Method and device for testing dynamic precision of attitude instrument based on constant angle pulse

Abstract

The invention belongs to the technical field of inertial navigation, and discloses a method and a device for testing the dynamic precision of an attitude instrument based on constant angle pulse. The method does not need additional auxiliary equipment, does not need to calibrate the installation error between the attitude instrument and the rotary table in advance, is suitable for various rotation working conditions such as constant speed, acceleration and deceleration, swinging motion and sinusoidal motion, can efficiently and accurately complete the dynamic precision test of the attitude instrument, remarkably saves the time cost and the operation and maintenance cost of the test, and improves the test efficiency. And batch production and test work development of the attitude instrument are facilitated.

Description

Technical Field

[0001] This application relates to the field of inertial navigation technology, and in particular to a method and apparatus for testing the dynamic accuracy of an attitude meter based on fixed-angle pulses. Background Technology

[0002] An attitude control system uses measurements from gyroscopes and accelerometers to calculate the azimuth, pitch, and roll angles of a carrier in an inertial coordinate system. To evaluate the performance of the attitude control system, its output accuracy needs to be accurately measured. Depending on the application, accuracy can be categorized into static accuracy and dynamic accuracy. Static accuracy is typically obtained by repeatedly measuring the attitude control system while it remains stationary. Dynamic accuracy, however, often requires measurement after the attitude control system has started rotating. Under rotation, the azimuth, pitch, and roll angles output by the attitude control system constantly change, making it difficult to accurately measure the angle values ​​at a specific position.

[0003] In other words, in the field of inertial navigation, the dynamic accuracy of an attitude sensor needs to be accurately measured to evaluate its performance. This dynamic accuracy test needs to be implemented through a test system that includes an attitude sensor, a turntable, and a test computer (with the attitude sensor mounted on the turntable). In existing technologies, although the dynamic accuracy test requires controlling the turntable to rotate the attitude sensor to simulate dynamic working conditions, the azimuth, pitch, and roll angles output by the attitude sensor will continuously change during the rotation. It is impossible to accurately obtain the attitude angle information corresponding to different fixed-angle pulse angle positions of the turntable. As a result, the test computer has difficulty determining the dynamic accuracy of the attitude sensor based on the effective attitude angle information, which in turn affects the accuracy and reliability of the attitude sensor's dynamic performance evaluation and cannot meet the needs for rapid and accurate measurement of dynamic accuracy in mass production testing of attitude sensors. Summary of the Invention

[0004] This application provides a method and apparatus for dynamic accuracy testing of attitude devices based on fixed-angle pulses, which can efficiently and accurately complete dynamic accuracy testing of attitude devices, while significantly saving testing time and maintenance costs, and is beneficial to the mass production and testing of attitude devices.

[0005] In a first aspect, this application provides a dynamic accuracy testing method for an attitude meter based on a fixed-angle pulse. The method is applied to a testing system, which includes an attitude meter, a turntable, and a testing computer. The attitude meter is mounted on the turntable. The method includes: Power on the turntable and the attitude sensor; The position of the turntable is controlled to the initial zero position; The turntable is controlled to rotate according to preset motion parameters, and the turntable is controlled to determine multiple fixed-angle pulse angle positions according to preset fixed-angle pulse interval angles, and fixed-angle pulse signals are sent to the attitude sensor based on the multiple fixed-angle pulse angle positions respectively; For each fixed-angle pulse signal corresponding to a fixed-angle pulse position, after receiving the fixed-angle pulse signal, the attitude sensor outputs the attitude angle information corresponding to the fixed-angle pulse position to the test computer; wherein, the attitude angle information includes azimuth, pitch, and roll angles. The test computer determines the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

[0006] Secondly, this application provides a dynamic accuracy testing device for an attitude sensor based on a fixed-angle pulse. The device is applied to a testing system, which includes an attitude sensor, a turntable, and a testing computer. The attitude sensor is mounted on the turntable. The device includes: The first unit is used to control the power-on of the turntable and the attitude sensor; The second unit is used to control the position of the turntable to the initial zero position; The third unit is used to control the turntable to rotate according to preset motion parameters, and to control the turntable to determine multiple fixed-angle pulse angle positions according to preset fixed-angle pulse interval angles, and to send fixed-angle pulse signals to the attitude sensor based on the multiple fixed-angle pulse angle positions respectively; The fourth unit is used to output attitude angle information corresponding to each fixed-angle pulse position to the test computer after the attitude instrument receives the fixed-angle pulse signal corresponding to the fixed-angle pulse position; wherein, the attitude angle information includes azimuth angle, pitch angle, and roll angle. The fifth unit is used by the test computer to determine the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

[0007] Thirdly, this application provides a readable medium including executable instructions, which, when executed by a processor of an electronic device, cause the electronic device to perform any of the methods described in the first aspect.

[0008] Fourthly, this application provides an electronic device, including a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs any of the methods described in the first aspect.

[0009] As can be seen from the above technical solution, this application has the following beneficial effects compared with the prior art: This dynamic accuracy testing method for attitude sensors based on fixed-angle pulses is applied to a testing system that includes an attitude sensor, a turntable, and a testing computer (the attitude sensor is mounted on the turntable). First, the turntable and attitude sensor are powered on, and the turntable position is adjusted to its initial zero position, providing a stable and unified reference for subsequent dynamic testing and avoiding interference from initial position deviations. Then, the turntable is controlled to rotate according to preset motion parameters, and fixed-angle pulse signals are sent at multiple fixed-angle pulse angle positions according to preset angular pulse intervals. This ensures that the turntable can accurately trigger the attitude sensor to output attitude angle information corresponding to the fixed-angle pulse angle position during dynamic operation, effectively solving the problem of difficulty in capturing specific position information caused by continuous changes in attitude angle during rotation in traditional testing. Finally, the testing computer determines the dynamic accuracy based on the attitude angle information from the multiple fixed-angle pulse angle positions. The entire process requires no additional auxiliary equipment or pre-calibration of the installation error between the attitude sensor and the turntable. It is applicable to various rotation conditions such as uniform speed, acceleration / deceleration, oscillating motion, and sinusoidal motion. It can efficiently and accurately complete the dynamic accuracy testing of attitude sensors while significantly saving testing time and maintenance costs, which is beneficial for the mass production and testing of attitude sensors.

[0010] The further effects of the aforementioned non-conventional preferred method will be explained below in conjunction with specific embodiments. Attached Figure Description

[0011] To more clearly illustrate the embodiments of this application or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart illustrating a dynamic accuracy testing method for an attitude meter based on fixed-angle pulses, provided in this application; Figure 2 A flowchart of a testing system provided in this application; Figure 3 The signal acquisition circuit block diagram provided in this application; Figure 4 Timing diagram of attitude latching and fixed-angle pulse signal provided in this application; Figure 5 This is a schematic diagram of the turntable movement provided in this application; Figure 6 This is a schematic diagram of the dynamic accuracy test of the attitude sensor provided in this application; Figure 7 A schematic diagram of the structure of an attitude meter dynamic accuracy testing device based on fixed-angle pulses provided in this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] The various non-limiting embodiments of this application are described in detail below with reference to the accompanying drawings.

[0015] To avoid ambiguity and ensure the clarity of this implementation method, the key terms involved in this method are first clearly defined and explained: Fixed-angle pulse signal: refers to the trigger signal sent to the attitude instrument when the turntable reaches a preset angle position during rotation. It is used to instruct the attitude instrument to output the attitude angle information of the corresponding position. Its types include RS485 differential level or TTL level. The RS485 differential level type fixed-angle pulse signal contains two channels: positive signal and negative signal.

[0016] Fixed-angle pulse interval angle: refers to the angle interval at which a fixed-angle pulse signal is generated every time the turntable rotates by this angle value. In this embodiment, the preset angle pulse interval angle is 90°.

[0017] Fixed angle pulse angle position: refers to the specific angle position when the turntable reaches the preset angle pulse interval angle during the rotation process. When the fixed angle pulse interval angle is 90°, the angle positions of multiple fixed angle pulses are 0°, 90°, 180°, and 270° respectively.

[0018] Attitude angle information: refers to the collective term for parameters that reflect the current attitude of the attitude instrument, specifically including azimuth, pitch, and roll.

[0019] Adaptive attitude calculation algorithm: refers to an algorithm that can collect measurement data from inertial devices in real time and dynamically adjust the calculation logic to accurately calculate azimuth, pitch, and roll angles.

[0020] Fixed frequency: refers to the frequency corresponding to the fixed time interval for the digital signal processor to store and latch attitude angle information. In this embodiment, the fixed frequency is 1kHz.

[0021] This method is applied to a specific testing system, which includes an attitude sensor, a turntable, and a testing computer, with the attitude sensor fixedly mounted on the turntable. The core components of the attitude sensor include a digital signal processor, inertial devices (including a gyroscope and accelerometer), an FPGA chip, and an asynchronous serial transceiver. The inertial devices are used to acquire raw measurement data of the carrier's motion; the digital signal processor is responsible for data processing and attitude angle latching; the FPGA chip is responsible for edge detection of the fixed-angle pulse signal; and the asynchronous serial transceiver is used to process RS485 differential level fixed-angle pulse signals. The turntable drives the attitude sensor to simulate dynamic rotation conditions, and can realize various rotation conditions such as uniform motion, acceleration / deceleration, oscillation, and sinusoidal motion according to preset parameters. The testing computer is used to control the testing process, receive attitude angle information, and calculate dynamic accuracy.

[0022] The overall working logic of the test system can be seen in Figure 2 (Test System Flowchart). Figure 2 The signal interaction between the turntable, attitude sensor, and test computer is clearly demonstrated: the turntable sends a fixed-angle pulse signal to the attitude sensor, the attitude sensor outputs attitude angle information to the test computer, and the test computer sends control commands to the turntable and attitude sensor.

[0023] See details Figure 1 This paper illustrates a dynamic accuracy testing method for an attitude sensor based on a fixed-angle pulse, according to an embodiment of this application. The method is applied to a testing system, which includes an attitude sensor, a turntable, and a testing computer. The attitude sensor is mounted on the turntable. The method includes: S101: Power on the turntable and the attitude sensor.

[0024] First, complete the hardware connection of the test system according to Figure 6 (Schematic diagram of dynamic accuracy test of attitude meter): fix the attitude meter in the designated position of the turntable, and connect the power supply of the attitude meter (to ensure stable power supply of the attitude meter), the communication link between the attitude meter and the test computer (used by the test computer to send control commands and receive attitude angle information), and the fixed angle pulse interface between the turntable and the attitude meter (used to transmit fixed angle pulse signals).

[0025] After the connection is completed, control commands are sent through the test computer to power on the turntable and attitude sensor respectively: the turntable enters standby mode after power-on, and the attitude sensor enters ready mode after power-on, in preparation for subsequent initial alignment and angle latching.

[0026] S102: Control the position of the turntable to the initial zero position.

[0027] To ensure consistent reference for the angle position of the fixed-angle pulse during turntable rotation, after the turntable is powered on and in standby mode, a "return to zero" command is sent to the turntable via a test computer. This commands the turntable to perform a return-to-zero operation, aligning its current position with 0°, i.e., its initial zero position. Once the turntable completes the return to zero and sends back a "zero position ready" signal, the next step of the operation begins.

[0028] S103: Control the turntable to rotate according to preset motion parameters, and control the turntable to determine multiple fixed angle pulse angle positions according to preset fixed angle pulse interval angles, and send fixed angle pulse signals to the attitude sensor based on the multiple fixed angle pulse angle positions respectively.

[0029] In this embodiment, the fixed-angle pulse signal is of RS485 differential level or TTL level; when the fixed-angle pulse signal is RS485 differential level, the fixed-angle pulse signal includes two paths: a positive signal and a negative signal.

[0030] In one implementation of this embodiment, the preset fixed-angle pulse interval angle is 90°; the positions of the plurality of fixed-angle pulse angles are 0°, 90°, 180°, and 270°, respectively.

[0031] In this embodiment, the preset motion parameters include angular velocity, angular acceleration, and number of rotations; and the rotation conditions of the turntable include any one or more of uniform motion, acceleration / deceleration motion, oscillating motion, and sinusoidal motion.

[0032] As an example, the turntable's motion parameters and fixed-angle pulse parameters can be preset. In this embodiment, the preset motion parameters of the turntable include angular velocity, angular acceleration, and number of rotations. For example, the angular velocity is set to 5° / s, and the angular acceleration is set to 1° / s. 2 The rotation count is set to 8 revolutions; simultaneously, the preset angle pulse interval is 90°, corresponding to multiple fixed angle pulse angle positions of 0°, 90°, 180°, and 270°. The rotation trajectory of the turntable can be seen in Figure 5 (schematic diagram of turntable movement). Figure 5 visually illustrates the dwell and signal transmission logic at the four fixed angle pulse angle positions of 0°, 90°, 180°, and 270° during the turntable's continuous 8 revolutions.

[0033] Turntable rotation and fixed-angle pulse signal transmission. A "start command" is sent to the turntable via a test computer, controlling it to enter rate mode and rotate according to the preset motion parameters. During turntable rotation, whenever the turntable's current position reaches one of the four fixed-angle pulse angle positions (0°, 90°, 180°, 270°), the turntable automatically generates an RS485 differential level fixed-angle pulse signal (containing both positive and negative signals) and sends this signal to the attitude sensor via the fixed-angle pulse interface.

[0034] The process of the attitude sensor receiving the fixed-angle pulse signal: The attitude sensor uses its own asynchronous serial transceiver and FPGA chip to receive and judge the fixed-angle pulse signal. For details, please refer to [link / reference needed]. Figure 3 (Signal acquisition circuit block diagram) That is, the asynchronous serial transceiver performs differential processing on the RS485 differential level fixed angle pulse signal (positive signal + negative signal) sent by the turntable, converting the two signals into a unified input signal; the FPGA chip monitors the edge change of the input signal in real time and determines whether the edge of the input signal reaches the preset condition (in this embodiment, the preset condition is "rising edge triggering"); when the FPGA chip detects that the edge of the input signal reaches the preset condition, it immediately sends an interrupt signal to the digital signal processor of the attitude instrument; after receiving the interrupt signal, the digital signal processor confirms that the attitude instrument has received the fixed angle pulse signal sent by the turntable, and then prepares to output the attitude angle information corresponding to the fixed angle pulse angle position.

[0035] S104: For each fixed-angle pulse signal corresponding to a fixed-angle pulse position, after receiving the fixed-angle pulse signal corresponding to the fixed-angle pulse position, the attitude instrument outputs the attitude angle information corresponding to the fixed-angle pulse position to the test computer.

[0036] The attitude angle information includes azimuth, pitch, and roll.

[0037] In this embodiment, the attitude sensor includes a digital signal processor and an inertial device, the inertial device including a gyroscope and an accelerometer; After receiving the fixed-angle pulse signal corresponding to the fixed-angle pulse angle position, the attitude sensor outputs the attitude angle information corresponding to the fixed-angle pulse angle position to the test computer, which can be achieved by the following steps: The attitude sensor controls the digital signal processor to acquire measurement data from the inertial device in real time.

[0038] Then, the attitude sensor uses an adaptive attitude calculation algorithm to process the measurement data to obtain the azimuth angle, pitch angle, and roll angle.

[0039] Next, the digital signal processor latches the azimuth angle, the pitch angle, and the roll angle at a fixed frequency. In one implementation, the fixed frequency at which the digital signal processor latches the azimuth angle, the pitch angle, and the roll angle is 1 kHz.

[0040] When the attitude sensor receives the fixed angle pulse signal corresponding to the fixed angle pulse angle position, the attitude sensor responds to the fixed angle pulse signal corresponding to the fixed angle pulse angle position by using the latest latched azimuth angle, pitch angle, and roll angle as the attitude angle information corresponding to the fixed angle pulse angle position, and outputs the attitude angle information corresponding to the fixed angle pulse angle position to the test computer.

[0041] In one implementation of this embodiment, the attitude sensor further includes an FPGA chip and an asynchronous serial transceiver.

[0042] When the fixed-angle pulse signal is at an RS485 differential level, the process by which the attitude sensor receives the fixed-angle pulse signal includes the following steps: The asynchronous serial transceiver performs differential processing on the positive and negative signals of the fixed-angle pulse signal to form a single input signal; The FPGA chip determines whether the edge of the input signal meets a preset condition; If the FPGA chip detects that the edge of the input signal reaches the preset condition, it sends an interrupt signal to the digital signal processor; after receiving the interrupt signal, the digital signal processor confirms that the attitude sensor has received the fixed angle pulse signal.

[0043] In other words, the process of the attitude sensor outputting attitude angle information relies on the coordinated work of the digital signal processor, inertial devices, and adaptive attitude calculation algorithms. The specific process is illustrated in Figure 4 (timing diagram of attitude sensor attitude latching and fixed angle pulse signal): 1. Real-time calculation and latching of attitude angle information: After the attitude sensor is powered on and enters the ready state, the digital signal processor (DSP) will collect the measurement data (such as angular velocity and acceleration data) of the inertial devices (gyroscope + accelerometer) in real time. Then, the DSP calls the adaptive attitude calculation algorithm to process the collected measurement data and calculate the current azimuth, pitch, and roll angles. At the same time, the DSP latches the calculated azimuth, pitch, and roll angles in real time at a fixed frequency of 1 kHz (i.e., stores the latest attitude angle information every 1 ms). Figure 4 clearly shows the timing relationship between the 1 kHz latching frequency and the fixed angle pulse signal, ensuring that the latest latched data can be output every time the fixed angle pulse signal arrives.

[0044] 2. Output of attitude angle information: Once the digital signal processor confirms receipt of the fixed-angle pulse signal via an interrupt signal, it immediately retrieves the latest latched azimuth, pitch, and roll angles and uses these three parameters as the attitude angle information corresponding to the current fixed-angle pulse angle position. Subsequently, the attitude sensor sends the attitude angle information to the test computer via the communication link, completing one data output.

[0045] During the process of the turntable rotating continuously for 8 revolutions, the above-mentioned process of "receiving fixed-angle pulse signals → outputting attitude angle information" will be repeated 8 times at each of the four fixed-angle pulse angle positions of 0°, 90°, 180°, and 270°. That is, each fixed-angle pulse angle position corresponds to the output of 8 sets of attitude angle information.

[0046] S105: The test computer determines the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

[0047] In this embodiment, for each fixed-angle pulse angle position, the test computer collects multiple sets of attitude angle information corresponding to the fixed-angle pulse angle position during the continuous rotation of the turntable; the test computer calculates the root mean square error of the azimuth angle, pitch angle, and roll angle corresponding to each set of attitude angle information, and takes the maximum value among all root mean square errors as the dynamic accuracy of the attitude instrument at the fixed-angle pulse angle position.

[0048] Then, the dynamic accuracy of the attitude meter can be determined based on the dynamic accuracy at the interval angle of the multiple fixed-angle pulses.

[0049] For example, if the turntable rotates N times and the fixed-angle pulse interval is 90°, then the test computer collects multiple sets of attitude angle information corresponding to the fixed-angle pulse angle position during the continuous rotation of the turntable, including: The test computer collects N sets of attitude angle information for the fixed-angle pulse angle position, and calculates the root mean square error of the N sets of attitude angle information for the fixed-angle pulse angle position. The test computer needle takes the maximum value of the root mean square error of each fixed angle pulse angle position among the fixed angle pulse angle positions of 0°, 90°, 180°, and 270° as the dynamic accuracy of the attitude instrument.

[0050] As an example, after receiving the attitude angle information of all fixed-angle pulse angle positions, the test computer calculates the dynamic accuracy of the attitude sensor according to preset logic. The specific calculation process is as follows: 1. Collect multiple sets of attitude angle information: For the four fixed-angle pulse angle positions of 0°, 90°, 180°, and 270°, the test computer extracts eight sets of attitude angle information received during the turntable's eight rotations (eight sets of data for each position, for a total of 32 sets of data).

[0051] 2. Calculate the standard deviation of each data set: For each fixed-angle pulse angle position, the test computer calculates the root mean square error of the azimuth angle, the root mean square error of the pitch angle, and the root mean square error of the roll angle (the root mean square error is used to reflect the dispersion of multiple sets of data at the same position; the smaller the dispersion, the higher the dynamic accuracy at that position).

[0052] 3. Determine the dynamic accuracy of the attitude sensor: First, for each fixed-angle pulse angle position, the maximum value among the root mean square errors of the azimuth, pitch, and roll angles at that position is taken as the dynamic accuracy at that fixed-angle pulse angle position; then, the maximum value among the dynamic accuracies at four positions of 0°, 90°, 180°, and 270° is taken as the final dynamic accuracy of the attitude sensor.

[0053] It should be noted that the method does not require prior calibration of the installation error angle between the attitude meter and the turntable. The dynamic accuracy test of the attitude meter can be completed using only the turntable and the attitude meter, without the need for additional auxiliary equipment.

[0054] As can be seen from the above technical solution, this application has the following beneficial effects compared with the prior art: This dynamic accuracy testing method for attitude sensors based on fixed-angle pulses is applied to a testing system that includes an attitude sensor, a turntable, and a testing computer (the attitude sensor is mounted on the turntable). First, the turntable and attitude sensor are powered on, and the turntable position is adjusted to its initial zero position, providing a stable and unified reference for subsequent dynamic testing and avoiding interference from initial position deviations. Then, the turntable is controlled to rotate according to preset motion parameters, and fixed-angle pulse signals are sent at multiple fixed-angle pulse angle positions according to preset angular pulse intervals. This ensures that the turntable can accurately trigger the attitude sensor to output attitude angle information corresponding to the fixed-angle pulse angle position during dynamic operation, effectively solving the problem of difficulty in capturing specific position information caused by continuous changes in attitude angle during rotation in traditional testing. Finally, the testing computer determines the dynamic accuracy based on the attitude angle information from the multiple fixed-angle pulse angle positions. The entire process requires no additional auxiliary equipment or pre-calibration of the installation error between the attitude sensor and the turntable. It is applicable to various rotation conditions such as uniform speed, acceleration / deceleration, oscillating motion, and sinusoidal motion. It can efficiently and accurately complete the dynamic accuracy testing of attitude sensors while significantly saving testing time and maintenance costs, which is beneficial for the mass production and testing of attitude sensors.

[0055] like Figure 7 The image shows a specific embodiment of a dynamic accuracy testing device for an attitude sensor based on a fixed-angle pulse, provided in this application. The device described in this embodiment is the physical device used to execute the method described in the above embodiments. Its technical solution is essentially the same as that of the above embodiments, and the corresponding descriptions in the above embodiments also apply to this embodiment. The device is applied to a testing system, which includes an attitude sensor, a turntable, and a testing computer. The attitude sensor is mounted on the turntable. The device includes: The first unit 701 is used to control the power-on of the turntable and the attitude sensor; The second unit 702 is used to control the position of the turntable to the initial zero position; The third unit 703 is used to control the turntable to rotate according to preset motion parameters, and to control the turntable to determine multiple fixed-angle pulse angle positions according to preset fixed-angle pulse interval angles, and to send fixed-angle pulse signals to the attitude sensor based on the multiple fixed-angle pulse angle positions respectively; The fourth unit 704 is used to, for each fixed-angle pulse signal corresponding to a fixed-angle pulse position, after the attitude sensor receives the fixed-angle pulse signal corresponding to the fixed-angle pulse position, output the attitude angle information corresponding to the fixed-angle pulse position to the test computer; wherein, the attitude angle information includes azimuth angle, pitch angle, and roll angle; The fifth unit 705 is used by the test computer to determine the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

[0056] Optionally, the fixed-angle pulse signal is of RS485 differential level or TTL level; when the fixed-angle pulse signal is RS485 differential level, the fixed-angle pulse signal includes two paths: a positive signal and a negative signal.

[0057] Optionally, the attitude sensor includes a digital signal processor and inertial devices, the inertial devices including a gyroscope and an accelerometer; After receiving the fixed-angle pulse signal corresponding to the fixed-angle pulse angle position, the attitude sensor outputs the attitude angle information corresponding to the fixed-angle pulse angle position to the test computer, including: The attitude sensor controls the digital signal processor to acquire measurement data from the inertial device in real time. The attitude sensor uses an adaptive attitude calculation algorithm to process the measurement data to obtain the azimuth, pitch, and roll angles. The digital signal processor latches the azimuth angle, the pitch angle, and the roll angle at a fixed frequency; When the attitude sensor receives the fixed angle pulse signal corresponding to the fixed angle pulse angle position, the attitude sensor responds to the fixed angle pulse signal corresponding to the fixed angle pulse angle position by using the latest latched azimuth angle, pitch angle, and roll angle as the attitude angle information corresponding to the fixed angle pulse angle position, and outputs the attitude angle information corresponding to the fixed angle pulse angle position to the test computer.

[0058] Optionally, the preset fixed-angle pulse interval angle is 90°; the angle positions of the plurality of fixed-angle pulses are 0°, 90°, 180°, and 270°, respectively.

[0059] Optionally, the preset motion parameters include angular velocity, angular acceleration, and number of rotations; and the rotation conditions of the turntable include any one or more of uniform motion, acceleration / deceleration motion, oscillating motion, and sinusoidal motion.

[0060] Optionally, the attitude sensor may further include an FPGA chip and an asynchronous serial transceiver; When the fixed-angle pulse signal is at an RS485 differential level, the process by which the attitude sensor receives the fixed-angle pulse signal includes the following steps: The asynchronous serial transceiver performs differential processing on the positive and negative signals of the fixed-angle pulse signal to form a single input signal; The FPGA chip determines whether the edge of the input signal meets a preset condition; If the FPGA chip detects that the edge of the input signal reaches the preset condition, it sends an interrupt signal to the digital signal processor; after receiving the interrupt signal, the digital signal processor confirms that the attitude sensor has received the fixed angle pulse signal.

[0061] Optionally, the digital signal processor latches the azimuth, pitch, and roll angles at a fixed frequency of 1 kHz.

[0062] Optionally, the test computer determines the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the multiple fixed-angle pulse angle positions, including: For each fixed-angle pulse angle position, the test computer collects multiple sets of attitude angle information corresponding to the fixed-angle pulse angle position during the continuous rotation of the turntable; the test computer calculates the root mean square error of the azimuth angle, pitch angle, and roll angle corresponding to each set of attitude angle information, and takes the maximum value among all root mean square errors as the dynamic accuracy of the attitude instrument at the fixed-angle pulse angle position; The dynamic accuracy of the attitude sensor is determined based on the dynamic accuracy at the interval angle of the multiple fixed-angle pulses.

[0063] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include RAM, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for other services.

[0064] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0065] Memory is used to store instructions for execution. Specifically, instructions for execution are computer programs that can be executed. Memory can include main memory and non-volatile memory, and provides the processor with execution instructions and data.

[0066] In one possible implementation, the processor reads the corresponding execution instructions from non-volatile memory into main memory and then executes them. Alternatively, it can obtain the corresponding execution instructions from other devices to form a dynamic accuracy testing device for an attitude sensor based on fixed-angle pulses at the logical level. The processor executes the execution instructions stored in the memory to implement the dynamic accuracy testing method for an attitude sensor based on fixed-angle pulses provided in any embodiment of this application.

[0067] The above is as stated in this application. Figure 1The method executed by the attitude measurement dynamic accuracy testing device based on fixed-angle pulses provided in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0068] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0069] This application also proposes a readable medium that stores execution instructions. When the stored execution instructions are executed by the processor of an electronic device, the electronic device can execute the attitude meter dynamic accuracy test method based on fixed angle pulse provided in any embodiment of this application, and specifically use it to perform the above-mentioned evaluation method.

[0070] The electronic devices described in the foregoing embodiments may be computers.

[0071] Those skilled in the art will understand that the embodiments of this application can be provided as methods or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0072] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0073] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for testing the dynamic accuracy of an attitude meter based on fixed-angle pulses, characterized in that... The method is applied to a testing system, which includes an attitude sensor, a turntable, and a testing computer, wherein the attitude sensor is mounted on the turntable; the method includes: Power on the turntable and the attitude sensor; The position of the turntable is controlled to the initial zero position; The turntable is controlled to rotate according to preset motion parameters, and the turntable is controlled to determine multiple fixed-angle pulse angle positions according to preset fixed-angle pulse interval angles, and fixed-angle pulse signals are sent to the attitude sensor based on the multiple fixed-angle pulse angle positions respectively; For each fixed-angle pulse signal corresponding to a fixed-angle pulse position, after receiving the fixed-angle pulse signal, the attitude sensor outputs the attitude angle information corresponding to the fixed-angle pulse position to the test computer; wherein, the attitude angle information includes azimuth, pitch, and roll angles. The test computer determines the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

2. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 1, characterized in that... The fixed-angle pulse signal is of RS485 differential level or TTL level; when the fixed-angle pulse signal is RS485 differential level, the fixed-angle pulse signal includes two paths: a positive signal and a negative signal.

3. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 2, characterized in that... The attitude sensor includes a digital signal processor and inertial devices, the inertial devices including a gyroscope and an accelerometer; After receiving the fixed-angle pulse signal corresponding to the fixed-angle pulse angle position, the attitude sensor outputs the attitude angle information corresponding to the fixed-angle pulse angle position to the test computer, including: The attitude sensor controls the digital signal processor to acquire measurement data from the inertial device in real time. The attitude sensor uses an adaptive attitude calculation algorithm to process the measurement data to obtain the azimuth, pitch, and roll angles. The digital signal processor latches the azimuth angle, the pitch angle, and the roll angle at a fixed frequency; When the attitude sensor receives the fixed angle pulse signal corresponding to the fixed angle pulse angle position, the attitude sensor responds to the fixed angle pulse signal corresponding to the fixed angle pulse angle position by using the latest latched azimuth angle, pitch angle, and roll angle as the attitude angle information corresponding to the fixed angle pulse angle position, and outputs the attitude angle information corresponding to the fixed angle pulse angle position to the test computer.

4. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 1, characterized in that... The preset fixed-angle pulse interval angle is 90°; the angle positions of the plurality of fixed-angle pulses are 0°, 90°, 180°, and 270°, respectively.

5. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 1, characterized in that... The preset motion parameters include angular velocity, angular acceleration, and number of rotations; and the rotation conditions of the turntable include any one or more of uniform motion, acceleration / deceleration motion, oscillating motion, and sinusoidal motion.

6. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 3, characterized in that... The attitude sensor also includes an FPGA chip and an asynchronous serial transceiver; When the fixed-angle pulse signal is at an RS485 differential level, the process by which the attitude sensor receives the fixed-angle pulse signal includes the following steps: The asynchronous serial transceiver performs differential processing on the positive and negative signals of the fixed-angle pulse signal to form a single input signal; The FPGA chip determines whether the edge of the input signal meets a preset condition; If the FPGA chip detects that the edge of the input signal reaches the preset condition, it sends an interrupt signal to the digital signal processor; after receiving the interrupt signal, the digital signal processor confirms that the attitude sensor has received the fixed angle pulse signal.

7. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 3, characterized in that... The digital signal processor latches the azimuth, pitch, and roll angles at a fixed frequency of 1 kHz.

8. The dynamic accuracy testing method for attitude measurement based on fixed-angle pulses according to claim 1, characterized in that... The test computer determines the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the multiple fixed-angle pulse angle positions, including: For each fixed-angle pulse angle position, the test computer collects multiple sets of attitude angle information corresponding to the fixed-angle pulse angle position during the continuous rotation of the turntable; the test computer calculates the root mean square error of the azimuth angle, pitch angle, and roll angle corresponding to each set of attitude angle information, and takes the maximum value among all root mean square errors as the dynamic accuracy of the attitude instrument at the fixed-angle pulse angle position; The dynamic accuracy of the attitude sensor is determined based on the dynamic accuracy at the interval angle of the multiple fixed-angle pulses.

9. A dynamic accuracy testing device for an attitude meter based on a fixed-angle pulse, characterized in that... The device is used in a testing system, which includes an attitude sensor, a turntable, and a testing computer. The attitude sensor is mounted on the turntable. The device includes: The first unit is used to control the power-on of the turntable and the attitude sensor; The second unit is used to control the position of the turntable to the initial zero position; The third unit is used to control the turntable to rotate according to preset motion parameters, and to control the turntable to determine multiple fixed-angle pulse angle positions according to preset fixed-angle pulse interval angles, and to send fixed-angle pulse signals to the attitude sensor based on the multiple fixed-angle pulse angle positions respectively; The fourth unit is used to output attitude angle information corresponding to each fixed-angle pulse position to the test computer after the attitude sensor receives the fixed-angle pulse signal corresponding to the fixed-angle pulse position; wherein, the attitude angle information includes azimuth angle, pitch angle, and roll angle; The fifth unit is used by the test computer to determine the dynamic accuracy of the attitude meter based on the attitude angle information corresponding to the angle positions of the multiple fixed-angle pulses.

10. An electronic device, characterized in that... It includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor performs the method as described in any one of claims 1-8.

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