes, and in particular to a self-calibration method, system, device, product and medium for a hemispherical resonator inertial navigation gyroscope. BACKGROUND

[0002] The inertial sensor part of a hemispherical resonator inertial navigation system is generally composed of three hemispherical resonator gyroscopes and three quartz clocks, and the errors of the inertial sensor directly affect the navigation accuracy of the hemispherical resonator inertial navigation system. Hemispherical resonator inertial navigation mainly outputs angular velocity information from a hemispherical resonator gyroscope, and the hemispherical resonator gyroscope based on the Coriolis vibration principle is a new type of high-precision solid vibration gyroscope. It uses the standing wave precession effect to sense the external angular velocity, has the advantages of simple structure, short start-up time, long-term stability of drift, etc., and is known as the sensor with the best cost, size, mass and power in the navigation field. Compared with the clock, the accuracy of the hemispherical resonator gyroscope will change due to factors such as application environment, application scenario and use time, which will lead to a decrease in the navigation performance of the inertial navigation system. Therefore, it is necessary to periodically calibrate the full parameters of the hemispherical resonator inertial navigation gyroscope before use.

[0003] Generally, before use, the hemispherical resonator inertial navigation system needs to use a traditional discrete calibration method to identify the errors inside the system. Although this method has high accuracy, it requires a high-precision turntable and takes a long time. In addition, due to the current processing and manufacturing technology, the resonator inside the hemispherical resonator gyroscope will have unevenly distributed internal stress, resulting in inconsistent damping at different positions of the resonator, and thus the output of the hemispherical resonator gyroscope contains drift caused by uneven damping. The drift error of the hemispherical resonator gyroscope is affected by the vibration mode angle, making it difficult to directly calibrate the accurate gyroscope zero offset using the traditional discrete calibration method. Therefore, further research is needed on the gyroscope full parameter self-calibration method for hemispherical resonator inertial navigation. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a hemispherical resonator inertial navigation gyroscope self-calibration method, system, device, product and medium, which realizes fast and accurate calibration of the hemispherical resonator inertial navigation gyroscope.

[0005] The present application provides a hemispherical resonator inertial navigation gyroscope self-calibration method, comprising:

[0006] S1: determining a to-be-calibrated inertial navigation gyroscope, obtaining the drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a preliminary-calibrated inertial navigation gyroscope;

[0007] S2: establishing a gyroscope scale error matrix, establishing a measurement model of the preliminary-calibrated inertial navigation gyroscope, and obtaining an angular velocity expression using the measurement model and the gyroscope scale error matrix;

[0008] S3: calculating a correction angular velocity, obtaining a component measurement error according to the correction angular velocity, a gyro scale error matrix and an angular velocity expression;

[0009] S4: establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix;

[0010] S5: formulating a multi-rotation correction process, actuating the initial calibration inertial navigation gyro according to the multi-rotation correction process to obtain output data, and using the filtering state equation and the output data to perform feedback correction on the initial calibration inertial navigation gyro, thereby completing the calibration of the to-be-calibrated inertial navigation gyro.

[0011] According to the self-calibration method of the hemispherical resonator inertial navigation gyro provided by the application, step S1 further comprises:

[0012] S11: determining a to-be-calibrated inertial navigation gyro, constructing an output representation of the to-be-calibrated inertial navigation gyro, and obtaining drift error coefficients through polynomial fitting;

[0013] S12: obtaining the drift error according to the output representation and the drift error coefficients, compensating for the damping non-uniform drift of the to-be-calibrated inertial navigation gyro according to the drift error, and obtaining the initial calibration inertial navigation gyro.

[0014] According to the self-calibration method of the hemispherical resonator inertial navigation gyro provided by the application, step S2 further comprises:

[0015] S21: selecting a gyro scale error and a misalignment angle error, and establishing the gyro scale error matrix through the gyro scale error and the misalignment angle error;

[0016] S22: establishing a measurement model of the initial calibration inertial navigation gyro, deforming the measurement model using the gyro scale error matrix, and obtaining the angular velocity expression.

[0017] According to the self-calibration method of the hemispherical resonator inertial navigation gyro provided by the application, step S3 further comprises:

[0018] S31: calculating a correction angular velocity, wherein the correction angular velocity The expression of the correction angular velocity is as follows:

[0019]

[0020] wherein, is a unit matrix, is a gyro scale error matrix, is a non-right-angle system angular velocity, is a right-angle system zero drift error;

[0021] S32: obtain the difference between the angular velocity expression and the corrected angular velocity, and substitute into the gyro scale error matrix to obtain the component measurement error.

[0022] According to the self-calibration method of the hemispherical resonator inertial navigation gyro provided by the application, step S4 further comprises:

[0023] S41: select a state error parameter, establish the state vector according to the state error parameter, construct an attitude matrix, and establish the attitude error equation according to the attitude matrix and the component measurement error;

[0024] S42: establish the state transition matrix according to the coefficients of the attitude error equation, determine the velocity parameter of the initial calibration inertial navigation gyro, obtain the measurement noise according to the velocity parameter, and establish the filtering state equation through the state transition matrix, the state vector and the measurement noise.

[0025] According to the self-calibration method of the hemispherical resonator inertial navigation gyro provided by the application, step S5 further comprises:

[0026] S51: determine the gyro pitch rate and the gyro rotation speed, and formulate the multi-position correction process according to the gyro pitch rate and the gyro rotation speed;

[0027] S52: the initial calibration inertial navigation gyro is actuated according to the multi-position correction process to obtain the output data, the filtering state equation is adjusted according to the output data, the feedback correction of the initial calibration inertial navigation gyro is completed, and thus the calibration of the to-be-calibrated inertial navigation gyro is completed.

[0028] The application also provides a self-calibration system for a hemispherical resonator inertial navigation gyro, comprising:

[0029] The initial calibration module comprises determining a to-be-calibrated inertial navigation gyro, obtaining the drift error of the to-be-calibrated inertial navigation gyro, calibrating the to-be-calibrated inertial navigation gyro according to the drift error, and obtaining an initial calibration inertial navigation gyro.

[0030] The gyro scale error matrix module comprises establishing a gyro scale error matrix, establishing a measurement model of the initial calibration inertial navigation gyro, and obtaining an angular velocity expression using the measurement model and the gyro scale error matrix.

[0031] The component measurement error module comprises calculating a corrected angular velocity, obtaining a component measurement error according to the corrected angular velocity, the gyro scale error matrix and the angular velocity expression.

[0032] The filtering state equation module comprises establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix.

[0033] The gyro calibration module comprises a multi-position correction process, the initial calibration inertial navigation gyro is actuated according to the multi-position correction process to obtain output data, and the initial calibration inertial navigation gyro is corrected by using the filtered state equation and the output data, so that the calibration of the to-be-calibrated inertial navigation gyro is completed.

[0034] The application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the self-calibration method of the hemispherical resonator inertial navigation gyro according to any one of the above.

[0035] The application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the self-calibration method of the hemispherical resonator inertial navigation gyro according to any one of the above.

[0036] The application further provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer can execute the steps of the self-calibration method of the hemispherical resonator inertial navigation gyro according to any one of the above.

[0037] The one or more technical solutions in the embodiments of the application have at least one of the following technical effects:

[0038] The self-calibration method, system, device, product and medium of the hemispherical resonator inertial navigation gyro provided by the application have a relatively short calibration time, do not require a special turntable, and only need the device itself to calibrate, thereby solving the limitations of the traditional discrete calibration method, such as a large number of limitations and a long time. The damping uneven drift of the hemispherical resonator inertial navigation gyro is compensated for, so that the error caused by the high uncertainty and irregular change of the damping uneven drift is effectively avoided in the subsequent calibration process. In addition, the angular velocity is corrected, and the error caused by using the uncorrected angular velocity to calibrate the gyroscope in turn is reduced.

[0039] Additional aspects and advantages of the application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0041] Figure 1 is a flowchart of a self-calibration method of a hemispherical resonator inertial navigation gyroscope provided by the application.

[0042] Figure 2 is an installation error estimation curve diagram of the self-calibration method of the hemispherical resonator inertial navigation gyroscope provided by the application.

[0043] Figure 3 is a scale error estimation curve diagram of the self-calibration method of the hemispherical resonator inertial navigation gyroscope provided by the application.

[0044] Figure 4 is a zero offset error curve diagram of the self-calibration method of the hemispherical resonator inertial navigation gyroscope provided by the application.

[0045] Figure 5 is a structural schematic diagram of a self-calibration system of a hemispherical resonator inertial navigation gyroscope provided by the application.

[0046] Figure 6 is a structural schematic diagram of a self-calibration device of a hemispherical resonator inertial navigation gyroscope provided by the application.

[0047] Reference signs:

[0048] 100, initial calibration module; 200, gyroscope scale error matrix module; 300, component measurement error module; 400, filter state equation module; 500, gyroscope calibration module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0050] In the description of the embodiments of the present application, it should be noted that the terms "first", "second", "third" are only used for description purpose, and cannot be understood as indicating or implying relative importance.

[0051] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be "above", "over" and "on" the second feature, which can be that the first feature is directly above or obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature can be "under", "below" and "underneath" the second feature, which can be that the first feature is directly below or obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0052] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0053] The specific embodiments of the present application are described below in conjunction with Figures 1 to 6 The specific embodiments of the present application are described below in conjunction with Figure 1 is a flowchart of a self-calibration method of a hemispherical resonator inertial navigation gyroscope provided by the present application, comprising:

[0054] S1: determining a to-be-calibrated inertial navigation gyroscope, obtaining a drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a preliminary calibrated inertial navigation gyroscope;

[0055] Further, the purpose of this stage is to calibrate the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtain a preliminary calibrated inertial navigation gyroscope. Specifically, step S1 further comprises:

[0056] S11: determining a to-be-calibrated inertial navigation gyroscope, constructing an output representation of the to-be-calibrated inertial navigation gyroscope, and obtaining drift error coefficients through polynomial fitting;

[0057] S12: obtaining the drift error according to the output representation and the drift error coefficients, compensating for the damping uneven drift of the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining the preliminary calibrated inertial navigation gyroscope.

[0058] For the above steps, the specific embodiments in the present embodiment are as follows:

[0059] Firstly, the hemispherical resonator gyro which needs to be calibrated is selected as the to-be-calibrated inertial navigation gyro, then the motion differential equation of the to-be-calibrated inertial navigation gyro is constructed, and then the Lynch average method is used to construct the output expression:

[0060]

[0061] Wherein, SF is the conversion scale of the control signal to the gyro precession signal, Cp is the gyro control loop angle control signal, is the resonator gyro mode precession angular velocity, and a is the Bryan coefficient, is the external input angular velocity, is the resonator axis direction damping unevenness, is the resonator gyro mode angle, is the angle between the damping axis and the electrode axis. At this time, the gyro control loop angle control signal input is 0, and then the following can be obtained:

[0062]

[0063] Because of the limitation of manufacturing process, the resonator damping unevenness value and the damping unevenness axis will change, so the above formula can be rewritten as follows:

[0064]

[0065] When calibrating the hemispherical resonator gyro, the position of the gyro itself will not move, so the external input angular velocity is 0, and when rewriting the formula, the is expanded, and all the parameters related to are regarded as drift error coefficients which need to be obtained by fitting, so that the expression of the drift error can be obtained:

[0066]

[0067] Wherein, is the constant bias of the hemispherical resonator gyro due to manufacturing tolerance, is the first drift error coefficient, is the second drift error coefficient. At this time, the hemispherical resonator gyro is kept stationary at any position, and the hemispherical resonator gyro on the three axes is controlled at an interval of 6°, so that the gyro mode angle precesses from 0° to 90°, and is maintained for 60s at each mode angle, for a total of 900s. During this period, the output of the hemispherical resonator gyro is continuously obtained and is fitted by using the least square method, so that the specific values of the first drift error coefficient and the second drift error coefficient can be obtained, and the drift error can be calculated. According to the drift error, the damping unevenness drift of the to-be-calibrated inertial navigation gyro is compensated, and the initial calibration inertial navigation gyro is obtained.

[0068] S2: establishing a gyro scale error matrix, establishing a measurement model of the initial calibration inertial gyro, and obtaining an angular velocity expression by using the measurement model and the gyro scale error matrix;

[0069] Further, the purpose of this stage is to obtain an angular velocity expression, thereby establishing a gyro scale error matrix. Specifically, step S2 further comprises:

[0070] S21: selecting gyro scale errors and misalignment angle errors, and establishing the gyro scale error matrix by using the gyro scale errors and misalignment angle errors;

[0071] S22: establishing the measurement model of the initial calibration inertial gyro, deforming the measurement model by using the gyro scale error matrix, and obtaining the angular velocity expression.

[0072] For the above steps, the specific implementation in this embodiment is as follows:

[0073] In actual measurement, the gyro scale errors on each axis are actually difficult to measure directly, and therefore, for the gyro scale error matrix, gyro scale errors and misalignment angle errors need to be selected to establish the gyro scale error matrix :

[0074]

[0075] wherein, is an x-axis gyro scale error, is a y-axis gyro scale error, is a z-axis gyro scale error, is a misalignment angle error of the y-axis relative to the x-axis, is a misalignment angle error of the z-axis relative to the x-axis, is a misalignment angle error of the x-axis relative to the y-axis, is a misalignment angle error of the z-axis relative to the y-axis, is a misalignment angle error of the x-axis relative to the z-axis, is a misalignment angle error of the y-axis relative to the z-axis, is an x-axis gyro scale error vector, is a y-axis gyro scale error vector, is a z-axis gyro scale error vector. The misalignment angle errors herein are errors in the installation process of the hemispherical resonator inertial gyro, which can be measured in advance, and the gyro scale errors of each axis can be given in advance as a state of no error.

[0076] Due to machining and assembly errors, there are installation deviation angles between the sensitive axes of three gyroscopes in a gyro assembly and the coordinate axes of an ideal carrier coordinate system (i.e., a rectangular coordinate system, denoted as b system), which can reach an angle component level or even more. The gyro assembly outputs angular velocity information in a certain non-rectangular coordinate system (denoted as b system) after calibration. Firstly, the original output of the initial calibration inertial gyro is obtained, and a measurement model of the initial calibration inertial gyro is established.

[0077]

[0078] wherein, is a rectangular system angular velocity on the x axis, is a rectangular system angular velocity on the y axis, is a rectangular system angular velocity on the z axis, is a conversion matrix from the non-rectangular coordinate system to the rectangular coordinate system, is a measured non-rectangular system angular velocity on the x axis, is a measured non-rectangular system angular velocity on the y axis, is a measured non-rectangular system angular velocity on the z axis, is a non-rectangular system zero bias error on the x axis, is a non-rectangular system zero bias error on the y axis, is a non-rectangular system zero bias error on the z axis.

[0079] The measurement model is deformed and a gyro scale error matrix is used, so that an angular velocity expression is obtained.

[0080]

[0081] wherein, is a rectangular system angular velocity, and I is a unit matrix, is a non-rectangular system angular velocity, is a non-rectangular system zero bias error, diag () represents a diagonal matrix, is a gyro scale error, is a misalignment angle error matrix, is an upper triangular matrix obtained through a non-orthogonal error, is a rectangular system zero bias error. In use, the rectangular system zero bias error and the non-rectangular system zero bias error can be considered to be substantially equal, so that the angular velocity expression is established. In the angular velocity expression, the following relationship is established:

[0082]

[0083] wherein, is a rectangular system zero bias error on the x axis, is a rectangular system zero bias error on the y axis, zero offset error of the rectangular system on the z axis.

[0084] S3: calculating a corrected angular velocity, and obtaining the component measurement error according to the corrected angular velocity, the gyro scale error matrix and the angular velocity expression;

[0085] Further, the purpose of this stage is to obtain the component measurement error according to the corrected angular velocity, the gyro scale error matrix and the angular velocity expression. Specifically, step S3 further includes:

[0086] S31: calculating the corrected angular velocity, wherein the corrected angular velocity is expressed as:

[0087]

[0088] wherein, is a unit matrix, is a gyro scale error matrix, is a non-rectangular system angular velocity, is a zero offset error of the rectangular system on the z axis;

[0089] S32: obtaining the difference between the corrected angular velocity and the angular velocity expression, and substituting the gyro scale error matrix to obtain the component measurement error.

[0090] For the above steps, the specific implementation in this embodiment is as follows:

[0091] Here, for the non-rectangular system angular velocity, the conventional technology all depends on the gyro to measure, but at this time the gyro has not completed the calibration, so the non-rectangular system angular velocity obtained by the uncalibrated gyro itself has an error, and using it for calibration will introduce new errors, therefore, the uncalibrated non-rectangular system angular velocity needs to be corrected, and the corrected angular velocity is calculated.

[0092]

[0093] In the process of feedback calibration, with the continuous iteration of the gyro scale error matrix, the corrected angular velocity will also be corrected, and in the subsequent calculation, the non-rectangular system angular velocity is taken as the value of the corrected angular velocity, and the corrected angular velocity can also be expressed by the non-rectangular system angular velocity in the derivation. The difference between the corrected angular velocity and the angular velocity expression is obtained, and the gyro scale error matrix is substituted, so that the component measurement error is obtained.

[0094]

[0095] At this time, the value of the corrected angular velocity is substituted, so that:

[0096]

[0097] wherein, is the correction angular velocity on the x-axis, is the correction angular velocity on the y-axis, is the correction angular velocity on the z-axis, in the process of calibrating the gyroscope, the difference between the non-rectangular coordinate system angular velocity output by the gyroscope and the theoretical rectilinear coordinate system angular velocity that should be output, that is, the component measurement error, can be continuously obtained. Under the given bias error, the specific form of the non-rectangular coordinate system inversely deduced according to the gyroscope scale error matrix can be used to determine the component of the correction angular velocity decomposed into each axis.

[0098] In an optional embodiment, in order to improve the speed of feedback correction, the gyroscope scale error matrix and the bias error can be adjusted first, so that the correction angular velocity of each axis and the specific value of the component measurement error satisfy the equation relationship, so that the gyroscope scale error matrix and the bias error are adjusted first to be more consistent with the actual error, thereby shortening the time required for calibration.

[0099] S4: establishing a state vector, obtaining an attitude error equation through a component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix;

[0100] Further, the purpose of this stage is to obtain an attitude error equation, so as to establish a state transition matrix, and then establish a filtering state equation. Specifically, step S4 further comprises:

[0101] S41: selecting a state error parameter, establishing the state vector according to the state error parameter, constructing an attitude matrix, and establishing the attitude error equation according to the attitude matrix and the component measurement error;

[0102] S42: establishing the state transition matrix according to the coefficients of the attitude error equation, determining the speed parameter of the initial calibration inertial navigation gyroscope, obtaining the measurement noise according to the speed parameter, and establishing the filtering state equation through the state transition matrix, the state vector and the measurement noise.

[0103] For the above steps, the specific implementation in this embodiment is as follows:

[0104] First, the state error parameter needs to be selected, which includes the attitude misalignment angle , the speed error , the position error , the rectilinear coordinate bias error, the accelerometer bias error , the x-axis gyroscope scale error vector, the y-axis gyroscope scale error vector and the z-axis gyroscope scale error vector. In this way, the state vector at time t can be established and

[0105]

[0106] where T denotes transpose.

[0107] The correction angular velocity of each axis can be obtained from the expression of the assembly measurement error according to the method described above, and the assembly measurement error is taken as a part of the attitude error, so as to establish the attitude error equation:

[0108]

[0109] and , ,

[0110] where, is the attitude error, is a pre-constructed attitude-attitude error transfer matrix, is a pre-constructed velocity-attitude error transfer matrix, is a pre-constructed position-attitude error transfer matrix, is a pre-constructed attitude matrix, is an x-axis attitude error transfer matrix, is a y-axis attitude error transfer matrix, is a z-axis attitude error transfer matrix, is a misalignment angle.

[0111] Thus, the state transition matrix at time t can be constructed according to the coefficients of the attitude error equation :

[0112]

[0113] where, is a 3x3 zero matrix, is a 15x24 zero matrix, is a pre-constructed attitude-velocity error transfer matrix, is a pre-constructed velocity-velocity error transfer matrix, is a pre-constructed position-velocity error transfer matrix, is a pre-constructed velocity-position error transfer matrix, is a pre-constructed position-position error transfer matrix, and the initial given values of each error transfer matrix in the state transition matrix are set according to the condition that the initial calibration inertial navigation gyroscope has no error.

[0114] The velocity parameter of the gyro scale error is obtained subsequently, that is, the velocity measured by the hemispherical resonator inertial navigation gyro during the calibration. During calibration, the carrier of the hemispherical resonator inertial navigation gyro does not move, so the velocity parameter should be 0 in the case of accurate calibration and no noise, and thus the measured velocity parameter can be regarded as an error caused by measurement noise. The measurement noise during calibration can be estimated according to the velocity parameter, and thus the measurement noise matrix at time t is obtained .

[0115] The white noise level of the hemispherical resonator inertial navigation gyro is evaluated, and the white noise terms of the gyro and the accelerometer in three axial directions are constructed, and thus the white noise matrix at time t is obtained According to the attitude matrix, the noise transfer matrix at time t can also be constructed

[0116]

[0117] wherein, is a 18x6 zero matrix. Thus, the state equation at time t is obtained

[0118] .

[0119] In addition, the observation matrix at time t is constructed

[0120]

[0121] wherein, is a 6x6 unit matrix, is a 6x3 zero matrix, is a 6x15 zero matrix. Thus, the filtering state equation at time t+1 is obtained

[0122]

[0123] Here, the filtering state equation is a Kalman filtering equation, which can be used to predict the output of the next time of the initial calibration inertial navigation gyro.

[0124] S5: A multi-rotation correction process is formulated, the initial calibration inertial navigation gyro is actuated according to the multi-rotation correction process to obtain output data, the initial calibration inertial navigation gyro is feedback corrected using the filtering state equation and the output data, and the calibration of the to-be-calibrated inertial navigation gyro is completed.

[0125] Further, the purpose of this stage is to feedback correct the initial calibration inertial navigation gyro using the filtering state equation and the output data, so as to complete the calibration of the to-be-calibrated inertial navigation gyro. Specifically, step S5 further comprises: ​​​​

[0126] S51: Determine the gyro pitch rate and gyro rotation speed, and formulate the multi-position correction process according to the gyro pitch rate and gyro rotation speed;

[0127] S52: The initial calibration inertial gyro is actuated according to the multi-position correction process to obtain the output data, the parameter of the filter state equation is adjusted according to the output data, the feedback correction of the initial calibration inertial gyro is completed, and the calibration of the to-be-calibrated inertial gyro is completed.

[0128] For the above steps, the specific implementation in the embodiment is as follows:

[0129] First, the gyro pitch rate and gyro rotation speed of each step when the initial calibration inertial gyro is corrected need to be determined, so as to formulate the multi-position correction process. In the embodiment, the multi-position correction process is as follows:

[0130] 1: Let the y gyro point north horizontally and the z gyro point to the sky. After the inertial navigation system performs 60s double-position indirect coarse alignment, the rough initial attitude of the inertial navigation system is obtained, and the inertial navigation system is placed for 300s.

[0131] 2: The pitch axis motor is positively rotated at a rate of 30° / s for 1080°, and the rotation time is 36s. The y-axis gyro is positively rotated for 3 turns.

[0132] 3: The pitch axis motor is negatively rotated at a rate of 30° / s for 1080°, and the rotation time is 36s. The y-axis gyro is negatively rotated for 3 turns.

[0133] 4: The heading axis motor is positively rotated at a rate of 30° / s for 90°, and the rotation time is 3s. After the rotation is completed, the x-axis gyro is placed for 300s. The x-axis gyro points north horizontally.

[0134] 5: The pitch axis motor is positively rotated at a rate of 30° / s for 1080°, and the rotation time is 36s. The x-axis gyro is positively rotated for 3 turns.

[0135] 6: The pitch axis motor is negatively rotated at a rate of 30° / s for 1080°, and the rotation time is 36s. The x-axis gyro is negatively rotated for 3 turns.

[0136] 7: The pitch axis motor is positively rotated at a rate of 30° / s for 90°, and the rotation time is 3s.

[0137] 8: The heading axis motor is positively rotated at a rate of 30° / s for 90°, and the rotation time is 3s. After the rotation is completed, the z-axis gyro is placed for 300s. The z-axis gyro points north horizontally.

[0138] 9: The pitch axis motor is positively rotated at a rate of 30° / s for 1080°, and the rotation time is 36s. The z-axis gyro is positively rotated for 3 turns.

[0139] 10: Reverse pitch axis motor 1080° at 30° / s for 36s. z-axis gyro reversed 3 turns.

[0140] 11: Reverse heading axis motor 90° at 30° / s for 3s.

[0141] 12: Reverse pitch axis motor 90° at 30° / s for 3s.

[0142] 13: Reverse heading axis motor 90° at 30° / s for 3s. After the indexing is complete, rest for 300s. y-axis gyro is pointing horizontally north.

[0143] 14: Forward pitch axis motor 1080° at 30° / s for 36s. y-axis gyro is forward 3 turns.

[0144] 15: Reverse pitch axis motor 1080° at 30° / s for 36s. y-axis gyro is reversed 3 turns.

[0145] 16: Forward heading axis motor 90° at 30° / s for 3s. After the indexing is complete, rest for 300s. x-axis gyro is pointing horizontally north.

[0146] 17: Forward pitch axis motor 1080° at 30° / s for 36s. x-axis gyro is forward 3 turns.

[0147] 18: Reverse pitch axis motor 1080° at 30° / s for 36s. x-axis gyro is reversed 3 turns.

[0148] 19: Forward pitch axis motor 90° at 30° / s for 3s.

[0149] 20: Forward heading axis motor 90° at 30° / s for 3s. After the indexing is complete, rest for 300s. z-axis gyro is pointing horizontally north.

[0150] 21: Forward pitch axis motor 1080° at 30° / s for 36s. z-axis gyro is forward 3 turns.

[0151] 22: Reverse pitch axis motor 1080° at 30° / s for 36s. z-axis gyro is reversed 3 turns.

[0152] 23: System returns to initial state.

[0153] Then the calibrated inertial gyro is actuated according to the multi-positioning correction process, and output data in various conditions can be obtained. Since the filtering state equation is a Kalman filtering equation, the parameters of the initial calibration inertial gyro at the next moment can be predicted according to the parameters of the initial calibration inertial gyro at this moment. The predicted parameters of the initial calibration inertial gyro at the next moment are compared with the actual output parameters at the next moment, and each error transfer matrix in the state transition matrix and the specific parameters of each axis error are adjusted according to the comparison, so that the prediction is more accurate through feedback. This process is continued and the adjustment is recorded. The adjusted parameters are compared with the initial given parameters in the error-free condition, so that the calibration of the errors of the initial calibration inertial gyro can be obtained, and the installation error, the bias error and the scale error of the to-be-calibrated inertial gyro are obtained, and the calibration of the to-be-calibrated inertial gyro is completed.

[0154] It should be noted that in the calibration process of the method, the parameters are obtained based on the non-orthogonal coordinate system, while the traditional method uses a turntable and converts the errors in the non-orthogonal coordinate system to the orthogonal coordinate system, so the installation error and the bias error calibrated by the traditional method cannot be directly compared with the installation error and the bias error calibrated by the traditional method, and need to be converted through the following relationship:

[0155]

[0156] The effectiveness of the method provided by the application is also verified, Figure 2 is the installation error estimation curve diagram of the self-calibration method of the hemispherical resonator inertial gyro provided by the application. Among them, Figure 2 (a) in the figure shows the installation error between the y-axis and the x-axis of the hemispherical resonator inertial gyro, is the installation error between the y-axis and the x-axis of the hemispherical resonator inertial gyro, Figure 2 (b) in the figure shows the installation error between the x-axis and the y-axis of the hemispherical resonator inertial gyro, is the installation error between the x-axis and the y-axis of the hemispherical resonator inertial gyro, Figure 2 (c) in the figure shows the installation error between the x-axis and the z-axis of the hemispherical resonator inertial gyro, is the installation error between the x-axis and the z-axis of the hemispherical resonator inertial gyro, Figure 2 (d) in the figure shows the installation error between the z-axis and the x-axis of the hemispherical resonator inertial gyro, is the installation error between the z-axis and the x-axis of the hemispherical resonator inertial gyro, Figure 2 (e) in the figure shows the installation error between the z-axis and the y-axis of the hemispherical resonator inertial gyro, This refers to the installation error between the z-axis and y-axis of the hemispherical resonant inertial gyroscope. Figure 2 Figure (f) shows the installation error between the y-axis and z-axis of the hemispherical resonant inertial gyroscope. This represents the installation error between the y-axis and z-axis of the hemispherical resonant inertial gyroscope. As can be seen, this invention can calibrate the installation error in various directions relatively quickly.

[0157] Figure 3 This is a scaling error estimation curve of the hemispherical resonant inertial gyroscope self-calibration method provided by the present invention. Figure 4 This is a zero-bias error curve diagram of the hemispherical resonant inertial gyroscope self-calibration method provided by this invention, which includes an x-axis gyroscope, a y-axis gyroscope, and a z-axis gyroscope. Figure 3 Figure (a) shows the scaling error of the x-gyroscope. Figure 3 Figure (b) shows the scaling error of the y-gyroscope. Figure 3 Figure (c) shows the scaling error of the z-gyroscope. Figure 4 Figure (a) shows the zero bias error of the x-gyroscope. Figure 4 Figure (b) shows the zero bias error of the y-gyroscope. Figure 4 Figure (c) shows the zero-bias error of the z-gyroscope. Here, ppm represents parts per million. It can be seen that this method can quickly calibrate the scaling error and zero-bias error, eliminating the need for a high-precision turntable compared to traditional methods, and taking less than one hour, saving more than half the time compared to the more than two hours of traditional calibration methods.

[0158] The self-calibration device for a hemispherical resonant inertial gyroscope provided by the present invention is described below. The self-calibration device for a hemispherical resonant inertial gyroscope described below and the self-calibration method for a hemispherical resonant inertial gyroscope described above can be referred to in correspondence with each other.

[0159] Figure 5 A schematic diagram of a hemispherical resonant inertial gyroscope self-calibration system is shown in the example. Figure 5 As shown, the method for performing the hemispherical resonant inertial gyroscope self-calibration as described above includes:

[0160] Initial calibration module 100: includes determining the inertial navigation gyroscope to be calibrated, obtaining the drift error of the inertial navigation gyroscope to be calibrated, calibrating the inertial navigation gyroscope to be calibrated according to the drift error, and obtaining the initially calibrated inertial navigation gyroscope;

[0161] Gyro scaling error matrix module 200: includes establishing the gyro scaling error matrix, establishing a measurement model for initial calibration of the inertial navigation gyro, and using the measurement model and the gyro scaling error matrix to obtain the angular velocity expression;

[0162] The component measurement error module 300 includes calculating a correction angular velocity, obtaining a component measurement error according to the correction angular velocity, a gyro scale error matrix and an angular velocity expression;

[0163] The filter state equation module 400 includes establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filter state equation according to the state vector and the state transition matrix;

[0164] The gyro calibration module 500 includes formulating a multi-rotation position correction process, actuating the initial calibration inertial navigation gyro according to the multi-rotation position correction process to obtain output data, performing feedback correction on the initial calibration inertial navigation gyro using the filter state equation and the output data, and completing the calibration of the to-be-calibrated inertial navigation gyro.

[0165] Figure 6 An example of a schematic diagram of the physical structure of an electronic device is shown in Figure 6 The electronic device can include a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 can communicate with each other through the communication bus 840. The processor 810 can call the computer program in the memory 830 to execute the self-calibration method of the hemispherical resonator inertial navigation gyro, which includes:

[0166] S1: determining a to-be-calibrated inertial navigation gyro, obtaining a drift error of the to-be-calibrated inertial navigation gyro, calibrating the to-be-calibrated inertial navigation gyro according to the drift error, and obtaining an initial calibration inertial navigation gyro;

[0167] S2: establishing a gyro scale error matrix, establishing a measurement model of the initial calibration inertial navigation gyro, and obtaining an angular velocity expression using the measurement model and the gyro scale error matrix;

[0168] S3: calculating a correction angular velocity, obtaining a component measurement error according to the correction angular velocity, a gyro scale error matrix and an angular velocity expression;

[0169] S4: establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filter state equation according to the state vector and the state transition matrix;

[0170] S5: formulating a multi-rotation position correction process, actuating the initial calibration inertial navigation gyro according to the multi-rotation position correction process to obtain output data, performing feedback correction on the initial calibration inertial navigation gyro using the filter state equation and the output data, and completing the calibration of the to-be-calibrated inertial navigation gyro.

[0171] Further, the computer program in the above-mentioned memory 830 can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or partially contribute to the prior art, or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0172] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the self-calibration method of the hemispherical resonator inertial navigation gyroscope provided by the above-mentioned method, and the method comprises:

[0173] S1: determining a to-be-calibrated inertial navigation gyroscope, obtaining the drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a primary-calibrated inertial navigation gyroscope;

[0174] S2: establishing a gyroscope scale error matrix, establishing a measurement model of the primary-calibrated inertial navigation gyroscope, and obtaining an angular velocity expression using the measurement model and the gyroscope scale error matrix;

[0175] S3: calculating a corrected angular velocity, and obtaining a component measurement error according to the corrected angular velocity, the gyroscope scale error matrix, and the angular velocity expression;

[0176] S4: establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix;

[0177] S5: formulating a multi-rotation correction process, the primary-calibrated inertial navigation gyroscope is actuated according to the multi-rotation correction process to obtain output data, and the primary-calibrated inertial navigation gyroscope is feedback corrected using the filtering state equation and the output data, so as to complete the calibration of the to-be-calibrated inertial navigation gyroscope.

[0178] In yet another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the self-calibration method of the hemispherical resonator inertial navigation gyroscope provided by the above-mentioned method, and the method comprises:

[0179] S1: determining a to-be-calibrated inertial navigation gyroscope, obtaining a drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a primary-calibrated inertial navigation gyroscope;

[0180] S2: establishing a gyroscope scale error matrix, establishing a measurement model of the primary-calibrated inertial navigation gyroscope, and obtaining an angular velocity expression by using the measurement model and the gyroscope scale error matrix;

[0181] S3: calculating a corrected angular velocity, obtaining a component measurement error according to the corrected angular velocity, the gyroscope scale error matrix, and the angular velocity expression;

[0182] S4: establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix;

[0183] S5: formulating a multi-rotation correction process, making the primary-calibrated inertial navigation gyroscope act according to the multi-rotation correction process to obtain output data, and performing feedback correction on the primary-calibrated inertial navigation gyroscope by using the filtering state equation and the output data, thereby completing the calibration of the to-be-calibrated inertial navigation gyroscope.

[0184] The device embodiments described above are merely illustrative, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0185] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary general hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0186] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for self-calibration of a hemispherical resonator inertial navigation gyroscope, characterized in that, Comprising: S1: determining a to-be-calibrated inertial navigation gyroscope, obtaining a drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a primary calibration inertial navigation gyroscope; S2: establishing a gyro scale error matrix, establishing a measurement model of the primary calibration inertial navigation gyroscope, and obtaining an angular velocity expression using the gyro scale error matrix and the measurement model; S3: calculating a corrected angular velocity, and obtaining a component measurement error according to the corrected angular velocity, the gyro scale error matrix, and the angular velocity expression; S4: establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filtering state equation according to the state vector and the state transition matrix; S5: formulating a multi-rotation correction process, and making the primary calibration inertial navigation gyroscope act according to the multi-rotation correction process to obtain output data, performing feedback correction on the primary calibration inertial navigation gyroscope using the filtering state equation and the output data, and completing calibration of the to-be-calibrated inertial navigation gyroscope.

2. The hemispherical resonator inertial navigation gyroscope self-calibration method according to claim 1, characterized in that, Step S1 further comprises: S11: determining a to-be-calibrated inertial navigation gyroscope, constructing an output representation of the to-be-calibrated inertial navigation gyroscope, and obtaining drift error coefficients through polynomial fitting; S12: obtaining the drift error according to the output representation and the drift error coefficients, compensating for the damping uneven drift of the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining the primary calibration inertial navigation gyroscope.

3. The hemispherical resonator gyro self-calibration method of claim 1, wherein, Step S2 further comprises: S21: selecting a gyro scale error and a misalignment angle error, and establishing the gyro scale error matrix through the gyro scale error and the misalignment angle error; S22: establishing a measurement model of the primary calibration inertial navigation gyroscope, deforming the measurement model using the gyro scale error matrix, and obtaining the angular velocity expression.

4. The hemispherical resonator gyro self-calibration method of claim 1, wherein, Step S3 further comprises: S31: calculating a correction angular velocity, wherein the correction angular velocity is expressed as: wherein is the identity matrix, is the gyro scale error matrix, is the non-rectangular system angular velocity, is the rectilinear system bias error; S32: obtaining the difference between the corrected angular velocity and the angular velocity expression, and substituting it into the gyro scale error matrix to obtain the component measurement error.

5. The hemispherical resonator gyro self-calibration method of claim 1, wherein, Step S4 further comprises: S41: selecting state error parameters, establishing the state vector according to the state error parameters, constructing an attitude matrix, establishing the attitude error equation according to the attitude matrix and the component measurement error; S42: establishing the state transition matrix according to the coefficients of the attitude error equation, determining the speed parameters of the primary calibration inertial navigation gyroscope, obtaining measurement noise according to the speed parameters, and establishing the filtering state equation through the state transition matrix, the state vector, and the measurement noise.

6. The hemispherical resonator gyro self-calibration method of claim 1, wherein, Step S5 further comprises: S51: determining a gyro pitch rate and a gyro rotation speed, and formulating the multi-rotation correction process according to the gyro pitch rate and the gyro rotation speed; S52: the primary calibration inertial navigation gyroscope acts according to the multi-rotation correction process to obtain the output data, the filtering state equation is adjusted in parameters according to the output data, feedback correction of the primary calibration inertial navigation gyroscope is completed, and calibration of the to-be-calibrated inertial navigation gyroscope is completed.

7. A hemispherical resonator inertial navigation gyroscope self-calibration system for performing a hemispherical resonator inertial navigation gyroscope self-calibration method according to any one of claims 1 to 6, characterized in that, Comprising: A primary calibration module comprises determining a to-be-calibrated inertial navigation gyroscope, obtaining a drift error of the to-be-calibrated inertial navigation gyroscope, calibrating the to-be-calibrated inertial navigation gyroscope according to the drift error, and obtaining a primary calibration inertial navigation gyroscope; The gyro scale error matrix module includes establishing a gyro scale error matrix, establishing a measurement model of the initial calibration inertial navigation gyro, and obtaining an angular velocity expression using the measurement model and the gyro scale error matrix. The component measurement error module includes calculating a corrected angular velocity, and obtaining a component measurement error according to the corrected angular velocity, the gyro scale error matrix and the angular velocity expression. The filter state equation module includes establishing a state vector, obtaining an attitude error equation through the component measurement error, obtaining a state transition matrix based on the attitude error equation, and establishing a filter state equation according to the state vector and the state transition matrix. The gyro calibration module includes formulating a multi-rotation position correction process, actuating the initial calibration inertial navigation gyro according to the multi-rotation position correction process to obtain output data, and performing feedback correction on the initial calibration inertial navigation gyro using the filter state equation and the output data to complete calibration of the to-be-calibrated inertial navigation gyro.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the hemispherical resonator inertial navigation gyro self-calibration method according to any one of claims 1 to 6. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the hemispherical resonator inertial navigation gyro self-calibration method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer can execute the steps of the hemispherical resonator inertial navigation gyro self-calibration method according to any one of claims 1 to 6.

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