Method, device, equipment, medium and product for locking inertial navigation direction angle through blind search

Abstract

The application relates to the technical field of satellite communication, and provides a method, device, equipment, medium and product for locking an inertial navigation direction angle through blind search, the method comprising the following steps: calculating all blind search angles according to the beam width of a satellite communication terminal, and filtering out high-elevation-angle combinations from all the blind search angles; fusing inertial navigation according to three-axis attitude angles of the inertial navigation and ENU coordinate system configuration angles, and configuring an antenna pointing direction to receive satellite ephemeris; reading satellite real angles from the satellite ephemeris, calculating a heading angle according to the satellite real angles and the azimuth in the ENU coordinate system configuration angles, and determining an angle blind search range according to the calculated heading angle and a heading angle error; and selecting a heading angle with the best signal in all the blind search angles in the angle blind search range as an inertial navigation direction angle locking result. The application can realize single-GPS-antenna satellite communication terminal heading angle calibration in an almanac expiration scene.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and more specifically, to a method, apparatus, device, medium, and product for locking inertial navigation heading angles through blind search. Background Technology

[0002] Miniaturization and cost reduction of satellite communication terminals are important development trends in the current satellite communication field. However, miniaturized satellite communication terminals are typically limited by hardware deployment space and cost constraints, and are usually equipped with only a single GPS antenna. In the single GPS antenna deployment mode, the inertial navigation system of the satellite communication terminal cannot directly lock the heading angle, becoming a key issue restricting the pointing accuracy of the terminal antenna.

[0003] Meanwhile, the initial satellite search of the satellite communication terminal relies on satellite almanacs to obtain satellite coordinates, and then calculates the angle of the antenna pointing to the ENU coordinate system (Northeast-Eastern Sky coordinate system). However, satellite almanacs have a clear time limit. Once the almanac expires, the satellite communication terminal cannot obtain valid satellite coordinates from the almanac and can only use a blind search method to traverse all angles to search for satellites.

[0004] For single-GPS antenna satellite communication terminals in scenarios where almanacs are outdated, existing technologies do not provide an effective inertial navigation heading angle calibration scheme, which prevents the satellite communication terminal from completing the initial heading angle calibration, seriously affecting the rapid access and navigation positioning performance of the satellite communication terminal. Summary of the Invention

[0005] This invention aims to provide a method, apparatus, device, medium, and product for locking inertial navigation heading angle through blind search, in order to solve the problem that single GPS antenna satellite communication terminals cannot complete initial heading angle calibration in scenarios where the almanac is outdated, which seriously affects the rapid access and navigation positioning performance of satellite communication terminals.

[0006] In a first aspect, the present invention provides a method for locking inertial navigation heading angles through blind search, comprising: Calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; Inertial navigation fusion is performed based on the three-axis attitude angles of the inertial navigation system and the angles configured in the ENU coordinate system, and the antenna is configured to receive satellite ephemeris. The true angle of the satellite is read from the satellite ephemeris. The heading angle is calculated based on the true angle of the satellite and the azimuth angle configured in the ENU coordinate system. The blind search range of the angle is determined based on the calculated heading angle and the heading angle error. Iterate through all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

[0007] In a preferred embodiment, the calculated heading angle is expressed as:

[0008] in, For the calculated heading angle, Configure the azimuth angle for the ENU coordinate system. This is the satellite's true azimuth angle. For the actual heading angle, This represents the heading angle error.

[0009] In a preferred embodiment, the angle blind search range is [ ].

[0010] In a preferred embodiment, the heading angle error is directly taken as the beamwidth of the satellite communication terminal.

[0011] In a preferred embodiment, filtering out high elevation angle combinations from all blind search angles means filtering out blind search angles with a pitch angle exceeding 60 degrees.

[0012] In a preferred embodiment, the method for locking the inertial navigation heading angle by blind search further includes: periodically correcting the inertial navigation heading angle by measurement signals.

[0013] Secondly, the present invention provides a device for locking inertial navigation heading angle by blind search, comprising: The first processing unit is used to calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; The second processing unit is used to perform inertial navigation fusion based on the three-axis attitude angles of the inertial navigation system and the angle configuration of the ENU coordinate system, and to receive satellite ephemeris after configuring the antenna pointing. The third processing unit is used to read the satellite's true angle from the satellite ephemeris, calculate the heading angle based on the satellite's true angle and the azimuth angle configured in the ENU coordinate system, and determine the angle blind search range based on the calculated heading angle and the heading angle error. The fourth processing unit is used to traverse all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

[0014] Thirdly, the present invention provides an electronic device, comprising: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory to perform the above-described method.

[0015] Fourthly, the present invention provides a computer-readable storage medium for storing instructions that, when executed, cause the above-described method to be implemented.

[0016] Fifthly, the present invention provides a computer program product that, when invoked by a computer, causes the computer to execute the above-described method.

[0017] In summary, this invention enables heading angle calibration of a single GPS antenna satellite communication terminal in scenarios where the almanac has expired. The beneficial effects of this invention are: 1. Core blind search strategy: Based on the beamwidth of a single GPS antenna in a satellite communication terminal, this invention designs an angle traversal rule in the ENU coordinate system, which can achieve full-angle blind search coverage.

[0018] 2. High elevation angle filtering mechanism: This invention sets an elevation angle threshold (preferably ≤60°) to filter out high elevation angle combinations, which greatly reduces the traversal complexity and improves traversal efficiency while ensuring the success rate of satellite search.

[0019] 3. Heading Angle Calibration and Correction Method: This invention combines satellite ephemeris calculation to determine the initial heading angle and constructs an error traversal range based on the satellite communication terminal antenna beamwidth to achieve accurate heading angle calibration.

[0020] 4. Periodic correction logic: This invention designs periodic correction to address the inertial navigation heading angle drift characteristics, ensuring long-term pointing accuracy. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a method for locking inertial navigation heading angles through blind search, as provided in an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the blind search angle in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram illustrating the calculation of the area of ​​the spherical crown in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of a device for locking the inertial navigation heading angle by blind search, provided in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0028] This invention provides a method for locking inertial navigation heading angle through blind search, which solves the problem that a single GPS antenna satellite communication terminal cannot complete the initial heading angle calibration in scenarios where the almanac has expired, seriously affecting the rapid access and navigation positioning performance of the satellite communication terminal. In addition, it can also solve the problems that when the almanac is valid, the satellite communication terminal does not use the blind search method to optimize the accuracy of the inertial navigation heading angle calibration; and the high elevation angle is not filtered out during the blind search process, resulting in low satellite search efficiency and large heading angle calibration error.

[0029] The implementation idea of ​​a method for locking the inertial navigation heading angle through blind search provided by this invention is as follows: A blind search method is performed after removing high elevation angle combinations, and the true heading angle of the inertial navigation system is calculated after successful satellite acquisition. For example... Figure 1 As shown, an embodiment of the present invention provides a method for locking inertial navigation heading angle through blind search, comprising: Step 1: Calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; Step 2: Perform inertial navigation fusion based on the three-axis attitude angles of the inertial navigation system and the angles configured in the ENU coordinate system, and then configure the antenna pointing to receive satellite ephemeris; if it is not received, repeat this step until satellite ephemeris is received; Step 3: Read the actual satellite angle from the satellite ephemeris, calculate the heading angle based on the actual satellite angle and the azimuth angle configured in the ENU coordinate system, and determine the blind search range of the angle based on the calculated heading angle and the heading angle error. Step 4: Traverse all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

[0030] like Figure 2 As shown, the blind search angle of a single GPS antenna of a satellite communication terminal in the ENU coordinate system is displayed, and the azimuth traversal configuration at different elevation angle levels is marked. Figure 2Examples of traversal configurations for each azimuth angle are as follows (unit: °): (90,0), (88,0), (88,60), (88,120), (88,180), (88,240), (88,300), (86,0), (86,30), (86,60), ..., (86,300), (86,330), (84,0), (84,20), (84,40), ..., (84,300), (84,320), (84,340), ..., (26,0), (26,1.875), (26,1.875×2), ..., (26,360-1.875). It should be noted that the actual traversal angles need to be fine-tuned based on the actual beamwidth of the GPS antenna. Figure 2 The blind search angles shown are arranged in the following order of search wave positions: (101, 201, 202, ..., 206, 301, 302, ..., 306, 401, ...).

[0031] The satellite's true angle is ( , ), This represents the satellite's true pitch angle. This is the satellite's true azimuth angle. However, when the almanac is invalid, the satellite coordinates cannot be obtained from the almanac, and the ENU coordinate system angle pointing to the satellite cannot be calculated. Therefore, all angles can only be traversed.

[0032] Satellite communication terminal with single GPS antenna inertial navigation three-axis attitude angles ( ) mid-course heading angle Unable to lock on, at this time the satellite's true heading angle Set the value to 0, and iterate through the ENU coordinate system to configure the angles. , ), Configure the pitch angle for the ENU coordinate system. Configure the azimuth angle for the ENU coordinate system, and configure the angle for the carrier coordinate system after inertial navigation fusion as follows: , ), Configure the pitch angle for the carrier coordinate system. Assigning an azimuth angle to the carrier coordinate system is expressed as:

[0033] The actual effective ENU coordinate system angle at this point is the inverse process of inertial navigation fusion, expressed as:

[0034] Right now In other words, when traversing to near and near Satellites can be detected at that time.

[0035] Suppose that at this point:

[0036] Once the satellite is located, its ephemeris can be read to obtain its true angle. Based on the actual satellite angle and the azimuth angle configured in the ENU coordinate system, the calculated heading angle is expressed as:

[0037] pass Calculated heading angle Compared to the actual heading angle There is a heading angle error. Therefore, based on the calculated heading angle and heading angle error, the blind search range is determined according to a certain step. Iterate through all blind search angles within the blind search range and select the heading angle with the best signal. This is the result of the inertial navigation heading angle lock. The heading angle error is... The beamwidth of the satellite communication terminal can be directly taken, typically 3 to 5 degrees. Furthermore, since the inertial navigation heading angle itself will drift, it is subsequently corrected periodically by measuring the signal. The specific correction method can adopt existing technologies, such as periodically measuring the heading angle based on the three-axis attitude angles reported by the inertial navigation system; determining the heading angle compensation value based on the periodic measurement results; and correcting the inertial navigation heading angle based on the heading angle compensation value. The specific implementation process will not be elaborated here.

[0038] Another issue is that the higher the elevation angle, the greater the heading angle error. The larger the angle, the more pronounced the azimuth becomes. In the extreme case where the elevation angle is 90 degrees, the azimuth is completely indistinguishable. However, when the elevation angle approaches 90 degrees, the heading angle error increases. It can also be tens of degrees, at which point we need to iterate through the angle range. This will take a long time, therefore the design involves traversing the configuration. and High elevation angle combinations are directly filtered out. The elevation angle threshold for filtering can be set as needed. In the preferred embodiment of this invention, it is required that... The rationale for this treatment will be discussed below.

[0039] like Figure 3 As shown, the smaller circle represents the Earth's surface, the larger circle represents the sphere containing the satellite's orbit, point U represents the location of the satellite communication terminal, and the Earth's radius is... If the satellite's orbital altitude is h, then The elevation angle ∠PUM=α for the satellite signal received by the satellite communication terminal. The area of ​​the spherical cap P'SP is calculated below.

[0040] According to the Law of Sines:

[0041]

[0042]

[0043] Crown height

[0044] Crown area

[0045] Given that the Earth's radius R = 6371 km and the satellite's orbital altitude h = 1000 km, the total surface area of ​​the sphere containing the satellite's orbit is:

[0046] The area of ​​the spherical cap of a visible satellite, i.e., at its lowest elevation angle of 25 degrees, is calculated as follows:

[0047] The area of ​​a spherical cap with an elevation angle greater than or equal to 60 degrees is calculated as follows:

[0048] Therefore, the area of ​​the spherical ring with an elevation angle between 25 and 60 degrees is sufficient to meet the requirements for satellite search.

[0049] ,

[0050] The planned total number of satellites for the low-Earth orbit satellite system is tens of thousands. Currently, Starlink has deployed around ten thousand satellites. Assuming the satellites are evenly distributed, then... The number of visible satellites within the area is approximately equal to Blind search is perfectly fine within an elevation angle of 25 degrees or greater.

[0051] The number of visible stars after removing high elevation angle components is Even after removing the high elevation angle, satellite acquisition is not a problem.

[0052] The Qianfan constellation also includes tens of thousands of satellites, with 1296 satellites planned for early global coverage. Let's calculate based on 1296: Without removing high elevation angles, the number of visible stars is: ; After removing high elevation angles, the number of visible stars is: The difference between removing it and not removing it is not significant. Therefore, the success rate of satellite search can be fully guaranteed after removal.

[0053] Based on the same technological concept, such as Figure 4 As shown, this embodiment of the invention also provides a device for locking the inertial navigation heading angle through blind search, comprising: The first processing unit is used to calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; The second processing unit is used to perform inertial navigation fusion based on the three-axis attitude angles of the inertial navigation system and the angle configuration of the ENU coordinate system, and to receive satellite ephemeris after configuring the antenna pointing. The third processing unit is used to read the satellite's true angle from the satellite ephemeris, calculate the heading angle based on the satellite's true angle and the azimuth angle configured in the ENU coordinate system, and determine the angle blind search range based on the calculated heading angle and the heading angle error. The fourth processing unit is used to traverse all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

[0054] The working principle of each processing unit in the above device can be referred to the description in the foregoing method embodiments, and will not be repeated here.

[0055] Based on the same technical concept, embodiments of the present invention also provide an electronic device that can implement the method flow for locking inertial navigation heading angles through blind search provided in the above embodiments of the present invention. In one embodiment, the electronic device can be a server, a terminal device, or other electronic devices. Figure 5 As shown, the electronic device may include: At least one processor and a memory connected to the at least one processor. In this embodiment of the invention, the specific connection medium between the processor and the memory is not limited. Figure 5 The example used is the connection between the processor and memory via a bus. The bus... Figure 5 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. Buses can be divided into address buses, data buses, control buses, etc., but for ease of representation, [the specific bus type is not shown here]. Figure 5 The processor is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, a processor can also be called a controller; there are no restrictions on the name.

[0056] In this embodiment of the invention, the memory stores instructions that can be executed by at least one processor. By executing the instructions stored in the memory, at least one processor can execute the method for locking the inertial navigation heading angle by blind search as described above.

[0057] The processor is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory and calling data stored in memory, it can monitor the device's various functions and process data, thereby enabling overall monitoring of the device.

[0058] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor, wherein the application processor primarily handles the operating system, user interface, and applications, while the modem processor primarily handles wireless communication. It is understood that the modem processor may also not be integrated into the processor. In some embodiments, the processor and memory may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0059] The processor can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method for locking inertial navigation heading angle through blind search disclosed in the embodiments of this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0060] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. Memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. In embodiments of the present invention, memory can also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0061] By designing and programming the processor, the code corresponding to the method for locking the inertial navigation heading angle by blind search described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the steps of the method described in the foregoing embodiments during operation. How to design and program the processor is a technique well known to those skilled in the art, and will not be described in detail here.

[0062] Based on the same inventive concept, embodiments of the present invention also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a method described above for locking inertial navigation heading angles through blind search.

[0063] In some alternative embodiments, the present invention also provides a method for locking inertial navigation angles by blind search, which can also be implemented as a program product including program code that, when the program product is run on a device, causes the control device to perform the steps in a method for locking inertial navigation angles by blind search according to various exemplary embodiments of the present invention as described above.

[0064] It should be noted that although several units or sub-units of the apparatus have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the invention, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units. Furthermore, although the operation of the method of the invention is described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0065] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a server, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0067] Program code for performing the operations of this invention can be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for locking inertial navigation heading angle through blind search, characterized in that, include: Calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; Inertial navigation fusion is performed based on the three-axis attitude angles of the inertial navigation system and the angles configured in the ENU coordinate system, and the antenna is configured to receive satellite ephemeris. The true angle of the satellite is read from the satellite ephemeris. The heading angle is calculated based on the true angle of the satellite and the azimuth angle configured in the ENU coordinate system. The blind search range of the angle is determined based on the calculated heading angle and the heading angle error. Iterate through all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

2. The method for locking the inertial navigation heading angle by blind search according to claim 1, characterized in that, The calculated heading angle is expressed as: in, For the calculated heading angle, Configure the azimuth angle for the ENU coordinate system. This is the satellite's true azimuth angle. For the actual heading angle, This represents the heading angle error.

3. The method for locking the inertial navigation heading angle by blind search according to claim 2, characterized in that, The blind search range of the angle is [ ].

4. The method for locking the inertial navigation heading angle by blind search according to claim 1, characterized in that, The heading angle error is directly taken from the beamwidth of the satellite communication terminal.

5. The method for locking the inertial navigation heading angle by blind search according to claim 1, characterized in that, The phrase "filtering out high elevation angle combinations from all blind search angles" refers to filtering out blind search angles with a pitch angle exceeding 60 degrees.

6. The method for locking the inertial navigation heading angle by blind search according to claim 1, characterized in that, Also includes: The inertial navigation heading angle is periodically corrected by measuring the signal.

7. A device for locking inertial navigation heading angle through blind search, characterized in that, include: The first processing unit is used to calculate all blind search angles based on the beamwidth of the satellite communication terminal, and filter out high elevation angle combinations from all blind search angles; The second processing unit is used to perform inertial navigation fusion based on the three-axis attitude angles of the inertial navigation system and the angle configuration of the ENU coordinate system, and to receive satellite ephemeris after configuring the antenna pointing. The third processing unit is used to read the satellite's true angle from the satellite ephemeris, calculate the heading angle based on the satellite's true angle and the azimuth angle configured in the ENU coordinate system, and determine the angle blind search range based on the calculated heading angle and the heading angle error. The fourth processing unit is used to traverse all blind search angles within the blind search range and select the heading angle with the best signal as the inertial navigation heading angle locking result.

8. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which executes the instructions stored in the memory to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store instructions that, when executed, cause the method as described in any one of claims 1-6 to be implemented.

10. A computer program product, characterized in that, When the computer program product is invoked by a computer, it causes the computer to perform the method as described in any one of claims 1-6.

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