Gyroscope error coefficient calibration method, device, equipment and storage medium

Abstract

The invention relates to a gyroscope error coefficient calibration method and device, equipment and a storage medium. The method comprises the steps that an inertial platform where a gyroscope is located is controlled to be in a target direction, servo method drift testing is conducted on the inertial platform, frame angle measurement values of the inertial platform at different moments are obtained, and the inertial platform comprises a four-ring three-axis inertial platform; obtaining a frame angular kinematics equation, the frame angular kinematics equation being determined based on a relationship that a first gyroscopic drift angular velocity determined by a frame angle measurement value in a servo state is equal to a second gyroscopic drift angular velocity determined by an error model, the frame angle kinematics equation is used for representing the relation between the frame angle measurement value and the error coefficient in the error model; and determining an error coefficient according to each frame angle measurement value at different moments and a frame angle kinematics equation. By adopting the method, the error coefficient of the gyroscope can be accurately calibrated.

Description

Technical Field

[0001] This application relates to the field of gyroscope calibration technology, and in particular to a method, apparatus, device and storage medium for calibrating the error coefficient of a gyroscope. Background Technology

[0002] The gyroscope is the core component of the inertial navigation system (INS). The INS autonomously calculates the position, velocity, and attitude of the carrier (such as an aircraft or missile) by measuring the angular velocity of the gyroscope. The working accuracy of the INS largely depends on the working accuracy of the gyroscope. Therefore, it is necessary to calibrate and establish an error model for the gyroscope so that the INS can compensate for the output value of the gyroscope according to the error model in actual operation, thereby improving the working accuracy of the gyroscope.

[0003] In the existing technology, the error model of the gyroscope is determined by calibrating and determining the multi-position leveling and locking self-calibration method. The platform follows the angular rotation of the frame, and the gyroscope is in a force feedback state. That is, the output of the gyroscope sensor is filtered and demodulated and converted into current, which is input to the gyroscope torque generator to generate control torque to balance the interference torque acting on the instrument output shaft. The instrument error coefficient is separated by measuring the current value.

[0004] However, the existing calibration process requires applying torque to the gyroscope, and the gyroscope's state during calibration does not match the actual navigation state, making it difficult for the calibration results to accurately reflect the gyroscope's error characteristics. Summary of the Invention

[0005] Therefore, it is necessary to provide a gyroscope error coefficient calibration method, apparatus, equipment, and storage medium that can accurately calibrate the error coefficient of a gyroscope, addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a method for gyroscope error coefficients, including:

[0007] The inertial platform containing the control gyroscope is positioned in the target direction. Servo drift test is performed on the inertial platform to obtain the frame angle measurement values ​​of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform.

[0008] The frame angle kinematic equations are obtained. The frame angle kinematic equations are determined based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state and the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equations are used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model.

[0009] The error coefficients are determined based on the measured values ​​of the frame angles at different times and the kinematic equations of the frame angles.

[0010] In one embodiment, the frame axes of the four-ring three-axis inertial platform include the platform axis, the inner ring axis, the outer ring axis, and the follower ring axis. The target orientation includes: the platform axis pointing east horizontally; the follower ring axis perpendicular to the local horizontal plane and vertically upward; the outer ring axis pointing north horizontally; the inner ring axis perpendicular to the local horizontal plane and vertically upward; the inner ring axis is locked, and the follower ring axis servo tracks the inner ring axis.

[0011] In one embodiment, the frame angle measurement values ​​include the platform frame angle measurement values, the outer ring frame angle measurement values, and the follower ring frame angle measurement values; the process of determining the expression for the first gyroscope drift angular velocity includes:

[0012] Obtain the Earth's rotation angular velocity, and determine the target's motion angular velocity relative to the launch inertial frame in the geographic coordinate system based on the Earth's rotation angular velocity;

[0013] The absolute angular velocity of the carrier carrying the inertial platform is determined by the product of the target's angular velocity and the first transformation matrix. The first transformation matrix is ​​the transformation matrix between the geographic coordinate system and the carrier's coordinate system.

[0014] The expression for the absolute angular velocity of the platform in the inertial platform is determined based on the absolute angular velocity of the carrier, the rotation sequence of the frames in the inertial platform, and the measured angle of the frames. The rotation sequence of the frames is determined based on the structure of the inertial platform.

[0015] The expression for the absolute angular velocity of the gyroscope's sensitive axis is determined by multiplying the expression for the absolute angular velocity of the platform with the product of the second transformation matrix. The expression for the absolute angular velocity of the gyroscope's sensitive axis is the same as the expression for the first gyroscope drift angular velocity. The second transformation matrix is ​​the transformation matrix between the platform coordinate system and the gyroscope coordinate system.

[0016] In one embodiment, the process of determining the expression for the second gyroscope drift angular velocity includes:

[0017] Obtain the gravitational acceleration of the gyroscope's input axis, output axis, and rotation axis;

[0018] The expression for the drift angular velocity of the second gyroscope is determined based on various gravitational accelerations and error models.

[0019] In one embodiment, the error coefficient is determined based on the measured frame angle values ​​at different times and the frame angle kinematic equations, including:

[0020] The error coefficients in the error model are determined based on the objective solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angles. The objective solution algorithm includes any of the following:

[0021] Least squares method;

[0022] Kalman filtering method.

[0023] In one embodiment, the gyroscope includes an x-gyroscope, a y-gyroscope, and a z-gyroscope, and the error coefficients in the error model include constant drift terms for each gyroscope, acceleration drift coefficients for each gyroscope along the input axis, acceleration drift coefficients for each gyroscope along the output axis, acceleration drift coefficients for each gyroscope along the rotation axis, quadratic acceleration drift coefficients for each gyroscope along the input axis, quadratic acceleration drift coefficients for each gyroscope along the rotation axis, and cross quadratic drift coefficients for each gyroscope along any two axes.

[0024] Secondly, this application also provides a gyroscope error coefficient calibration device, comprising:

[0025] The first acquisition module is used to control the inertial platform where the gyroscope is located to be in the target direction, perform servo drift test on the inertial platform, and acquire the frame angle measurement values ​​of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform.

[0026] The second acquisition module is used to acquire the frame angle kinematic equation. The frame angle kinematic equation is determined based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state and the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equation is used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model.

[0027] The determination module is used to determine the error coefficients based on the measured values ​​of each frame angle at different times and the kinematic equations of the frame angles.

[0028] In one embodiment, the frame axes of the four-ring three-axis inertial platform include the platform axis, the inner ring axis, the outer ring axis, and the follower ring axis. The target orientation includes: the platform axis pointing east horizontally; the follower ring axis perpendicular to the local horizontal plane and vertically upward; the outer ring axis pointing north horizontally; the inner ring axis perpendicular to the local horizontal plane and vertically upward; the inner ring axis is locked, and the follower ring axis servo tracks the inner ring axis.

[0029] In one embodiment, the frame angle measurement values ​​include the platform frame angle measurement values, the outer ring frame angle measurement values, and the follower ring frame angle measurement values; the second acquisition module is further configured to acquire the Earth's rotation angular velocity and determine the target motion angular velocity of the geographic coordinate system relative to the launching inertial system based on the Earth's rotation angular velocity; determine the absolute angular velocity of the carrier carrying the inertial platform based on the product of the target motion angular velocity and the first transformation matrix, the first transformation matrix being the transformation matrix of the geographic coordinate system relative to the carrier coordinate system; determine the expression for the absolute angular velocity of the platform in the inertial platform based on the absolute angular velocity of the carrier, the rotation sequence of the frames in the inertial platform, and the frame angle measurement values, the rotation sequence of the frames being determined based on the structure of the inertial platform; determine the expression for the absolute motion angular velocity of the gyroscope sensitive axis based on the expression for the absolute angular velocity of the platform and the product of the second transformation matrix, the expression for the absolute motion angular velocity of the gyroscope sensitive axis being the expression for the first gyroscope drift angular velocity, the second transformation matrix being the transformation matrix of the platform coordinate system relative to the gyroscope coordinate system.

[0030] In one embodiment, the second acquisition module is further configured to acquire the gravitational acceleration of the input axis, output axis and rotation axis of the gyroscope; and determine the expression for the drift angular velocity of the second gyroscope based on each gravitational acceleration and the error model.

[0031] In one embodiment, the determination module is specifically used to determine the error coefficients in the error model based on the objective solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angle. The objective solution algorithm includes any of the following: least squares method; Kalman filtering method.

[0032] In one embodiment, the gyroscope includes an x-gyroscope, a y-gyroscope, and a z-gyroscope, and the error coefficients in the error model include constant drift terms for each gyroscope, acceleration drift coefficients for each gyroscope along the input axis, acceleration drift coefficients for each gyroscope along the output axis, acceleration drift coefficients for each gyroscope along the rotation axis, quadratic acceleration drift coefficients for each gyroscope along the input axis, quadratic acceleration drift coefficients for each gyroscope along the rotation axis, and cross quadratic drift coefficients for each gyroscope along any two axes.

[0033] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the methods described in the first aspect above.

[0034] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods described in the first aspect above.

[0035] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements any of the methods described in the first aspect above.

[0036] The aforementioned gyroscope error coefficient calibration method, apparatus, equipment, and storage medium, by controlling the inertial platform containing the gyroscope to be in the target direction, perform servo drift tests on the inertial platform to obtain frame angle measurements of the inertial platform at different times. The inertial platform includes a four-ring, three-axis inertial platform. The frame angle kinematic equations are obtained, which are determined based on the relationship that the first gyroscope drift angular velocity determined by the frame angle measurements in the servo state is equal to the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equations are used to characterize the relationship between the frame angle measurements and the error coefficients in the error model. The error coefficients are determined based on the frame angle measurements and the frame angle kinematic equations at different times. In the above method, based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement and the second gyroscope drift angular velocity determined by the error model, the expressions for the first and second gyroscope drift angular velocities are combined to obtain the frame angle kinematic model characterizing the relationship between the frame angle measurement and the error coefficient. Then, the frame angle measurement values ​​of the inertial platform at different times are obtained through servo drift testing. Based on each frame angle measurement value and the frame angle kinematic model, the error coefficient of the error model can be accurately and effectively determined. At the same time, since the frame angle measurement value is obtained based on the servo drift test, no torque is applied to the gyroscope during the servo drift test, and the gyroscope is in a spatially stable state. Its working state is consistent with the state during actual navigation, which is different from the force feedback leveling and locking working mode of the traditional multi-position method. The calibrated error coefficient can reflect the error characteristics of the gyroscope in the actual navigation scenario and has good engineering application prospects. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating a gyroscope error coefficient calibration method in one embodiment;

[0039] Figure 2 This is a schematic diagram of the structure of a four-ring, three-axis inertial platform in one embodiment;

[0040] Figure 3 This is a flowchart illustrating the steps for determining the expression of the first gyroscope drift angular velocity in one embodiment;

[0041] Figure 4 This is a schematic diagram of gyroscope installation error in one embodiment;

[0042] Figure 5 This is a flowchart illustrating the steps for determining the expression for the second gyroscope drift angular velocity in one embodiment;

[0043] Figure 6 This is a schematic diagram showing the variation curves of the measured values ​​of each frame angle in one embodiment;

[0044] Figure 7 This is a schematic diagram showing the comparison between the reconstructed frame angle values ​​and the measured frame angle values ​​in one embodiment;

[0045] Figure 8 This is a schematic diagram of the frame corner residual in one embodiment;

[0046] Figure 9 This is a flowchart illustrating the gyroscope error coefficient calibration method in another embodiment;

[0047] Figure 10 This is a structural block diagram of a gyroscope error coefficient calibration device in one embodiment;

[0048] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0051] The gyroscope is the core component of the inertial navigation system (INS). The INS autonomously calculates the position, velocity, and attitude of the carrier (such as an aircraft or missile) by measuring the angular velocity of the gyroscope. The working accuracy of the INS largely depends on the working accuracy of the gyroscope. Therefore, it is necessary to calibrate and establish an error model for the gyroscope so that the INS can compensate for the output value of the gyroscope according to the error model in actual operation, thereby improving the working accuracy of the gyroscope.

[0052] In the existing technology, the error model of the gyroscope is determined by calibrating and determining the multi-position leveling and locking self-calibration method. The platform follows the angular rotation of the frame, and the gyroscope is in a force feedback state. That is, the output of the gyroscope sensor is filtered and demodulated and converted into current, which is input to the gyroscope torque generator to generate control torque to balance the interference torque acting on the instrument output shaft. The instrument error coefficient is separated by measuring the current value.

[0053] However, the existing calibration process requires applying torque to the gyroscope, and the gyroscope's state during calibration does not match the actual navigation state, making it difficult for the calibration results to accurately reflect the gyroscope's error characteristics.

[0054] In view of this, this application provides a gyroscope error coefficient calibration method that can accurately calibrate the error coefficient of a gyroscope. The gyroscope error coefficient calibration method provided in this application can be executed by a gyroscope error coefficient calibration device, which can be implemented by software, hardware, or a combination of both. It can be embedded in or independent of the processor in a computer device, or stored in the memory of the computer device as software. In the following method embodiments, the execution subject is always described using a computer device as an example. The computer device can be a server, a laptop computer, etc., and this application does not limit the specific type of computer device.

[0055] In one exemplary embodiment, such as Figure 1 As shown, a method for calibrating the error coefficients of a gyroscope is provided, including steps 101 to 103. Wherein:

[0056] Step 101: Control the inertial platform where the gyroscope is located to be aligned with the target, perform a servo drift test on the inertial platform, and obtain the frame angle measurement values ​​of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform.

[0057] Optionally, such as Figure 2 As shown, the mechanical structure of the four-ring three-axis inertial platform is as follows: from the inside out, the four-ring three-axis inertial platform consists of a stabilizing element (platform) 201, an inner ring 202, an outer ring 203, and a follower ring 204. Three gyroscopes 205 and a three-axis accelerometer 206 are installed on the stabilizing element.

[0058] The gyroscopes can be single-degree-of-freedom liquid-floating gyroscopes. The angular momentum vectors of the three gyroscopes are respectively parallel to the Earth's axis, located in the equatorial plane and pointing east, and located in the equatorial plane and orthogonal to the other two gyroscopes. Specifically, the angular momentum vector of the z gyroscope is parallel to the Earth's axis, the angular momentum vector of the x gyroscope is located in the equatorial plane and pointing east, and the angular momentum vector of the y gyroscope is located in the equatorial plane and orthogonal to the other two gyroscopes.

[0059] A gyroscope consists of three orthogonal axes: the input axis, the output axis, and the spin axis. The input axis is the axis through which the gyroscope senses the external angular velocity input; that is, the rotation of the carrier around this input axis is sensed by the gyroscope. The output axis is the axis corresponding to the gyroscope's output signal. The rotation on the input axis produces precession on the output axis, and the precession angular velocity is measured by the encoder on the output axis. The electrical signal output by the output axis is proportional to the angular velocity around the input axis. The spin axis is the rotation axis of the gyroscope rotor. The rotor rotates at high speed around this axis, forming the gyroscope's angular momentum, which enables the gyroscope to resist external interference and maintain attitude stability.

[0060] refer to Figure 2 The four-ring three-axis inertial platform also includes four frame axes, namely the platform axis, inner ring axis, outer ring axis and follower ring axis.

[0061] The target orientation includes: the platform axis pointing east horizontally; the follower ring axis perpendicular to the local horizontal plane and pointing vertically upward; the outer ring axis pointing north horizontally; the inner ring axis perpendicular to the local horizontal plane and pointing vertically upward; the inner ring axis is locked, and the follower ring axis servo tracks the inner ring axis.

[0062] Optionally, the target orientation refers to the initial position of each component in the inertial platform. Within this target orientation, the z-gyroscope's sensing axis is parallel to the inner loop axis, and its output angle signal controls the servo motor on the inner loop axis. The x-gyroscope's sensing axis is parallel to the outer loop axis, and its output angle signal controls the servo motor on the outer loop axis. The y-gyroscope's sensing axis is parallel to the platform axis, and its output angle signal controls the servo motor on the platform axis. The servo loop tracks the inner loop axis, ensuring the outer loop axis is perpendicular to the platform axis, thus eliminating the "frame locking" problem.

[0063] With selectivity, based on target orientation, the outputs of the three gyroscopes in the inertial platform are sufficiently sensitive to changes in each parameter, and the error propagation characteristics of each error coefficient in the gyroscope error model can be excited, which can maximize the excitation of the error coefficients to be calibrated.

[0064] Optionally, after controlling the inertial platform to the initial position pointed to by the target, a servo drift test can be performed on the inertial platform. In the servo drift test, the gyroscope is in a spatially stable state, and its working state is consistent with the working mode in actual navigation.

[0065] During the servo drift test, when the gyroscope rotor experiences an angular error relative to the housing, the photoelectric sensor on the gyroscope outputs an error signal proportional to the angular error. This error signal, after decomposition and servo amplification, controls the servo motors on each frame axis of the servo turntable, causing the turntable to rotate relative to the Earth while tracking the gyroscope's angular momentum vector, and maintaining a zero output signal from the photoelectric sensor. In other words, the frame angle follows the direction of the gyroscope's angular momentum vector, resulting in a zero output from the angle sensor on the gyroscope's output axis. The frame angle measurement value is obtained by measuring the rotation angle of each frame axis using an angle measuring device (such as an encoder) within the servo turntable.

[0066] Frame angle measurements can include turntable frame angle measurements. , outer ring frame angle measurement value and the measured value of the angle of the follower ring frame Due to the inner ring shaft locking, the inner ring shaft frame angle... It is always 0.

[0067] Step 102: Obtain the frame angle kinematic equations. The frame angle kinematic equations are determined based on the relationship that the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state is equal to the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equations are used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model.

[0068] Optionally, during the servo drift test, when the gyroscope drifts (such as output deviation caused by zero bias or scaling factor error), the turntable's servo system will drive the frame to rotate to counteract the false output caused by the drift. At this time, the angle of the frame rotation is generated to compensate for the gyroscope's offset, and the physical nature of the frame angle measurement corresponds to the gyroscope's error.

[0069] The gyroscope error model is a mathematical expression that quantifies the gyroscope error. Therefore, the first gyroscope drift angular velocity can be determined based on the frame angle measurement value obtained in servo mode, and the second gyroscope drift angular velocity can be determined based on the error model. The first gyroscope drift angular velocity and the second gyroscope drift angular velocity are equal. Thus, the first expression for determining the first gyroscope drift angular velocity based on the frame angle measurement value and the error model can be solved simultaneously to obtain the frame angle kinematic equation. This frame angle kinematic equation includes frame-related parameters (frame angle measurement value, frame angular velocity) and gyroscope installation error (error coefficient of the error model).

[0070] For example, the expression for the first gyroscope drift angular velocity can be determined based on the Earth's rotation angular velocity, the measured frame angle, and the transformation matrix between the coordinate systems corresponding to each frame axis.

[0071] The expression for the second gyroscope's drift angular velocity is determined based on the gyroscope's error model. It's understood that the error coefficients in this expression are unknown values. The gyroscope's error model can be expressed as:

[0072]

[0073] in, The drift angular velocity is expressed in ( ). ) / h; This is the zero bias of the gyroscope, also known as the constant drift term of the gyroscope, with units of ( ). ) / h; This represents the acceleration drift coefficient of the gyroscope along the input axis. This represents the acceleration drift coefficient of the gyroscope along its output axis. This is the acceleration drift coefficient of the gyroscope along its rotation axis, in units of ( ) / h / g; Let be the second-order drift coefficient of the gyroscope's acceleration along the input axis. Let be the second-order drift coefficient of the gyroscope's acceleration along the output axis. This is the second-order acceleration drift coefficient of the gyroscope along its rotation axis, in units of ( ) / h / g 2 ; , , These are the cross-secondary drift coefficients of the gyroscope along any two axes, with units of ( ). ) / h / g 2 ; The acceleration of the input axis. The acceleration of the output shaft. This is the acceleration of the axis of rotation; It is a small amount.

[0074] In the error model, The terms are usually small and negligible; therefore, each gyroscope includes 9 parameters to be calibrated. An inertial platform includes three gyroscopes, which can include 27 parameters to be calibrated, as shown in Table 1, which lists the calibrable error coefficients in the error model. That is, the error coefficients in the error model include the constant drift term for each gyroscope, the acceleration drift coefficient along the input axis, the acceleration drift coefficient along the output axis, the acceleration drift coefficient along the rotation axis, the quadratic acceleration drift coefficient along the input axis, the quadratic acceleration drift coefficient along the rotation axis, and the cross-quadratic drift coefficient between any two axes.

[0075] Optionally, the comprehensive introduction of the aforementioned error coefficients enables the error model to more realistically reflect the complex error characteristics of the gyroscope and its related axes in the actual working environment, providing a solid theoretical foundation and technical support for subsequent error compensation, system calibration, and accuracy improvement.

[0076] Table 1. Calibrable error coefficients in the error model

[0077]

[0078] Step 103: Determine the error coefficient based on the measured values ​​of each frame angle at different times and the kinematic equation of the frame angle.

[0079] Optionally, since the frame angle kinematic equation characterizes the relationship between the frame angle measurement and the error coefficients in the error model, and the frame angle kinematic equation includes frame-related parameters (frame angle measurement, frame angular velocity) and gyroscope installation error (error coefficients of the error model), various error coefficients in the error model can be solved by mathematical modeling and calculation based on the frame angle measurement, given the frame angle kinematic model and frame angle measurement.

[0080] For example, by using parameter estimation methods such as the least squares method, the measured values ​​of each frame angle are substituted into the kinematic model of the erroneous frame angle to construct an overdetermined set of equations and solve for various error coefficients. These error coefficients are the quantitative results of various errors of the four-ring three-axis inertial platform, which can be used for subsequent error compensation, thereby improving the overall accuracy of the inertial measurement system.

[0081] Alternatively, algorithms such as maximum likelihood estimation, Kalman filtering, and neural network learning can be used to solve for various error coefficients; this application does not limit the specific methods used.

[0082] The inertial platform containing the aforementioned control gyroscope is positioned in the target direction. A servo drift test is performed on the inertial platform to obtain frame angle measurements at different times. The inertial platform includes a four-ring, three-axis inertial platform. The frame angle kinematic equations are obtained. These equations are determined based on the relationship that the first gyroscope drift angular velocity determined by the frame angle measurements in the servo state is equal to the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equations characterize the relationship between the frame angle measurements and the error coefficients in the error model. The error coefficients are determined based on the frame angle measurements and the frame angle kinematic equations at different times. In the above method, based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement and the second gyroscope drift angular velocity determined by the error model, the expressions for the first and second gyroscope drift angular velocities are combined to obtain the frame angle kinematic model characterizing the relationship between the frame angle measurement and the error coefficient. Then, the frame angle measurement values ​​of the inertial platform at different times are obtained through servo drift testing. Based on each frame angle measurement value and the frame angle kinematic model, the error coefficient of the error model can be accurately and effectively determined. At the same time, since the frame angle measurement value is obtained based on the servo drift test, no torque is applied to the gyroscope during the servo drift test, and the gyroscope is in a spatially stable state. Its working state is consistent with the state during actual navigation, which is different from the force feedback leveling and locking working mode of the traditional multi-position method. The calibrated error coefficient can reflect the error characteristics of the gyroscope in the actual navigation scenario and has good engineering application prospects.

[0083] In an exemplary embodiment, the process of determining the expression for the first gyroscope drift angular velocity is described, wherein the frame angle measurements include the platform frame angle measurement, the outer ring frame angle measurement, and the follower ring frame angle measurement; as follows Figure 3 As shown, the process of determining the expression for the first gyroscope drift angular velocity includes steps 301 to 304. Wherein:

[0084] Step 301: Obtain the Earth's rotation angular velocity and determine the target's motion angular velocity relative to the launch inertial frame based on the Earth's rotation angular velocity.

[0085] First, the coordinate system involved in the embodiments of this application will be explained:

[0086] (1) Geographic coordinate system :

[0087] The geographic coordinate system can be abbreviated as the n-system, specifically the North-East-South (NED) coordinate system. Parallel to the direction of local gravitational acceleration, Pointing horizontally eastward, Pointing to the horizontal north, with local latitude L.

[0088] (2) Launch coordinate system :

[0089] The launch coordinate system refers to the origin. At the launch site, The axis points in the firing aiming direction within the horizontal plane of the launch point. The axis points upwards along the vertical line from the launch point. shaft and axis, The axes form a right-handed rectangular coordinate system. The platform azimuth angle is north of west, with positive. The acceleration vector in the launch coordinate system. a t = [0,-1,0] T The angular velocity of Earth's rotation is expressed in grams (g). The Earth's rotational angular velocity vector is ω e t = [ ω e cosLcos α s , ω e sinL, ω e cosLsin α s ] T .

[0090] (3) Carrier coordinate system :

[0091] The direction cosine matrix of the launch coordinate system relative to the carrier coordinate system (i.e., the transformation matrix between the carrier coordinate system and the launch coordinate system) can be expressed as:

[0092]

[0093] in, Representative along Shaft rotation The direction cosine matrix of the angle, where . The angle of inclination of the carrier relative to the horizontal plane. and These represent the magnitudes of the non-orthogonal installation error of the follower shaft relative to the base in the X and Y axis directions, respectively.

[0094] (4) Table coordinate system :

[0095] The direction cosine matrix of the carrier coordinate system relative to the stage coordinate system (the transformation matrix between the stage coordinate system and the carrier coordinate system) can be expressed as:

[0096]

[0097] This includes 12 error coefficients and 3 error coefficients for the non-orthogonality between each loop. This indicates the azimuth alignment error. Indicates pitch angle error. Indicates roll angle error. This represents the residual attitude error.

[0098] (5) Gyroscope coordinate system :

[0099] When a gyroscope is mounted on a platform, an installation error angle is unavoidable. If... and , and ,as well as and The installation error angles between them are all small, and are denoted as follows: , and Each of these three smaller angles is further decomposed into two rotation angles about orthogonal platform axes: and , and ,as well as and Non-orthogonal coordinate system and orthogonal coordinate system Geometric relationships between them, such as Figure 4 As shown.

[0100] Based on the above analysis, the direction cosine matrix of the table coordinate system relative to the gyro coordinate system (the transformation matrix between the gyro coordinate system and the table coordinate system) can be expressed as:

[0101]

[0102] In the static base state, the angular velocity input sensitive to the gyroscope is the projection of the Earth's rotation angular velocity onto the gyro coordinate system. Therefore, in the derivation of the frame angular propagation characteristics, it is necessary to obtain the angular velocity vector of the gyro coordinate system relative to the launching inertial frame t0.

[0103] In the derivation process, it is assumed that all error parameters are constant and that the absolute angular velocity is referenced to the launch inertial frame.

[0104] remember Let j be the basis vectors of the coordinate system. Let j be the tensor of the coordinate system. Let be the angular velocity of coordinate system i relative to coordinate system j. Let i be the direction cosine matrix relative to j, and define the gyroscope angular momentum vector as... Its drift rate, which is the absolute angular velocity of the gyroscope output axis, is:

[0105]

[0106] in, For the gyroscope coordinate system vector, , and These represent the drift angular velocities of the x, y, and z gyroscopes, respectively. According to vector transformation theory, we can obtain:

[0107]

[0108] in, This represents the partial derivative of the vector in the launching inertial frame. The partial derivative of the vector in the gyro coordinate system, in platform servo tracking mode, is:

[0109]

[0110] The initial moment of the liquid-floating inertial navigation platform is in the local horizontal coordinate system, and the azimuth angle is determined by the target. To facilitate the characterization of attitude angles, the launching inertial frame is chosen as the t0 frame, which initially coincides with the geocentric fixed inertial frame e0. The initial moment of the geocentric fixed inertial frame coincides with the geographic coordinate system (n frame). Therefore, to obtain the drift angular velocity of each gyroscope, the angular velocity of each gyroscope relative to the platform coordinate system needs to be obtained separately. angular velocity of the platform coordinate system relative to the carrier coordinate system angular velocity of the carrier relative to the geographic coordinate system and the absolute angular velocity of the geographic coordinate system in the launch inertial frame. .

[0111] Assuming the flight navigation begins at time 0, the Earth's frozen coordinate system at time 0 is: The geographic solidified coordinate system is The launch inertial frame is Earth coordinate system is The geographic coordinate system is .

[0112] Optionally, the target's angular velocity relative to the launching inertial frame in the geographic coordinate system. It can be represented as:

[0113]

[0114] In this system, there is no rotation between the launching inertial frame t0 and the initial Earth frame e0, so their relative angular velocities are... If it is always 0, then:

[0115]

[0116] Step 302: Determine the absolute angular velocity of the carrier carrying the inertial platform based on the product of the target motion angular velocity and the first transformation matrix. The first transformation matrix is ​​the transformation matrix between the geographic coordinate system and the carrier coordinate system.

[0117] Determine the target's angular velocity Then, the vehicle angular velocity can be determined by multiplying the target's angular velocity by the direction cosine matrix (first transformation matrix) of the geographic coordinate system relative to the vehicle coordinate system, where the first transformation matrix can be expressed as:

[0118]

[0119] Furthermore, on the stationary base, the absolute angular velocity of the carrier is:

[0120]

[0121] Step 303: Determine the expression for the absolute angular velocity of the platform in the inertial platform based on the absolute angular velocity of the carrier, the rotation sequence of the frame in the inertial platform, and the measured angle of the frame. The rotation sequence of the frame is determined according to the structure of the inertial platform.

[0122] In this embodiment, the rotation sequence of the frame is: follower ring, outer ring, inner ring, and platform.

[0123] Optionally, by repeatedly applying "absolute velocity = relative velocity + traction velocity" based on the absolute angular velocity of the carrier, the rotation sequence of the frame in the inertial platform, and the measured angle of the frame, the absolute angular velocity of the platform can be determined as follows:

[0124]

[0125] In the simplification process, all error parameters are considered to be small quantities, and second-order and higher-order small quantities in the error description are ignored.

[0126] Step 304: Determine the expression for the absolute motion angular velocity of the gyroscope's sensitive axis based on the expression for the absolute angular velocity of the platform and the product of the second transformation matrix. The expression for the absolute motion angular velocity of the gyroscope's sensitive axis is the expression for the first gyroscope drift angular velocity, and the second transformation matrix is ​​the transformation matrix between the platform coordinate system and the gyroscope coordinate system.

[0127] Depend on Figure 4 Based on the geometric relationships, there are a total of 6 installation errors, and these installation errors are assumed to be time-invariant. These are the gyro drift angular velocities on the input axes of the x, y, and z gyroscopes, respectively. The absolute angular velocity of the gyroscope can then be determined using the expression for the absolute angular velocity of the platform and the product of the second transformation matrix.

[0128]

[0129] Therefore, based on the Earth's rotational angular velocity, the frame angle measurement, and the transformation relationships between various coordinate transformations, the absolute angular velocities of the x, y, and z gyroscopes in the launching inertial frame can be determined, which is also the expression for the first gyroscope's drift angular velocity.

[0130] In an exemplary embodiment, the process of determining the expression for the second gyroscope drift angular velocity is described, such as... Figure 5 As shown, the process of determining the expression for the drift angular velocity of the second gyroscope includes steps 501 to 502. Wherein:

[0131] Step 501: Obtain the gravitational acceleration of the input axis, output axis and rotation axis of the gyroscope.

[0132] Optionally, for ease of description, based on the mechanical arrangement of the x, y, and z three-axis gyroscopes, the correspondence between the X, Y, and Z axis accelerations of the table coordinate system and the accelerations on the input axis, output axis, and rotation axis of each axis gyroscope is shown in Table 2.

[0133] Table 2 and Correspondence

[0134]

[0135] Based on the error model, the drift angular velocities of the x, y, and z gyroscopes in the gyroscopic coordinate system can be expressed as:

[0136]

[0137] in, The acceleration is along the gyro coordinate system (approximately aligned with the tabletop coordinate system), and The correspondence between the gyroscope and the input axis, output axis, and rotation axis of each gyroscope in the error model can be found in Table 2.

[0138] Due to gravitational acceleration in the table coordinate system g p = [ g x p , g y p , g z p ] T It is known that the gravitational acceleration of each axis of the gyroscope can be determined based on the gravitational acceleration in the table coordinate system and the second transformation matrix. According to the mapping relationship in Table 2, the gravitational acceleration of the gyroscope can be expressed as:

[0139]

[0140] in, The direction cosine matrix of the geographic coordinate system relative to the gyro coordinate system can be determined by the following formula:

[0141]

[0142] Step 502: Determine the expression for the second gyroscope drift angular velocity based on the gravitational acceleration and error model.

[0143] Optionally, by expanding the drift angular velocities of the x, y, and z gyroscopes in the gyroscopic coordinate system, the drift angular velocity corresponding to each gyroscope can be determined separately:

[0144]

[0145] in, The error coefficients and their corresponding relationships with the error coefficients (drift coefficients) of each gyroscope can be found in Table 3.

[0146] Table 3. Drift Coefficient Symbol Correspondence Table

[0147]

[0148] Therefore, the expressions for the drift angular velocities of the two gyroscopes can be combined and rearranged to determine the frame angular kinematic equations, which can be specifically expressed as:

[0149]

[0150] in, , , The frame angular velocity is obtained by differentially analyzing the measured frame angles. , The error coefficient, d i =[ d i0 , d ix , d iy , d iz , d ixx , d iyy , d izz , d ixy , d ixz , d iyz ] ,i=1,2,3 , p=[ θ 12 , θ 23 , θ 34 , θ 4n1 , θ 4n2 , δ xz , δ xy , δ yz , δ xy , δ yx , δ zy , δ zx ] As a constant vector, containing frame-related parameters and gyroscope installation errors, the frame angular kinematic equations, after expansion, can be expressed as:

[0151]

[0152]

[0153]

[0154] In an exemplary embodiment, optionally, error coefficients are determined based on the measured frame angle values ​​at different times and the frame angle kinematic equations, including:

[0155] The error coefficients in the error model are determined based on the objective solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angles.

[0156] The objective solution algorithm includes any of the following: least squares method; Kalman filtering method.

[0157] Optionally, after determining the kinematic equations of the frame angles, the frame angle measurements obtained at different times during the servo-method drift test can be used. , and The error coefficients are determined by the objective solution algorithm.

[0158] Optionally, as can be seen from the above frame angle kinematic equations, the error coefficients are coupled with each other. Multiple state variables can be set according to the frame angle kinematic equations, and each state variable may be coupled with multiple error coefficients. Then, after estimating multiple state variables according to the least squares method or Kalman filtering method, the 27 error coefficients of the three gyroscopes are determined according to the mathematical transformation of the state variables.

[0159] For example, 29 state variables are set. x=[ d 30 - 1 2 d 3zz + 1 4 d 3 xx + d 3 yy , d 3 z , d 3 y , d 3 x , d 3 xy , d 3 xx - d 3 yy ,2 d 3 zz + d 3 xx + d 3 yy , d 3 xz , d 3 yz , d 1y - d 2x , d 1 0 + 1 2 d 1zz , d 2 0 + 1 2 d 2zz , d 1y + d 2x , d 1x - d 2y , d 1z , d 1zz , d 1yz - d 2xz , d 1yz + d 2xz , d 1xz - d 2yz , d 1xx - d 2xy + d 1yy , d 1xx - d 1yy + d 2xy , d 2zz , d 1xx + d 1yy + d 2xy , d 1xx + d 2xx + d 2yy ] .

[0160] After determining the state variables through the objective solution algorithm and the measurements of each frame angle, the error coefficient for coupling can be determined according to the following expression:

[0161]

[0162] Where, x i Let i be the i-th state variable.

[0163] The above-mentioned error coefficients in the error model are determined based on the target solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angle. Since the frame angle measurements are obtained based on the servo drift test, no torque is applied to the gyroscope during the servo drift test, and the gyroscope is in a free drift state. Its working state is consistent with the state during actual navigation. Therefore, the error coefficients of the error model can be accurately determined based on the target solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angle.

[0164] For example, the parameter values ​​during the simulation process are shown in Table 4.

[0165] Table 4 Simulation Parameter Settings

[0166]

[0167] Taking the Kalman filtering method as an example of the objective solution algorithm, the error coefficients estimated based on the objective solution are shown in Table 5.

[0168] Table 5. Set values ​​and estimation results of error coefficients

[0169]

[0170] like Figure 6 As shown, this is a schematic diagram of the change curves of the measured values ​​of each frame angle observed during the test time based on the servo drift test method. The horizontal axis represents the observation time, and the vertical axis represents the angle value. Figure 7 This is a schematic diagram comparing the frame angle values ​​reconstructed from the calibrated error coefficients and frame angle kinematic model with the measured frame angle values, specifically the frame angle data from the first 2 hours. Figure 8 According to Figure 7The diagram shows the residual of the frame angle determined by the difference between the reconstructed frame angle value and the measured frame angle value. The difference between the measured and reconstructed frame angle values ​​for each frame angle does not exceed 0.02, indicating that the calibrated error coefficient is accurate.

[0171] As an optional implementation method, such as Figure 9 As shown, the gyroscope error coefficient calibration method provided in this application embodiment may include the following specific steps:

[0172] Step 901: Obtain the Earth's rotation angular velocity and determine the target's motion angular velocity relative to the launch inertial frame based on the Earth's rotation angular velocity.

[0173] Step 902: Determine the absolute angular velocity of the carrier carrying the inertial platform based on the product of the target motion angular velocity and the first transformation matrix. The first transformation matrix is ​​the transformation matrix between the geographic coordinate system and the carrier coordinate system.

[0174] The inertial platform includes a four-ring three-axis inertial platform; the frame axes of the four-ring three-axis inertial platform include the platform axis, the inner ring axis, the outer ring axis, and the follower ring axis.

[0175] Step 903: Determine the expression for the absolute angular velocity of the platform body in the inertial platform based on the absolute angular velocity of the carrier, the rotation sequence of the frame in the inertial platform, and the measured frame angle.

[0176] The rotation sequence of the frame is determined based on the structure of the inertial platform.

[0177] Step 904: Determine the expression for the absolute motion angular velocity of the gyroscope's sensitive axis based on the expression for the absolute angular velocity of the platform and the product of the second transformation matrix. The expression for the absolute motion angular velocity of the gyroscope's sensitive axis is the same as the expression for the first gyroscope drift angular velocity.

[0178] The second transformation matrix is ​​the transformation matrix between the table coordinate system and the gyroscope coordinate system.

[0179] Step 905: Obtain the gravitational acceleration of the input axis, output axis and rotation axis of the gyroscope.

[0180] Step 906: Determine the expression for the second gyroscope drift angular velocity based on the gravitational acceleration and error model.

[0181] Step 907: Determine the frame angle kinematic equation based on the relationship that the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state is equal to the second gyroscope drift angular velocity determined by the error model.

[0182] Among them, the frame angle kinematic equation is used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model.

[0183] Step 908: Control the inertial platform where the gyroscope is located to be aligned with the target, perform a servo drift test on the inertial platform, and obtain the frame angle measurement values ​​of the inertial platform at different times.

[0184] The target orientation includes: the platform axis pointing east horizontally; the follower ring axis perpendicular to the local horizontal plane and pointing vertically upward; the outer ring axis pointing north horizontally; the inner ring axis perpendicular to the local horizontal plane and pointing vertically upward; the inner ring axis is locked, and the follower ring axis servo tracks the inner ring axis.

[0185] Step 909: Determine the error coefficients in the error model based on the target solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angle.

[0186] The objective solution algorithm includes any of the following: least squares method; Kalman filtering method.

[0187] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0188] Based on the same inventive concept, this application also provides a gyroscope error coefficient calibration device for implementing the gyroscope error coefficient calibration method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations of one or more embodiments of the gyroscope error coefficient calibration device provided below can be found in the limitations of the gyroscope error coefficient calibration method described above, and will not be repeated here.

[0189] In one exemplary embodiment, such as Figure 10 As shown, a gyroscope error coefficient calibration device is provided, comprising: a first acquisition module 1001, a second acquisition module 1002, and a determination module 1003, wherein:

[0190] The first acquisition module 1001 is used to control the inertial platform where the gyroscope is located to be in the target direction, perform servo drift test on the inertial platform, and acquire the frame angle measurement value of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform.

[0191] The second acquisition module 1002 is used to acquire the frame angle kinematic equation. The frame angle kinematic equation is determined based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state and the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equation is used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model.

[0192] The determination module 1003 is used to determine the error coefficients based on the measured values ​​of each frame angle at different times and the kinematic equations of the frame angle.

[0193] In one embodiment, the frame axes of the four-ring three-axis inertial platform include the platform axis, the inner ring axis, the outer ring axis, and the follower ring axis. The target orientation includes: the platform axis pointing east horizontally; the follower ring axis perpendicular to the local horizontal plane and vertically upward; the outer ring axis pointing north horizontally; the inner ring axis perpendicular to the local horizontal plane and vertically upward; the inner ring axis is locked, and the follower ring axis servo tracks the inner ring axis.

[0194] In one embodiment, the frame angle measurement values ​​include the platform frame angle measurement values, the outer ring frame angle measurement values, and the follower ring frame angle measurement values; the second acquisition module 1002 is further configured to acquire the Earth's rotation angular velocity and determine the target motion angular velocity of the geographic coordinate system relative to the launching inertial system based on the Earth's rotation angular velocity; determine the absolute angular velocity of the carrier carrying the inertial platform based on the product of the target motion angular velocity and the first transformation matrix, the first transformation matrix being the transformation matrix of the geographic coordinate system relative to the carrier coordinate system; determine the expression for the absolute angular velocity of the platform in the inertial platform based on the absolute angular velocity of the carrier, the rotation sequence of the frames in the inertial platform, and the frame angle measurement values, the rotation sequence of the frames being determined based on the structure of the inertial platform; determine the expression for the absolute motion angular velocity of the gyroscope sensitive axis based on the expression for the absolute angular velocity of the platform and the product of the second transformation matrix, the expression for the absolute motion angular velocity of the gyroscope sensitive axis being the expression for the first gyroscope drift angular velocity, the second transformation matrix being the transformation matrix of the platform coordinate system relative to the gyroscope coordinate system.

[0195] In one embodiment, the second acquisition module 1002 is further configured to acquire the gravitational acceleration of the input axis, output axis and rotation axis of the gyroscope; and determine the expression for the drift angular velocity of the second gyroscope based on each gravitational acceleration and the error model.

[0196] In one embodiment, the determining module 1003 is specifically used to determine the error coefficients in the error model based on the target solving algorithm, the measured values ​​of each frame angle and the kinematic equation of the frame angle. The target solving algorithm includes any of the following: least squares method; Kalman filtering method.

[0197] In one embodiment, the gyroscope includes an x-gyroscope, a y-gyroscope, and a z-gyroscope, and the error coefficients in the error model include constant drift terms for each gyroscope, acceleration drift coefficients for each gyroscope along the input axis, acceleration drift coefficients for each gyroscope along the output axis, acceleration drift coefficients for each gyroscope along the rotation axis, quadratic acceleration drift coefficients for each gyroscope along the input axis, quadratic acceleration drift coefficients for each gyroscope along the rotation axis, and cross quadratic drift coefficients for each gyroscope along any two axes.

[0198] Each module in the aforementioned gyroscope error coefficient calibration device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0199] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the gyroscope error coefficient calibration method. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a gyroscope error coefficient calibration method.

[0200] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0201] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps described in any of the above method embodiments.

[0202] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps described in any of the above method embodiments.

[0203] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps described in any of the above method embodiments.

[0204] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0205] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0206] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for calibrating the error coefficient of a gyroscope, characterized in that, The method includes: The inertial platform containing the gyroscope is positioned in the target direction. A servo drift test is performed on the inertial platform to obtain the frame angle measurement values ​​of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform. Obtain the frame angle kinematic equations, which are determined based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state and the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equations are used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model. The error coefficient is determined based on the measured values ​​of the frame angles at different times and the kinematic equations of the frame angles.

2. The method according to claim 1, characterized in that, The four-ring three-axis inertial platform includes a platform axis, an inner ring axis, an outer ring axis, and a follower ring axis. The target orientation includes: the platform axis pointing horizontally east; the follower ring axis perpendicular to the local horizontal plane and vertically upward; the outer ring axis pointing horizontally north; the inner ring axis perpendicular to the local horizontal plane and vertically upward; the inner ring axis is locked, and the follower ring axis servo-tracks the inner ring axis.

3. The method according to claim 2, characterized in that, The frame angle measurements include the platform frame angle measurements, the outer ring frame angle measurements, and the follower ring frame angle measurements; the process of determining the expression for the first gyroscope drift angular velocity includes: Obtain the Earth's rotation angular velocity, and determine the target's motion angular velocity relative to the launching inertial frame in the geographic coordinate system based on the Earth's rotation angular velocity; The absolute angular velocity of the carrier carrying the inertial platform is determined by the product of the target motion angular velocity and the first transformation matrix, wherein the first transformation matrix is ​​the transformation matrix of the geographic coordinate system relative to the carrier coordinate system; The expression for the absolute angular velocity of the platform in the inertial platform is determined based on the absolute angular velocity of the carrier, the rotation sequence of the frames in the inertial platform, and the measured angle of the frames. The rotation sequence of the frames is determined based on the structure of the inertial platform. The expression for the absolute angular velocity of the gyroscope's sensitive axis is determined by multiplying the expression for the absolute angular velocity of the platform with the product of the second transformation matrix. The expression for the absolute angular velocity of the gyroscope's sensitive axis is the expression for the first gyroscope drift angular velocity, and the second transformation matrix is ​​the transformation matrix between the platform coordinate system and the gyroscope coordinate system.

4. The method according to claim 1, characterized in that, The process of determining the expression for the second gyroscope drift angular velocity includes: Obtain the gravitational acceleration of the input axis, output axis, and rotation axis of the gyroscope; The expression for the drift angular velocity of the second gyroscope is determined based on the aforementioned gravitational acceleration and the aforementioned error model.

5. The method according to claim 1, characterized in that, The determination of the error coefficient based on the measured values ​​of the frame angles at different times and the kinematic equations of the frame angles includes: The error coefficients in the error model are determined based on the objective solution algorithm, the measured values ​​of each frame angle, and the kinematic equations of the frame angles. The objective solution algorithm includes any of the following: Least squares method; Kalman filtering method.

6. The method according to any one of claims 1 to 5, characterized in that, The gyroscopes include an x-gyroscope, a y-gyroscope, and a z-gyroscope. The error coefficients in the error model include constant drift terms for each gyroscope, acceleration drift coefficients for each gyroscope along the input axis, acceleration drift coefficients for each gyroscope along the output axis, acceleration drift coefficients for each gyroscope along the rotation axis, acceleration quadratic drift coefficients for each gyroscope along the input axis, acceleration quadratic drift coefficients for each gyroscope along the rotation axis, and cross-quadratic drift coefficients for each gyroscope along any two axes.

7. A gyroscope error coefficient calibration device, characterized in that, The device includes: The first acquisition module is used to control the inertial platform where the gyroscope is located to be in the target direction, perform servo drift test on the inertial platform, and acquire the frame angle measurement value of the inertial platform at different times. The inertial platform includes a four-ring three-axis inertial platform. The second acquisition module is used to acquire the frame angle kinematic equation. The frame angle kinematic equation is determined based on the relationship between the first gyroscope drift angular velocity determined by the frame angle measurement value under servo state and the second gyroscope drift angular velocity determined by the error model. The frame angle kinematic equation is used to characterize the relationship between the frame angle measurement value and the error coefficient in the error model. The determination module is used to determine the error coefficient based on the measured values ​​of the frame angles at different times and the kinematic equations of the frame angles.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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