77 results about "Speed accuracy" patented technology

A position sensor-free double closed-loop speed regulation control method for a brushless DC motor comprises the following steps: (1) initializing functional modules and peripherals; (2) opening AD (Analog-Digital) interruption and protection interruption; (3) detecting the start key of the motor, judging whether to start the motor, if yes, executing the next step, and if not, continuing to execute the step; (4) starting voltage detection, judging whether the voltage of a main circuit is larger than starting voltage, if yes, executing the next step, and if not, returning to the step (3); (5) entering a motor starting subprogram and beginning operating the motor; (6) entering a double closed-loop speed regulation subprogram, and regulating the rotational speed and the current of the motor according to voltage value; and (7) detecting a motor brake key, judging whether to press the key, if yes, entering a motor brake subprogram, and if not, returning to the step (3). The method provided by the invention overcomes the defects of larger size, low rotational speed accuracy and the like of the conventional motor controller, can accurately control different rotational speeds of the motor, and can simultaneously realize counter electromotive force zero-cross comparison position sensor-free reversing and Hall position signal reversing.

A method and system for implicitly resolving pointing ambiguities in human-computer interaction by implicitly analyzing user movements of a pointer toward a user targeted object located in an ambiguous multiple object domain and predicting the user targeted object, using different categories of heuristic (statically and / or dynamically learned) measures, such as (i) implicit user pointing gesture measures, (ii) application context, and (iii) number of computer suggestions of each predicted user targeted object. Featured are user pointing gesture measures of (1) speed-accuracy tradeoff, referred to as total movement time (TMT), and, amount of fine tuning (AFT) or tail-length (TL), and, (2) exact pointer position. A particular application context heuristic measure used is referred to as containment hierarchy. The invention is widely applicable to resolving a variety of different types of pointing ambiguities such as composite object types of pointing ambiguities, involving different types of pointing devices, and which are widely applicable to essentially any type of software and / or hardware methodology involving using a pointer, such as in computer aided design (CAD), object based graphical editing, and text editing.

An internal combustion engine system is disclosed that improves regulation of engine speed relative to a speed setpoint. The system controls ignition timing, throttle plate actuation, fuel valve actuation or a combination thereof in accordance with maintaining a setpoint speed. The system also includes a transient air flow estimation for further improving setpoint speed accuracy.

The invention discloses an online fault tolerance control device of a speed sensor of a permanent magnet motor. A high rotation speed estimation module and a low rotation speed estimation module are used for respectively obtaining two estimated rotation speeds omega 2 and omega 3, a rotation speed accuracy calculation module is used for receiving the rotation speed omega 1 collected by the motor and the estimated rotation speeds omega 2 and omega 3 from the two rotation speed estimation modules through the speed sensor, a prior probability is obtained by a prior probability calculation method based on the maximum likelihood estimation, and a posterior probability is calculated by a fault tolerance control module according to the prior probability. When the posterior probability f(x1) is greater than the preset threshold, the speed sensor normally works, and the collected rotation speed omega 1 is directly used as the feedback rotation speed for outputting. Or else, the feedback rotation speed is calculated according to the collected rotation speed, the estimated rotation speed and the posterior probability. The device has the advantages that a motor driving system can realize the closed loop control within wide speed adjusting range under the condition of faults of the speed sensor, the rotation speed of the motor is smoothly switched in the fault tolerance control process, and the fault tolerance control effect is improved.

The invention belongs to the technical field of battery collision safety testing, and particularly relates to a high-speed horizontal impact experiment device for automotive lithium ion batteries. The device comprises an electromagnetic rail gun launching device and a hanging horizontal impact table which are fixed on the ground, the launching centre of a projectile is coincided with the center of a three-jaw chuck, the electromagnetic rail gun launching device drives the projectile to accelerate by the aid of mechanical energy transformed by electromagnetic energy, the size and the shape of the projectile can be adjusted, the speed and the kinetic energy of the projectile can be accurately controlled, the three-jaw chuck is mounted on the hanging horizontal impact table and used for fixing the batteries, the impact table can arbitrarily rotate, and multi-angle impact working conditions can be achieved. The device is convenient and safe to operate, good in experimental repeatability and accurate and reliable in detection result, the impact energy and speed accuracy can be controlled, a series of change of mechanical, electrical and thermal performances can be quantitatively researched when the batteries are subjected to high-speed impact, and thermal runaway mechanisms after the batteries are subjected to high-speed impact are acquired.

The invention provides a high-performance variable frequency speed regulation method of a high-voltage winding asynchronous motor rotor, belonging to a high-voltage high-power variable frequency speed regulation method. In the method, three-phase windings of the high-voltage winding asynchronous motor rotor are subjected to short circuit and connected with a frequency converter with corresponding voltage levels; a double-closed-loop control strategy is adopted in a stator field direction vector control system without a velocity sensor, wherein an inner control loop comprises a rotor current loop and an outer control loop comprises a stator magnetic link loop and a revolving speed loop; and signals output by the inner control loop are sent to an SVPWM (space vector pulse width modulation) algorithm to generate PWM (pulse-width modulation) pulses which are used for switching on and off a power device in the inversion part of the frequency converter, thereby controlling the variable frequency speed regulation of a high-voltage winding asynchronous motor. The method provided by the invention has the advantage that the high-performance stator field direction vector control strategy without the velocity sensor is adopted, so that the level of the voltage which is borne by the power device required by the frequency inverter is reduced in a high-voltage occasion, thus decreasing the system cost and improving the dynamic and static performances and the revolving speed accuracy of the speed regulation system.

The invention discloses a method for suppressing interference of seismic data multiples on the land. Arranging and zone dividing are conducted on a preprocessed seismic data set according to the CMP and the offset, a section is obtained according to image speed stacking and the offset, the range of a single advantage zone is determined in the area outside a multiple advantage zone, time windows with the same length are selected on a strong reflection layer time section and a multiple occurring time section which generate the multiples, cross correlation is conducted on the time windows, the amplitude value of each zero phase is calculated, weighting is conducted according to the amplitude values, and suppressing of the interference of the seismic data multiples on the land is achieved. Time orientation differentiation is conducted, and suppressing of the interference of the seismic data multiples on the land is achieved. The method lowers the requirement for the speed precision and the multiple and single fluctuation correction time difference threshold of a common method for suppressing multiples in a domain transformation mode at present and has the higher practical operability and the higher application success rate.

The invention provides an SINS / DVL / ES combined navigation method based on information pre-evaluation and navigation result compensation correction. DVL data validity is judged before SINS / DVL combination, and when the DVL data information is invalid, DVL navigation information does not participate in combined navigation; at the same time, a residual error x2 testing method is introduced for evaluating whether combined navigation results are stable, and a compensation correction method is designed for real-time evaluation and correction compensation of Kalman output results when the combined navigation results are oscillated. The combined navigation method can effectively suppress the divergence speed of the SINS / DVL combined navigation attitude and speed, improves the combined system attitude and speed accuracy, improves the position accuracy in a certain extent, and also can solve the oscillation problem of attitude errors brought by declining of the DVL data information quality.

The invention relates to a formation speed test system and test method. The system comprises a high-energy electric spark source, a plurality of ground detectors, one to two receiving lines, a seismograph and a triggering timing device. According to the formation speed test system of the invention, high-energy electric spark is excited in a hole, and the plurality of detectors are linearly arranged on the ground to receive seismic waves. The test system has strong excitation energy and high main frequency; the test system receives longitudinal wave first arrivals in a multi-channel manner, which realizes easiness in distinguishing; the test system can pick up first arrivals in a common-excitation point and common-receiving interactive pickup manner, so that longitudinal and transverse wavefirst arrival time can be picked up; a speed obtained through a tomographic inversion method has high precision; the formation speed test system and test method are not only suitable for soil layers,but also suitable for rock formations; and a formation speed acquired by the test system and test method is accurate and reliable and is similar to a result obtained by an in-situ wave speed test.

The invention discloses a calculation method of low dynamic carrier speed fusing light flux and SIFT feature point matching in environment of uneven light intensity distribution. Through a car-loaded camera installed on a mobile carrier collecting dynamic images of the carrier, and using two algorithms of the pyramid Lucas-Kanade light flux and SIFT feature point matching, the feature points of the current frame image and the next frame image are detected and matched. Based on the frame displacements corresponding to the several feature points which are matched successfully, the speed V light flux and VSIFT under the coordinate system of the carrier are calculated, the difference delta V in between and the acceleration difference delta a are inputted in a modified self-adaptive Kalman filter to conduct direct correction of the carrier speed VSIFT calculated by using the light flux method. The calculation method of low dynamic carrier speed fusing light flux and SIFT feature point matching in environment of uneven light intensity distribution is high in solving precision and fast in solving speed, and can obviously increase the precision and real time feature in the estimation of the low dynamic carrier speed.

A calibration method for a three-beam laser velocimeter on basis of a navigation system comprises the following seven steps: 1, installing an inertial unit, a differential GPS and the laser velocimeter on a carrier, and binding initial position parameters onto a navigation computer; 2, preheating a strap down inertial unit, and collecting the output data of a gyroscope and an accelerometer; 3, preprocessing the collected output data; 4, initiating the differential GPS and the laser velocimeter, allowing the system to switch into an SINS / DGPS mode from an alignment mode, and allowing the carrier to begin moving; 5, collecting the output of the velocimeter and the output of an SINS / DGPS combination navigation system when the carrier is in different motion states at different times; 6, respectively identifying the error of three installation angles and the scale factor of the laser velocimeter by a least square method; and 7, evaluating and analyzing the calibration precision. According to the invention, the accurate calibration of the three-beam laser velocimeter is realized through utilizing the characteristics of the strap down inertial unit and the combination navigation system that the output speed precision is high. Therefore, the calibration method has a practical value in the inertial navigation technology field.

The present invention discloses a method and system of joint location based on T2 / R time difference and Doppler shift. The method comprises the following steps: S1, selecting two shortwave broadcasting stations with different signal frequencies as launch stations, obtaining their emission frequencies and coordinate positions, and calculating the big circle distances of the ground between the launch stations and an accepting station; S2, calculating the time difference data and Doppler shift data between a direct wave and a scattered wave according to the signal frequencies and the big circle distances of the ground; S3, jointing the obtained time difference data and the Doppler shift data to obtain an estimating equation of a target state, and obtaining a convergence result through calculation according to batch algorithms, namely the position and the flight speed of a flying target. Only two broadcasting stations are needed to be taken as sources of radiation to locate a moving aerial target, so that the aspects of the position precision and the speed precision are greatly improved for the targets in a uniform motion and a variable motion.

The invention relates to a laser tracker based combined operating test method for a dual-arm robot. The dual-arm robot comprises an operator A and an operator B, wherein a laser tracker is used to separately measure pose parameters of the operator A and post parameters of the operator B while the operator A and the operator B separately control a workpiece 1 and a workpiece 2 to work; and dual-armcombined pose accuracy and repeatability, dual-arm combined track accuracy and speed accuracy are obtained by calculating a deviation value and weighted average of pose parameters of the operator A and the operator B, so that accomplishing degree, on workpiece assembly combined operation, of the dual-arm robot is described. The laser tracker based combined operating test method solves the problemabout test precision of related matched data in current dual-arm robot combined operation, and the like very well.

A planet power descending branch anti-interference guidance control method with an online track generation function is designed for a system state space model in which a planet lander is interfered by multiple sources in a power descending branch. The planet power descending branch anti-interference guidance control method with the online track generation function comprises the steps that firstly, a planet lander power descending branch system state space model with multi-source interference is established; then, based on the state space model with interference, an interference observer with partial information known is designed; finally, based on the interference observer, the composite guidance control method with the online track generation function is designed. The planet power descending branch anti-interference guidance control method has the advantages that a track can be generated online, anti-interference performance is strong, the landing position and speed of the lander are high in precision, and the planet power descending branch anti-interference guidance control method is suitable for accurate guidance control over the planet lander in the power descending branch in the spaceflight field.

The invention belongs to the technical fields of heat supply and heating and relates to a calorimeter signal acquisition device. The calorimeter signal acquisition device comprises a heat conducting unit and two temperature sensors, wherein the heat conducting unit is provided with two end faces; one end face of the heat conducting unit is in contact with a heat-carrying fluid and is called heat collecting surface, and the other end face of the heat conducting unit is provided with a heat radiator and is called heat radiating surface; the outer surface of the entire heat conducting unit is provided with a heat preserving layer or an insulating layer apart from the two end faces; the heat conducting unit comprises a sensor for measuring a heat flow relevant signal between the two end faces; and the two temperature sensors are used for measuring the temperature change of the heat-carrying fluid which flows through the heat collecting surface. The invention further provides two kinds of calorimeters having the signal acquisition device and provides a method for computing heat amount. The calorimeters and the signal acquisition device provided by the invention have the advantages of high measuring accuracy, large measurement range, high low-flow-speed accuracy, simple structure and low cost.

The invention relates to a method for improving a vehicle-mounted speed chart through GPS speed information. The method includes the steps of collecting accurate speed information measured by a GPS under an open environment and the vehicle-mounted speed information of a vehicle-mounted speed collecting device to obtain a complementation coefficient, and correcting the vehicle-mounted speed information of the vehicle-mounted speed collecting device through the complementation coefficient when measurement of the GPS is not accurate. By means of the method, the defect that the vehicle-mounted speed accuracy is influenced by various factors is overcome; for instance, the defect that the vehicle-mounted speed measurement error occurs when the actual perimeter and the calibrated perimeter of a tyre are not consistent is overcome; meanwhile, the GPS measurement accuracy is prevented from being influenced by a complex environment.

The invention discloses an asynchronous motor constant voltage frequency ratio control method used for a three-phase frequency converter. The asynchronous motor constant voltage frequency ratio control method comprises a main control step, and additionally a feedback compensation step is added onto the main control step; and the feedback compensation step comprises a stator resistance voltage drop compensation step, a stator voltage amplitude compensation step and a slip frequency compensation step. According to the method, the load starting performance, low-frequency load capacity and speed accuracy of an asynchronous motor are improved, the load starting torque can reach 115% of rated load, and the asynchronous motor can stably operate in a full-load mode at the low frequency of 1 Hz, and the revolving speed error can be controlled within 0.1 Hz, so that the asynchronous motor can stably operate in the frequency band of 0 to 50 Hz, the oscillation of the asynchronous motor is well inhibited, the system stability is effectively improved, and the method is applicable to being widely spread and applied.

The invention discloses a method and a device for measuring particle velocity with low velocity and high acceleration characteristics. An optical fiber laser Doppler interference velocity measuring hardware system and a specific-flow short-time Fourier transform or continuous wavelet transform and time frequency transform data processing combined method are used for measuring particle surface velocity at a speed of 100-101m / s order and an acceleration speed higher than 10<9>m / s<2> order. A high time resolution and velocity resolution test for particle velocity of a mobile target surface with the characteristics is realized, wherein the time resolution is 0.2ns; and the error of velocity does not exceed 0.1%. Besides, the method and the device can be used for simultaneously testing the velocities of multiple channels of particles, testing efficiency is high, cost is low, and the method is easy to implement.

The invention provides a loitering munition high-precision combination navigation method. The method comprises the following steps: calculating the strapdown inertial navigation position increment through using information resolved by using strapdown inertial navigation, and projecting the obtained position increment in the visual line direction of a satellite to obtain a predicted carrier wave phase temporal difference observed quantity; resolving through using a navigation satellite system GNSS receiver to obtain a carrier wave phase time-difference between satellites, and carrying out data fusion on the carrier wave phase time-difference between satellites and an strapdown inertial navigation SINS predicated carrier wave phase temporal difference through a Kalman filter to obtain an error obtained after combination navigation estimation; and carrying out error correction on the strapdown inertial navigation SINS combination navigation solution and an inertia sensor by using the error obtained after combination navigation estimation to obtain a next epoch of combination navigation solution. The method can provide a meter level positioning precision and a millimeter / second level speed precision for a loitering munition in a short time. The method has the advantages of simple calculation, avoiding of the resolving fuzziness, realization of the real time property of a navigation system, and strong practicality.

The invention relates to a reset precision detection method of a ship inertia navigated impact isolator. The reset precision the ship inertia navigated impact isolator can be detected by measuring change values of height and azimuthal angles of four plane mirrors installed on the inertia navigated impact isolator before and after impact by two optical theodolites, four plane mirrors, an impact machine and the like. The detection method comprises the steps of simulating an environment that a ship is subjected to impacting by a light impact machine; performing an impact test for an inertia navigated system provided with the impact isolator; and calculating the reset precision of the impact isolator by the relative position changes of the four mirror surfaces installed at the upper and lower ends o f the impact isolator by the optical theodolites. The method is particularly suitable for evaluating the reset precision of the ship inertia navigated impact isolator. The method combines positioning after the inertia navigated impact test and evaluating of the speed precision, and further can be used for carrying out quantitative evaluation on the inertia ship navigated anti-impact performance.

The invention relates to a high-accuracy rotational speed controller of a phase-locked motor. The high-accuracy rotational speed controller comprises a first counter, a second counter, a third counter, a proportion integration differentiation (PID) controller, a pulse width modulation (PWM) controller and a Hall sensor, wherein the counters are used for counting a period of an external output reference square wave signal SYN, a period of a Hall signal and current phase difference between the square wave signal SYN and the Hall signal according to a frequency CLK, the Hall period counting valuen' is subtracted from the SYN period counting value n to obtain a difference value es used as rotational speed part control quantity, reference phase difference 0 is added to the current phase difference phaseErr, phase part control quantity ep is obtained after graining k, the sum of the es and the ep is used as total control quantity e to be input to the PID controller, an output is finally obtained by the PID controller, and the motor is controlled to rotate by the PWM controller. On the basis of traditional rotational speed feedback, a phase-locked loop is additionally arranged, relatively high rotational speed accuracy of the motor is ensured, the phase of a reference signal also can be traced constantly, and the problem that an angle error rotated by the motor can become large withtime accumulation due to rotational speed deviation of a pure-rotational speed control ring is solved.

The invention discloses a paper defect detection system for medical test paper. The system comprises a microcontroller, and a visual detection module, an action labeling module and a man-machine interaction module separately connected to the microcontroller, wherein the visual detection module is primarily composed of an industrial camera, a visual processor, a light source and a display; the industrial camera is arranged above a paper conveyor belt, the lower side is irradiated through a mirror light source, and the industrial camera is connected to the visual processor through a parallel bus; the visual processor collects images and carries out algorithm processing to obtain a specific coordinate position of the paper defects and the position data is transferred to the microcontroller; the action labeling module is primarily composed of a servo driver, a frequency converter and a servo motor; the microcontroller acquires the coordinate position of the visual detection module for dataanalysis and coordinate conversion to control the servo motor to label the corresponding position. The system detects and labels special bright spot and dark spot paper special for the medical test paper material. The system is constructed by means of an industrial automatic platform, so that the system is relatively high in reliability and speed accuracy.

The invention relates to the satellite navigation receiver testing and evaluating technology and discloses a high-dynamic satellite navigation receiver performance evaluating method. The high-dynamic satellite navigation receiver performance evaluating method solves the deficiencies of high cost, long time and poor coverage of high-dynamic satellite navigation receiver performance evaluation. The high-dynamic satellite navigation receiver performance evaluating method comprises the steps of editing a test scene according to full-dynamic requirements, selecting multi-mode, multi-interface and wired / wireless testing, and performing performance computation and evaluation on positioning accuracy, speed accuracy, pseudo-range accuracy and pseudo-range rate precision. The high-dynamic satellite navigation receiver performance evaluating method achieves economic, rapid and full-dynamic receiver performance evaluation and meet performance evaluation requirements during receiver development and production.

The invention relates to a vehicle positioning method and system based on dual-antenna GNSS heading and wheel speed assistance. The method includes steps: 1) in a vehicle stationary condition, calculating initial values of position and heading according to positions and headings of GNSS antennas, and obtaining initial values of the position and the heading of a vehicle; 2) estimating the heading of the vehicle according to the initial values of the position and the heading and an angular velocity measured by inertial navigation, and calculating the position corresponding to the heading; 3) calculating an inertial navigation position and an inertial navigation heading according to a rotating speed of a motor and the calculated position corresponding to the heading, and correcting the position and the heading by employing an adaptive Kalman filtering algorithm; and 4) inputting the corrected position and heading to step 2), repeating the above steps, and outputting the final heading andposition to further obtain vehicle positioning information. Compared with the prior art, according to the method and system, vehicle information sources are fully used, the problem of low precision of the output speed of a GNSS receiver at a low speed is solved, and the method and system is advantaged by easy debugging, high estimation precision and small calculation amount.

The invention relates to a compound speed regulation shaft-type magnetic coupling comprising a driving shaft, an inner rotor mechanism connected to the driving shaft and used for adjusting the air gap thickness of the coupling, an outer rotor mechanism disposed opposite to the inner rotor mechanism and used for adjusting the air gap length of the coupling, and a driven shaft in transmission connection to the outer rotor mechanism. The axis of the inner rotor mechanism and the axis of the outer rotor mechanism coincide with each other. Compared with the prior art, the compound speed regulation shaft-type magnetic coupling is simple and compact in structure, safe and stable, and can controllably adjust the output speed, is high in transmission torque, solves problems that a common shaft-type magnetic coupling is low in transmission power and not adjustable in speed, and a conventional adjustable shaft-type magnetic coupling is small in speed adjustable range and low in speed accuracy, and has a very good application prospect.

The invention provides a precision strike digital control method for a spindle press. The method is characterized by comprising the following steps: 1, inputting equipment data and operation data; 2, calculating the rotating speed omega of a switch reluctance machine and the rotating speed accuracy delta omega needed by an electric motor controller according to the formula: E=1 / eta(Wd+(F / 2C)), delta E=(F / eta C)delta F, omega=square root 2E / (J1+J2 / i) and delta omega=(delta E / (J1+J2 / i)omega) so as to control the action of the switch reluctance machine; and 3, driving a spindle press to act by the switch reluctance machine. The rotating speed omega and the rotating speed accuracy delta omega of a driving motor of the spindle press are directly controlled by the equipment data and the operation data, thereby effectively improving the strike precision of the spindle press, improving the quality and the consistence of workpieces, and prolonging the service life of a die.

The invention belongs to the technical field of laser target simulation, and relates to a laser moving target simulator. The laser moving target simulator is characterized in that a laser is used forradiating laser light; through a movement control module, energy is adjusted by an energy adjusting unit, and the light spot size is adjusted by a light spot adjusting unit; a light spot movement unitis used for adjusting the direction and the pitching angle of the light spot, outputting the laser light and projecting the laser light to a laser light scattering screen to form diffuse reflection laser light; and an optical collimation subsystem is used for collimating the diffuse reflection laser light and providing approximately infinitely far laser light excitation for a tested laser light guiding head. According to the wide-range, high-precision, high-speed, high-stability and high-response-speed laser moving target simulator, a reliable testing platform is provided for guiding head developing and performance testing, the problems that a traditional laser moving target simulator is narrow in energy change range, poor in linearity, low in light spot position precision, speed precision and light spot adjusting precision and the like are solved, product development and finalization are accelerated, and a great effect is achieved in the stages of designing, developing, commissioningand the like of a laser guided weapon system.

The invention discloses an automobile speed measurement and control method and system. According to the method, the speeds and deflection angles of two front wheels are measured in real time, meanwhile, the gravity center of an automobile is determined according to values of gravity sensors at four axles as well as the wheel base and the tread of the automobile, the moving speeds, around an instantaneous center during turning of the automobile, of the left front wheel and the right front wheel of the automobile are converted into the moving speeds in the gravity center position of the automobile respectively, the average value of the two automobile speeds in the gravity center position of the automobile is taken as the actual travel speed during turning of the automobile, and the automobile speed can be controlled simultaneously according to the stress conditions of the four wheels. The problems that the control accuracy is reduced and a travel accident is likely to cause due to the fact that the automobile speed accuracy is not high during turning of the automobile because an automobile speed measurement device adopts the rotation speed of a transmission output shaft for automobile speed conversion in the prior art are solved, and high practical value is realized.

The invention provides a method and device for measuring the navigation performance of an MEMS (Micro Electro Mechanical System) inertial group. The method comprises the following steps: collecting first output data of the MEMS inertial group standing at an initial position for preset time, and performing initial alignment, thereby obtaining an initial attitude matrix; collecting second output data output by an IMU (Inertial Measurement Unit) during a process that the MEMS inertial group translates from the initial position to a target position according to a preset locus; performing inertialnavigation resolving based on the initial attitude matrix and the second output data, thereby obtaining the locus and attitude measured by the IMU as well as speed at the target position; comparing the locus and attitude measured by the IMU as well as speed at the target position with refernece values, thereby obtaining error values, wherein the error values are measurement indexes for navigationperformance of the MEMS, the refernece values include a position reference, an IMU speed accuracy reference and an attitude measurement reference, the position reference is the actual length of the preset locus, the IMU speed accuracy reference is the zero speed in a static state, and the attitude measurement reference is the attitude of the MEMS inertial group at the initial position. The methodand the device can be used for reducing the difficulty in operation of measuring the navigation performance of the MEMS inertial group.