CN109186636B - IMU automatic calibration test method and system - Google Patents
IMU automatic calibration test method and system Download PDFInfo
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- CN109186636B CN109186636B CN201811058067.5A CN201811058067A CN109186636B CN 109186636 B CN109186636 B CN 109186636B CN 201811058067 A CN201811058067 A CN 201811058067A CN 109186636 B CN109186636 B CN 109186636B
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Abstract
The invention relates to a test method and a system for IMU automatic calibration, wherein the method comprises the steps of generating a calibration instruction and a test instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of a turntable; acquiring specified data in the test instruction according to the working state; calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data; performing error compensation according to the calibration parameters and the calibration errors, sending the updated calibration parameters to the IMU, and outputting a test result; the invention also discloses a system belonging to the same concept as the method, the calibration intermediate process does not need personnel participation, the universality is good, the automation level is high, the high efficiency and high precision of calibration and test are ensured, and meanwhile, the data integration management, on-line control and monitoring are realized.
Description
Technical Field
The invention relates to the technical field of calibration and test of an inertial measurement unit, in particular to a test method and a test system for automatic calibration of an IMU (inertial measurement Unit).
Background
An Inertial Measurement Unit (IMU) consisting of a gyroscope and an accelerometer is a sensitive component of a Strapdown Inertial Navigation System (SINS), and the calibration and testing thereof plays an important role in the use of the SINS. IMU calibration is the premise of inertial navigation, and the calibration result directly influences the navigation precision; the IMU test can evaluate whether it meets the designed performance index or meets the use requirement of the system.
The traditional method for calibrating and testing the inertia measurement unit mostly adopts a manual mode, a static multi-position and speed rotary table is generally used for testing, the method utilizes a multi-position cancellation principle, various error items are analyzed and calculated by collecting original data of an inertia device, the method is limited by the principle, the various error items are in cross coupling, in addition, the noise of the inertia device can pollute the original measurement data for analysis, so that the observability of an error coefficient is weaker, the precision of actual calibration and testing is not high, the calibration process is influenced by human factors, the process is complex, the period is long, the workload is large, and the efficiency is low.
With the application of an automatic testing technology in the testing of the inertial navigation system, various inertial navigation automatic testing platforms are developed at home and abroad, the functions of real-time measurement and control, signal acquisition, data processing, calibration calculation, report display, printing and storage of a turntable are realized, the efficiency and the precision of calibration and testing are improved to a certain extent, but the functions are single, and the universalization and the intelligence degrees are not high.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a testing method and system for automatic calibration of an IMU, which uses the entire IMU as a calibration object, considers factors such as incomplete orthogonal error between axes of inertial sensors and structural installation error, and calibrates parameters such as initial zero position, scale factor, installation error coefficient of each inertial sensor in the IMU, and has the advantages of no need of personnel participation in the middle process of calibration, good universality, high automation level, reduction of interference of various factors, guarantee of high efficiency and high precision of calibration and testing, and solves the problems of low precision, tedious process, low efficiency, single function of part of an automatic inertial navigation testing platform, and low universalization and intelligence degree in the prior art.
The purpose of the invention is mainly realized by the following technical scheme:
on one hand, the embodiment of the invention provides a test method for IMU automatic calibration, which comprises the steps of generating a calibration instruction and a test instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of a rotary table; acquiring specified data in the test instruction according to the working state; calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data; and performing error compensation according to the calibration parameters and the calibration errors, and sending the updated calibration parameters to the IMU and outputting a test result.
In another embodiment based on the method, generating the calibration instruction and the test instruction according to the setting of the user interface includes: selecting a calibration parameter model through a calibration program interface of the test end software; selecting different reference test standards and specifications through a test end; and setting a calibration task and a test task by inputting interactive information through the test terminal.
Optionally, the calibration instruction controls the working state of the turntable to include position information and speed information of the turntable; the position information comprises a target position and a feedback position, and when the feedback position reaches the target position and the speed is zero, the turntable is judged to reach the target position and be static; and when the error between the feedback rate and the target rate is in a set range, the turntable is judged to stably move at the target rate.
Optionally, the collecting specified data in the test instruction according to the working state includes: controlling a data acquisition switch to ensure that the specified data required by the test instruction is acquired by acquiring the target position and the target speed of the turntable; the data acquisition comprises data acquisition of test end software or data acquisition of a data subsystem in the IMU.
Optionally, one or more test instructions are generated into a test instruction file through an instruction generation window of the test end software, and the test instruction file is loaded by the test end software.
Optionally, the test end software sequentially reads the instructions in the test instruction file and tests the instructions, and the test instructions control the movement of the turntable or collect the specified data through interface equipment and output data results; and the program of the test end software sets the arrangement of the rotary table, sets an identifier for each position information and ensures that each position data is stored in an array position.
Optionally, invoking a control algorithm to calculate calibration parameters and calibration errors according to the specified data includes: and training and testing by using a plurality of groups of specified data acquired by testing end software through an intelligent control algorithm, so that the calibration error is minimized to obtain the calibration parameters and the calibration error.
The beneficial effects of the above technical scheme are as follows: the embodiment of the invention discloses a test method for IMU automatic calibration, which comprises the steps of generating a calibration instruction and a test instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of a turntable; acquiring specified data in the test instruction according to the working state; calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data; and performing error compensation according to the calibration parameters and the calibration errors, and sending the updated calibration parameters to the IMU and outputting a test result. The embodiment of the invention solves the problems of low precision, complex process, low efficiency, single function of part of the inertial navigation automatic test platform, and low generalization and intelligent degree in the prior art. The other embodiment based on the method realizes data integration management, online control and monitoring, so that the calibration efficiency and the measurement precision are greatly improved.
On the other hand, the embodiment of the invention provides a test system for IMU automatic calibration, which comprises an IMU to be tested, a turntable system installed on the IMU to be tested, a test terminal and test software running on the test terminal; the test software is used for generating a calibration instruction and a test instruction through a user interface; the turntable system is used for controlling the working state of the turntable through the calibration instruction; the test terminal is used for importing specified data in the test instruction acquired according to the working state; and the test software is also used for calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data, carrying out error compensation, updating the calibration parameters, sending the calibration parameters to the IMU to be tested, and outputting a test result.
In another embodiment based on the above system, the test software further comprises an intelligent database; the intelligent database comprises a calibration parameter model for selection, different test standards and specifications for selecting reference, an intelligent algorithm for storing acquired specified data and executing a calibration task and a test task, and data after output updating.
Optionally, the test system further comprises an interface device; the interface equipment is used as a bus and is used for connecting the test terminal with the tested IMU and the turntable control cabinet of the turntable system respectively; the turntable system comprises a turntable control cabinet and a turntable, and is used for receiving the calibration instruction through the turntable control cabinet to control the working state of the turntable; and the test terminal is connected with the IMU to be tested through the interface equipment and is used for acquiring the specified data and outputting a data result.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a testing method for IMU automatic calibration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a workflow of an IMU automatic calibration according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a testing system for IMU automatic calibration according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Aiming at the problems of low precision, complex process, long period, large workload, low efficiency, single function of part of an inertial navigation automatic test platform and low generalization and intelligence degree of the traditional manual calibration and test method at present, the embodiment of the invention provides the test method for IMU automatic calibration, which realizes automatic data acquisition and processing, automatic turntable control and automatic whole calibration process realization, adopts software development platforms such as C language, MATLAB or LabVIEW and the like to develop a calibration control program, adopts an intelligent database as a data management tool, adopts an OFFICE system as a record generation tool, realizes that a measurement result is directly transmitted into the program by equipment, automatically converts and calculates calibration parameters, realizes the automatic comparison and judgment functions of the calibration result and technical indexes, and finally outputs electronic and detection records according to a set detection report template. The invention realizes data integration management, on-line control and monitoring, greatly improves the calibration efficiency and the measurement precision, solves the problems of low precision, complex process, low efficiency, single function, low generalization and intelligent degree of partial inertial navigation automatic test platform in the traditional manual calibration and test method, improves the working efficiency, fundamentally eliminates errors caused by human factors, and furthest ensures the precision and the correctness of the calibration and test work.
According to a specific embodiment of the present invention, a testing method for IMU automatic calibration is disclosed, as shown in fig. 1, including the following steps:
s101, generating a calibration instruction and a test instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of the rotary table;
s102, acquiring specified data in the test instruction according to the working state;
s103, calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data;
and S104, performing error compensation according to the calibration parameters and the calibration errors, and sending the updated calibration parameters to the IMU and outputting a test result.
As shown in fig. 1, in the testing method for IMU automatic calibration according to the embodiment of the present invention, a calibration instruction and a test instruction are generated according to the setting of a user interface, and the calibration instruction controls the working state of a turntable; acquiring specified data in the test instruction according to the working state; calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data; and performing error compensation according to the calibration parameters and the calibration errors, and sending the updated calibration parameters to the IMU and outputting a test result. The scheme of the invention solves the problems of low precision, complex process, low efficiency, single function of part of the inertial navigation automatic test platform, and low generalization and intelligentization degree of the prior calibration and test method, does not need personnel participation in the middle process of calibration, has good universality and high automation level, reduces interference of various factors, and ensures high efficiency and high precision of calibration and test.
It should be noted that, when the testing method for automatic calibration of the IMU of the present invention is implemented specifically, the first step is to complete the construction of the calibration and testing system according to the actual testing conditions and testing requirements of the IMU calibration and testing, mount the IMU device to be tested on the turntable, make the calibration axis of the IMU parallel to the rotating axis corresponding to the turntable, and confirm the correct electrical connection. And designing a test flow according to the performance requirement of the IMU to be tested and the actual application environment, selecting a calibration parameter model, a test standard and a standard, inputting the interaction information of a user, and editing and loading test software.
Fig. 2 is a schematic diagram of a workflow of IMU automatic calibration according to an embodiment of the present invention.
In a specific embodiment of the present invention, generating the calibration instruction and the test instruction according to the setting of the user interface includes: selecting a calibration parameter model through a calibration program interface of the test end software; selecting different reference test standards and specifications through a test end; and setting a calibration task and a test task by inputting interactive information through the test terminal. As shown in fig. 2, the IMU automatic calibration is set by the user to start, and the user selects the calibration parameter model through the calibration program interface of the test software; selecting different test standards and specifications which are made by referring to national standards, military standards and common inertial device measurement methods; and setting calibration and test tasks by inputting the interactive information of the user. For example, the user may set the turntable motion mode to a rate mode, with the turntable rotation speed assuming a fixed value of angular rate.
In a specific embodiment of the present invention, the calibration instruction controls the working state of the turntable to include position information and speed information of the turntable; the position information comprises a target position and a feedback position, and when the feedback position reaches the target position and the speed is zero, the turntable is judged to reach the target position and be static; and when the error between the feedback rate and the target rate is in a set range, the turntable is judged to stably move at the target rate. Referring to fig. 2, the IMU turntable system is started by a user setting, thereby controlling the turntable operating state.
In an embodiment of the present invention, the acquiring the specified data in the test instruction according to the working state includes: controlling a data acquisition switch to ensure that the specified data required by the test instruction is acquired by acquiring the target position and the target speed of the turntable; the data acquisition comprises data acquisition of test end software or data acquisition of a data subsystem in the IMU. Referring to fig. 2, the IMU data acquisition is controlled by judging the working state of the turntable, that is, whether the turntable reaches a target position or a target speed is judged, if so, the data acquisition switch is turned on, otherwise, the data acquisition switch is turned off. It should be noted here that the data acquisition of the IMU may use an interface device installed in the test-side computer as a bus, or may use a data acquisition subsystem of the IMU internal navigation computer system, that is, the IMU itself may complete data acquisition, filtering, and format conversion functions, and the test-side computer only needs to receive the IMU data through the interface device.
It should be noted that, to realize automation of the testing process, a testing process needs to be accurately designed, and in a testing scheme based on a turntable, the turntable is generally required to move to a specific position or rotate at a constant speed, and then data acquisition is performed. Therefore, the premise for realizing automatic testing is to accurately acquire the position information and the speed information of the rotary table, accurately control the on-off of a virtual data acquisition switch designed in software, and ensure that the acquired data is the data required in a test instruction. And after the turntable starts to move, setting a timer, acquiring the position and speed information of the turntable at regular time, and carrying out condition judgment. For the position movement instruction, if the position of the rotary table reaches the target position and the speed is zero, the rotary table is judged to have reached the target position and to be still; and for the speed movement instruction, comparing the target speed with the feedback speed value, and if the error is within a set range, judging that the rotary table stably moves at the target speed. At the moment, the data acquisition switch can be opened, and the data can be verified according to the communication protocol, so that the integrity and effectiveness of the data acquired in the test process can be ensured.
In a specific embodiment of the present invention, a test instruction file is generated from one or more test instructions through an instruction generation window of the test end software, and the test end software completes loading of the test instruction file. That is, the test instruction file is compiled by the tester by means of the test computer software instruction generating window, and the test instruction file is loaded by the test software after the test software is edited.
It should be noted here that the test of the inertial navigation system is often repetitive, and if the test parameter setting is performed before each test, a lot of test time is wasted. In order to simplify the test operation and improve the universality of the test system, the system designs test instructions with a specific format, a plurality of test instructions form a test file, and different test schemes can be stored and reused only by writing the test instruction file once, so that the operation is simplified, and the universality and the expandability of the system are enhanced. The test software provides a function of generating the instruction file, and a tester can input test instructions one by one according to a test flow, store all the instructions in the instruction file and read the test instructions in sequence when in use.
In a specific embodiment of the present invention, the test end software sequentially reads the instructions in the test instruction file and performs a test, and the test instructions control the movement of the turntable or collect the specified data through the interface device and output a data result; and the program of the test end software sets the arrangement of the rotary table, sets an identifier for each position information and ensures that each position data is stored in an array position. That is, after the test software is edited and loaded according to the designed test flow, the tester runs the test software, automatically and sequentially reads the instructions and tests according to the instruction requirements. For example, the test instruction requires the turntable to perform position movement, the calibration instruction for controlling the turntable is sent by the test end computer and is forwarded to the turntable control cabinet through the interface device, and the turntable is controlled. When the software at the test end is executed to the stage of turntable movement or data acquisition, the program must wait and carry out tasks of high-baud-rate serial communication, data display and storage and the like item by item. Therefore, the test software designs a multi-thread working mode, the main thread of the test end software completes serial port communication, new threads are created for data display and storage, file loading, flow control and the like, and the multi-thread technology can ensure smooth running of the software and reliable work. The programmed turntable arrangement scheme adds an allowable error correction and correction function, sets an identifier for each position, determines the array position stored by each position data, and overwrites the old data with the new data after the next position is determined again, thereby realizing the error correction and correction function.
In a specific embodiment of the present invention, the calculating calibration parameters and calibration errors according to the specified data by invoking a control algorithm includes: and training and testing by using a plurality of groups of specified data acquired by testing end software through an intelligent control algorithm, so that the calibration error is minimized to obtain the calibration parameters and the calibration error. Referring to fig. 2, when the IMU finishes the automatic calibration, that is, after the calibration is finished, the test end software calculates the calibration parameters and the calibration errors, updates the calibration parameters after the error compensation, and the IMU receives the updated calibration parameters and writes and stores the updated calibration parameters, thereby completing the automatic binding function of the calibration parameters. And providing multiple groups of original data acquired in the software at the testing end for training and testing a calibration intelligent control algorithm to obtain calibration error output and calibration parameter output. The neural network is an intelligent algorithm with learning ability, and can express a complex nonlinear system through training. The method can also be combined with various intelligent control algorithms, and a Genetic Algorithm (GA) is used for optimizing the neural network for calibration, so that the calibration error is minimized, the calculation time is correspondingly improved, and the calibration precision is higher.
With reference to fig. 2, the following describes in detail the workflow of IMU automatic calibration in practical application.
When the rotary table is controlled to rotate, after the rotary table enters a required motion state, namely, the rotary table is controlled to move through a working state indicated by a calibration instruction set by a user interface of the testing end, and a computer of the testing end sends a data acquisition control instruction to the IMU through interface equipment to complete functions of IMU data acquisition, data format conversion and the like. The IMU reads the collected and filtered data into a computer at a test end through a special bus interface card (arranged in interface equipment) in an interrupt mode. Test software in the test end computer imports the acquired test data into the intelligent database for data calculation before calibration, and the software can automatically call an intelligent control algorithm to carry out calculation and updating on the intelligent database in the calculation process. After all the test instructions are executed, the test software calls a data processing subprogram, and the calibration parameters are automatically calculated according to a calibration algorithm. And the calibration parameters are written into the intelligent database as calculation results, and the calibration parameters are calculated and updated according to an intelligent control algorithm. And the testing end computer sends the updated calibration parameters to the IMU through the interface equipment, and the IMU writes and stores the calibration parameters after receiving the calibration parameters, thereby completing the automatic binding function of the calibration parameters. And the IMU reads the calibration parameters and performs compensation calculation on IMU output data when entering a navigation calculation working mode. The whole calibration process is divided into two steps, wherein the first step of calculating calibration parameters is to calibrate error coefficients; and in the second step, the process of updating the calibration parameters is to reduce or eliminate errors through an algorithm and compensate the output of the IMU to be tested. The whole calibration process is automatically completed, manual participation is not needed in the middle process, data integration management, on-line control and monitoring are achieved, and calibration efficiency and measurement accuracy are greatly improved.
It should be noted here that in the process of calculating the calibration parameters, calibration parameters such as a scaling factor, an installation error coupling coefficient, a zero offset drift and the like can be solved by test software (common LabVIEW software, MATLAB software, software written in C language or the like) through least square fitting, Kalman filtering or an intelligent control algorithm (fuzzy control, neural network, genetic algorithm and the like) to serve as a coarse calibration result, the coarse calibration result is used as an initial value of parameter Optimization, an MATLAB Optimization toolbox (Optimization toolbox) is used to directly call an internal Optimization function fminoson with a limiting condition or an Optimization function fmisearch without a limiting condition, an optimal value of the parameter to be calibrated can be calculated, a gauss iterative regression method can be used to perform error parameter identification and Optimization, and an IMU accurate calibration parameter model is obtained after calibration parameter compensation.
Fig. 3 is a schematic structural diagram of a testing system for IMU automatic calibration according to an embodiment of the present invention.
In a specific embodiment of the present invention, as shown in fig. 3, the testing system for IMU automatic calibration includes an IMU under test 301, a turntable system 302 installed on the IMU under test, a testing terminal 303, and testing software 304 running on the testing terminal; the test software 304 is used for generating a calibration instruction and a test instruction through a user interface; the turntable system 302 is configured to control a working state of the turntable 305 through the calibration instruction; the test terminal 303 is configured to import specified data in the test instruction acquired according to the working state; the test software 304 is further configured to call a control algorithm according to the specified data to calculate a calibration parameter and a calibration error, perform error compensation, update the calibration parameter, send the updated calibration parameter to the IMU301 to be tested, and output a test result. Compared with the prior art, the system is simple to operate and powerful in function, improves the working efficiency, fundamentally eliminates errors caused by human factors, and ensures the precision and the correctness of calibration and test work to the maximum extent.
It should be noted here that the test terminal 303, i.e. the test terminal computer, is the core of the control, calculation, judgment, connection and operation platform of the whole system, and runs the test software 304 inside. The computer hardware of the test end consists of a microcomputer or a workstation, a special bus interface card, a printer and other equipment; turntable system 302 is a test-side computer-controlled measurement instrument and device, and is the test carrier for the IMU device under test. That is, the testing software running inside the testing end computer operates, controls and monitors the IMU calibration and testing process, completes the receiving, processing, filtering and operation of the testing data, and automatically completes the data processing and state conversion of each measured data. The test software 304 provides a calibration and test interface through which a user sets calibration or test tasks and monitors the status and results of system operation. In practical application, the test software is developed by C language, MATLAB or LabVIEW and other software, comprises an intelligent database, adopts a modular design, specifies specific processes of operation, control, calibration test and display, and realizes functions of serial port communication, data display, data processing, test instruction generation, test flow control, turntable control instruction sending and the like. The serial port communication module is responsible for receiving data forwarded by the interface equipment and sending a control command to the turntable control cabinet; the data display module displays output data of the equipment to be tested in real time; the data processing module realizes the comprehensive calculation of the test data and writes the calculation result into the designated file. The test instruction generation module is used for a tester to write a test instruction file in a window form, and the test flow control and turntable control instruction module is mainly used for generating a turntable control instruction according to instruction contents.
In an embodiment of the present invention, as shown in fig. 3, the testing software 304 further includes an intelligent database 307; the intelligent database 307 includes calibration parameter models for selection and different test standards and specifications for selection of references, as well as intelligent algorithms for storing collected specified data and performing calibration tasks and test tasks and outputting updated data thereof.
In practical application, LabVIEW software provides an interface for an intelligent database and OFFICE software. Original data collected by testing and a calculation result of a calibration parameter are stored in an intelligent database in a form by LabVIEW software, and the use and the query of process data are called from the intelligent database software directly. An intelligent database is used to manage the raw data and the calculation results. And deleting the data outside the confidence interval according to the statistical characteristics of the measured data, and directly operating the data in the intelligent database. And (4) writing the IMU according to the updated calibration parameters of the intelligent database, outputting a test result file at the same time, and finishing the test. The test software takes an OFFICE system as a record generating tool, the test result can be transmitted into a program by equipment, an OFFICE test report is directly generated, the test process and the test result are recorded, calibration parameters are automatically converted and calculated, the functions of automatically comparing and judging the calibration result and technical indexes are realized, and finally, electronic and paper detection records are output according to a set detection report template.
In one embodiment of the present invention, as shown in fig. 3, the test system further includes an interface device 308; the interface device 308 serves as a bus for connecting the test terminal 303 with the IMU301 under test and the turntable control cabinet 306 of the turntable system 302, respectively; the turntable system 302 comprises a turntable control cabinet 306 and a turntable 305, and is used for receiving the calibration instruction through the turntable control cabinet 306 to control the working state of the turntable 305; the test terminal 303 is connected to the IMU301 under test through the interface device 308 for collecting the specified data and outputting the data result. That is, the testing end computer sends the setting of the working mode of the turntable and the control instruction of the position and the rotation rate of the turntable to the turntable control cabinet 306 through the interface device 308, and the turntable control cabinet 306 controls the turntable 305 to perform corresponding movement in the setting mode; meanwhile, the turntable control cabinet 306 monitors the motion state of the turntable 305 and feeds back the working state and position information of the turntable, and the information is packaged and sent to the test end computer in real time through the interface device 308.
It should be noted here that the test side software further includes a bottom driver part, so that the test side computer communicates with the interface device of the bus normally. The interface device, i.e. the test bus, connects the bus between the IMU device under test, the measurement instrument and the device and the test side computer. The bus can be divided into RS422 serial port, RS232 serial port, SPI, VXI, PXI bus and the like according to different buses of the IMU equipment to be tested; the turntable system is a measuring instrument and equipment controlled by a test end computer, is a test carrier of the IMU equipment to be tested, and comprises a turntable control cabinet, a turntable and other equipment.
The following is specifically described with reference to the testing system for IMU automatic calibration shown in fig. 3:
and (3) taking the IMU as a test object, mounting the tested IMU equipment on the rotary table, enabling the calibration shaft of the IMU to be parallel to the rotary shaft corresponding to the rotary table, and confirming that the electrical connection is correct. The method comprises the steps of making different test standards and specifications according to the measurement methods of national standards, military standards and common inertial devices, designing a test flow, selecting a calibration parameter model, the test standards and the specifications, inputting interactive information of a user, editing and loading test software, namely, using the computer communication technology of a test terminal, using the interactive information of the test standards and the specifications and the user as a control command, and using the test terminal, namely a computer system, as a control, calculation, judgment, connection core and operation platform of the whole system. The testing system sends a command to the turntable control cabinet through the bus interface to control the turntable to move correspondingly; meanwhile, the interface equipment is used for collecting output signals of the IMU, and the collected data are read into a computer of a testing end through a special bus interface card (built-in interface equipment), so that the automation and the rapidity of the IMU calibration and testing are realized.
In specific application, if the IMU is automatically calibrated and tested, the turntable must be accurately controlled. The motion of the turntable is mainly position motion and velocity motion, and a general test scheme is also developed based on the two motions. The position test requires the rotary table to rotate at multiple positions and keep static at a specific position; rate testing requires the turret to rotate about the axis of rotation at different angular rates and to keep the angular rates stable. The rotary table can select a position rate rotary table with a high-low temperature box, and the accurate control of the rotary table is realized through a set control protocol by means of a control interface of a rotary table control cabinet. In order to avoid the dynamic effect of the rotary table, the rotation starting and stopping of the rotary table are not included in the testing time. In order to improve the test precision, a full circle calibration method can be adopted. When the turntable is controlled, the turntable is returned to 0, then the power supply of the IMU is switched on, the IMU is preheated according to the practical application condition, after the system performance is stable, the turntable starts to automatically operate to rotate according to the arrangement scheme set by the program, and the turntable stops rotating and returns to 0 after all data are acquired.
In summary, the invention discloses a testing method and a system for IMU automatic calibration, the method comprises generating a calibration instruction and a testing instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of a turntable; acquiring specified data in the test instruction according to the working state; calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data; and performing error compensation according to the calibration parameters and the calibration errors, and sending the updated calibration parameters to the IMU and outputting a test result. The invention solves the problems of low precision, complex process, long period, large workload, low efficiency, single function of partial inertial navigation automatic test platform and low generalization and intelligence degree in the prior art, and simultaneously realizes the functions of directly transmitting the measurement result into a program by equipment, automatically converting and calculating the calibration parameters and automatically comparing and judging the calibration result and technical indexes. The invention also discloses a test system which forms the same technical concept with the test method, the system has simple operation and strong function, improves the working efficiency, fundamentally eliminates errors caused by human factors, furthest ensures the precision and the correctness of calibration and test work, simultaneously realizes data integration management, on-line control and monitoring, greatly improves the calibration efficiency and the measurement precision, can realize automation on the premise of ensuring the correctness of calibration and test results, simplifies the operation steps, improves the reliability, meets the requirements of productization and has higher engineering application value.
Those skilled in the art will appreciate that all or part of the processes for implementing the methods in the above embodiments may be implemented by controlling associated hardware through a computer program, and the program may be stored in a computer readable storage medium. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (3)
1. A testing method for IMU automatic calibration is characterized by comprising the following steps:
generating a calibration instruction and a test instruction according to the setting of a user interface, wherein the calibration instruction controls the working state of the rotary table; generating the calibration instruction and the test instruction according to the setting of the user interface comprises the following steps:
selecting a calibration parameter model in an intelligent database through a calibration program interface of test end software;
selecting different reference test standards and specifications in the intelligent database through the test end;
setting a calibration task and a test task by inputting interactive information through a test end;
generating one or more test instructions into a test instruction file through an instruction generating window of the test end software, and completing the loading of the test instruction file by the test end software;
the test end software sequentially reads the instructions in the test instruction file and tests the instructions, and the test instructions control the movement of the rotary table or collect designated data through interface equipment and output data results;
the program of the test end software sets the arrangement of the rotary table, sets an identifier for each position information, ensures that each position data is stored in an array position, and re-measures the old data covered by the new data after the next position, thereby realizing the functions of error correction and error compensation;
acquiring specified data in the test instruction according to the working state:
controlling a data acquisition switch to ensure that the specified data required by the test instruction is acquired by acquiring the target position and the target speed of the rotary table; the data acquisition comprises data acquisition of test end software or data acquisition of a data subsystem in the IMU, and the IMU reads the acquired and filtered data into a test end computer through a bus interface card arranged in interface equipment in an interrupt mode;
and calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data, wherein the method comprises the following steps: training and testing by using a plurality of groups of specified data acquired by testing end software through an intelligent control algorithm, so that the calibration error is minimized to obtain the calibration parameters and the calibration error;
and writing the calibration parameters into the intelligent database, deleting data outside a confidence interval in the intelligent database according to the statistical characteristics of the measured data, sending the updated calibration parameters to the IMU by the test end computer through interface equipment, carrying out error compensation by the IMU according to the calibration parameters and the calibration errors, sending the updated calibration parameters to the IMU, and outputting a test result.
2. The method of claim 1, wherein the calibration instructions control the operating state of the turntable including position information and velocity information of the turntable;
the position information comprises a target position and a feedback position, and when the feedback position reaches the target position and the speed is zero, the turntable is judged to reach the target position and be static;
and when the error between the feedback rate and the target rate is in a set range, the turntable is judged to stably move at the target rate.
3. A test system for IMU automatic calibration is characterized by comprising an IMU to be tested, a turntable system installed on the IMU to be tested, a test terminal and test software running on the test terminal;
the test software is used for generating a calibration instruction and a test instruction through a user interface, setting the arrangement of the rotary table, setting an identifier for each position information, ensuring that each position data is stored in an array position, and covering old data with new data after a next position is measured again, thereby realizing the functions of error correction and error compensation; the testing software further comprises an intelligent database; the intelligent database comprises a calibration parameter model for selection, different test standards and specifications for selecting reference, an intelligent algorithm for storing acquired specified data and executing a calibration task and a test task and data after updating output of the intelligent algorithm, and data outside a confidence interval are deleted in the intelligent database according to the statistical characteristics of measured data;
the turntable system is used for controlling the working state of the turntable through the calibration instruction;
the test terminal is used for importing specified data in the test instruction acquired according to the working state;
the test software is also used for calling a control algorithm to calculate calibration parameters and calibration errors according to the specified data, carrying out error compensation, updating the calibration parameters, sending the calibration parameters to the IMU to be tested, and outputting a test result;
the interface equipment is used as a bus and is used for connecting the test terminal with the tested IMU and the turntable control cabinet of the turntable system respectively; the testing end computer sends the updated calibration parameters to the IMU through the interface equipment; the IMU reads the acquired and filtered data into a test end computer through a bus interface card arranged in the interface equipment in an interrupt mode;
the turntable system comprises a turntable control cabinet and a turntable, and is used for receiving the calibration instruction through the turntable control cabinet to control the working state of the turntable;
and the test terminal is connected with the IMU to be tested through the interface equipment and is used for acquiring the specified data and outputting a data result.
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| CN110057384B (en) * | 2019-05-30 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test system and method based on 902C-3 type double-shaft rotary table |
| CN110595504A (en) * | 2019-09-09 | 2019-12-20 | 武汉元生创新科技有限公司 | Automatic calibration method and automatic calibration system for inertial measurement unit |
| CN110765182B (en) * | 2019-10-29 | 2022-07-01 | 北京达佳互联信息技术有限公司 | Data statistical method and device, electronic equipment and storage medium |
| CN110793545B (en) * | 2019-10-31 | 2023-03-28 | 湖南航天机电设备与特种材料研究所 | Self-alignment automatic test system and method based on turntable control |
| CN110940352B (en) * | 2019-11-08 | 2022-03-08 | 中国计量科学研究院 | Automatic calibration system of micro-electro-mechanical system inertia measurement unit and calibration verification method thereof |
| CN111337709A (en) * | 2020-04-07 | 2020-06-26 | 嘉兴恩湃电子技术有限公司 | Automatic batch calibration method for MEMS accelerometers |
| CN112180411A (en) * | 2020-08-26 | 2021-01-05 | 深圳市广和通无线股份有限公司 | Positioning test method and device, computer equipment and storage medium |
| CN115435811A (en) * | 2021-06-04 | 2022-12-06 | 北京晨晶电子有限公司 | Gyroscope calibration test system and method |
| CN113514081B (en) * | 2021-06-10 | 2023-11-10 | 北京航天时代光电科技有限公司 | Automatic test system for inertial measurement product |
| CN113570746B (en) * | 2021-07-14 | 2023-05-12 | 河南金芯数联电子科技有限公司 | CPR feedback pad calibration system |
| CN118190029B (en) * | 2024-05-15 | 2024-07-23 | 西安中科华航光电科技有限公司 | Full-automatic calibration monitoring system and method for inertial navigation device |
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