CN109724579B - Gyro compass calibration method and device, computing equipment and storage medium - Google Patents
Gyro compass calibration method and device, computing equipment and storage medium Download PDFInfo
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Abstract
The application provides a gyro compass calibration method, a device, a computing device and a storage medium, wherein the method comprises the following steps: acquiring an actual course angle and output data of an inertia measurement assembly; aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle, and calculating a course angle error according to the theoretical course angle and the actual course angle; and calculating the gyro drift amount according to the theoretical course angle and the course error, and calibrating the gyro compass according to the gyro drift amount.
Description
Technical Field
The application relates to the technical field of gyro compass calibration, in particular to a gyro compass calibration method, a gyro compass calibration device, computing equipment and a storage medium.
Background
The existing calibration technology is to calibrate the errors of the gyrocompass through a plurality of position transformations of a turntable, wherein the multi-position calibration is mainly used for calibrating a zero offset error coefficient and a primary term error coefficient related to overload of the gyrocompass, but in the actual use process of the gyrocompass, when the carrier course is different, the gyrocompass can generate course effect and can generate course additional errors related to the course.
The existing calibration technology has the problem that errors related to a navigation state cannot be calibrated, so that the measurement accuracy of a gyrocompass is low.
Content of application
The application aims to provide a gyro compass calibration method, a device, a computing device and a storage medium, which are used for solving the problem that the measurement precision of a gyro compass is low because the current calibration technology cannot calibrate errors related to a navigation state.
In order to achieve the above object, the present application provides the following technical solutions:
in a first aspect: the application provides a gyro compass calibration method, which comprises the following steps:
acquiring an actual course angle and output data of an inertia measurement assembly;
aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle, and calculating a course angle error according to the theoretical course angle and an actual course angle;
and calculating the gyro drift amount according to the theoretical course angle and the course error, and calibrating the gyro compass according to the gyro drift amount.
The method designed by the scheme calculates the gyro drift amount by calculating the theoretical course angle and the course error to calibrate the gyro, so that the error related to the course state can be calibrated, and the effect of improving the measurement precision of the gyro is achieved.
In an optional implementation manner of the first aspect, the acquiring output data of the inertial measurement unit includes:
acquiring angular velocity output by a gyroscope arranged on a turntable and specific force output by an accelerometer arranged on the turntable;
the calculating the theoretical course angle by aligning the output data by adopting a gyrocompass method comprises the following steps:
and (4) aligning by adopting a gyrocompass method according to the angular speed and the specific force to calculate a theoretical course angle.
In an optional implementation manner of the first aspect, the calculating a theoretical heading angle by using a gyrocompass alignment according to the angular velocity and the specific force includes:
and adjusting the control parameters of a compass alignment loop in the gyrocompass method according to the angular velocity and the specific force to carry out alignment, and calculating the theoretical course angle after alignment.
In an optional implementation manner of the first aspect, the acquiring an angular velocity output by a gyroscope disposed on the turntable and a specific force output by an accelerometer disposed on the turntable includes:
and acquiring the angular speed output by a gyroscope arranged on the rotary table and the specific force output by an accelerometer arranged on the rotary table when the rotary table rotates at different course angles.
According to the method designed by the scheme, the angular speeds and the specific forces of different yaw angles are obtained when the rotary table rotates at different course angles, so that the measurement precision is higher, and the subsequent calibration precision is more accurate.
In an optional implementation manner of the first aspect, the calculating a gyro drift amount according to the theoretical heading angle and the heading error includes:
calculating a fitting coefficient of a fitting formula by using the fitting formula of a theoretical course angle and a course error;
and calculating the gyro drift amount according to the relation between the fitting coefficient and the gyro drift.
In an optional implementation manner of the first aspect, the calculating a fitting coefficient of the fitting formula by using a fitting formula of a theoretical heading angle and a heading error includes:
using fitting formula phizCalculating the fitting coefficients phi acos psi-bsin psi + c, where phizIndicating course error, psi is course angle, a, b and c are fitting coefficients;
using formulas
And calculating the drift amount of the gyroscope, wherein,
for gyroscopic drift, ωieIs the angular rate of rotation of the earth, the latitude of the location of L, ReIs the radius of the earth, KU2,KU3,KU4Is a compass alignment loop control parameter.
In a second aspect: the application provides a gyro compass calibration device, the device includes:
the acquisition module is used for acquiring an actual course angle and output data of the inertia measurement assembly;
the alignment module is used for aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle;
the calculation module is used for calculating a course angle error according to the theoretical course angle and the actual course angle and calculating a gyro drift amount according to the theoretical course angle and the course error;
and the calibration module is used for calibrating the gyro compass according to the gyro drift amount.
The device designed by the scheme calculates the gyro drift amount by calculating the theoretical course angle and the course error to calibrate the gyro, so that the error related to the course state can be calibrated, and the effect of improving the measurement precision of the gyro is achieved.
In an optional implementation of the second aspect, the obtaining module obtains output data of an inertial measurement unit, and includes:
and acquiring inertial navigation output data of the inertial measurement unit through the turntable, wherein the inertial navigation output data comprises angular velocity and specific force.
In a third aspect: the present application provides a computing device comprising: the device comprises a processor, a memory and a communication module, wherein the memory and the communication module are respectively connected with the processor, the memory stores machine readable instructions executable by the processor, and the communication module is used for carrying out communication transmission with an external device; when the computing device is running, the processor executes the machine readable instructions to perform the method of the first aspect, any optional implementation of the first aspect.
In a fourth aspect: the present application provides a computer readable storage medium having stored thereon a computer program for performing the method of the first aspect, any of the alternative implementations of the first aspect, when the computer program is executed by a processor.
In a fifth aspect: the present application provides a computer program product which, when run on a computer, causes the computer to perform the method of the first aspect, any of the alternative implementations of the first aspect.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The foregoing and other objects, features and advantages of the application will be apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not intended to be to scale as practical, emphasis instead being placed upon illustrating the subject matter of the present application.
Fig. 1 is a schematic flow chart of a gyro compass calibration method according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a gyro compass calibration apparatus according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a computing device according to a third embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.
In the description of the present application, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
First embodiment
As shown in fig. 1, the present embodiment provides a gyro calibration method, including:
step 101: the actual heading angle and the output data of the inertial measurement unit are obtained, and the process goes to step 102.
Step 102: and (5) aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle, and turning to the step 103.
Step 103: and calculating a course angle error according to the theoretical course angle and the actual course angle, and turning to the step 104.
Step 104: and calculating the gyro drift amount according to the theoretical course angle and the course error, and calibrating the gyro compass according to the gyro drift amount.
It should be noted here that the gyrocompass belongs to an inertial measurement unit.
The method designed by the scheme calculates the gyro drift amount by calculating the theoretical course angle and the course error to calibrate the gyro, so that the error related to the course state can be calibrated, and the effect of improving the measurement precision of the gyro is achieved.
Optionally, the obtaining of the actual heading angle and the output data of the inertial measurement unit in step 101 includes:
and acquiring the angular velocity output by a gyroscope arranged on the turntable and the specific force output by an accelerometer arranged on the turntable.
Wherein, the angular velocity of obtaining the gyroscope output that sets up on the revolving stage and the specific force of the accelerometer output that sets up on the revolving stage include: and acquiring the angular speed output by a gyroscope arranged on the rotary table and the specific force output by an accelerometer arranged on the rotary table when the rotary table rotates at different course angles.
The above scheme may specifically be: the inertial navigation output data is acquired by using the high-precision rotary table, multiple groups of data are acquired at each angle, and the angle range covers 0-360 degrees. Firstly, fixing an inertia measurement assembly on a high-precision rotary table, and leveling the rotary table; rotating the turntable to enable the inertia measurement assembly to point to the true north; after the data are stable, the data are collected for 10 minutes, and 4 groups are collected; rotating the rotary table for 45 degrees after the acquisition is finished, and continuously acquiring data; until the inertial measurement component points to the north again and the yaw angle is acquired in the whole process of psiTInertial navigation output data at {0 °,45 °,90 °,135 °,180 °,225 °,270 °,315 ° }, alsoThe angular velocity output by the gyroscope and the specific force output by the accelerometer are obtained, wherein 4 groups of data are collected at each angle, so that a plurality of groups of theoretical course angles and course angle errors can be obtained to prepare for subsequent fitting.
Optionally, the calculating the theoretical heading angle by aligning the output data by using the gyrocompass method in step 102 includes:
and (4) aligning by adopting a gyrocompass method according to the angular speed and the specific force to calculate a theoretical course angle.
The method for calculating the theoretical course angle by aligning according to the angular velocity and the specific force by adopting a gyrocompass method comprises the following steps:
and adjusting the control parameters of a compass alignment loop in the gyro compass method according to the angular velocity and the specific force to perform alignment, and calculating a theoretical course angle after the aligned theoretical course angle is stable.
Optionally, for the step 103 of calculating the heading angle error according to the theoretical heading angle and the actual heading angle, the following steps are specifically performed: and calculating a course angle error through the difference value of the theoretical course angle and the actual course angle.
Optionally, calculating the gyro drift amount according to the theoretical heading angle and the heading error in step 104 includes:
calculating a fitting coefficient of a fitting formula by using the fitting formula of the theoretical course angle and the course error;
and calculating the gyro drift amount according to the relation between the fitting coefficient and the gyro drift.
The above scheme may specifically be:
using fitting formula phizCalculating the fitting coefficient by psi-bsin psi + c, wherein the fitting is performed by the collected multiple sets of inertial navigation data to calculate the fitting coefficients a, b and c, so that the result of the fitting coefficient is more accurate.
Then using the formula
Calculating the drift amount of the gyroscope, wherein the two formulas can be represented by the formula
Is obtained, wherein phizIndicating course error, psi is course angle, a, b and c are fitting coefficients;
for gyroscopic drift, ωieIs the angular rate of rotation of the earth, the latitude of the location of L, ReIs the radius of the earth, KU2,KU3,KU4Is a compass alignment loop control parameter, where ωie、L、Re、KU2,KU3,KU4Is a definite quantity.
Second embodiment
As shown in fig. 2, the present application provides a gyrocompass calibration apparatus, which includes:
an obtaining module 201, configured to obtain an actual heading angle and output data of an inertial measurement unit;
an alignment module 202, configured to align the output data by using a gyrocompass method to calculate a theoretical heading angle;
the calculation module 203 is used for calculating a course angle error according to the theoretical course angle and the actual course angle, and calculating a gyro drift amount according to the theoretical course angle and the course error;
and the calibration module 204 is used for calibrating the gyro compass according to the gyro drift amount.
The device designed by the scheme calculates the gyro drift amount by calculating the theoretical course angle and the course error to calibrate the gyro, so that the error related to the course state can be calibrated, and the effect of improving the measurement precision of the gyro is achieved.
In an optional implementation manner of this embodiment, the acquiring module 201 acquires output data of the inertial measurement unit, including:
and acquiring inertial navigation output data of the inertial measurement unit through the turntable, wherein the inertial navigation output data comprises angular velocity and specific force.
Third embodiment
The present application provides a computing device comprising: the device comprises a processor 301, a memory 302 and a communication module 303, wherein the memory 302 and the communication module 303 are respectively connected with the processor, the memory 302 stores machine readable instructions executable by the processor 301, and the communication module 303 is used for communicating with an external device; when the computing device is running, the processor 301 executes the machine readable instructions to perform the method of the first embodiment, any optional implementation of the first embodiment.
The present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first embodiment, any of the alternative implementations of the first embodiment.
The present application provides a computer program product, which when run on a computer causes the computer to execute the method of the first embodiment or any alternative implementation of the first embodiment.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A gyrocompass calibration method is characterized by comprising the following steps:
acquiring an actual course angle and output data of an inertia measurement assembly;
aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle, and calculating a course angle error according to the theoretical course angle and an actual course angle;
calculating a gyro drift amount according to the theoretical course angle and the course angle error, and calibrating a gyro compass according to the gyro drift amount;
wherein, the calculating the gyro drift amount according to the theoretical course angle and the course angle error comprises the following steps:
calculating a fitting coefficient of a fitting formula by using the fitting formula of the theoretical course angle and the course angle error;
calculating the gyro drift amount according to the relation between the fitting coefficient and the gyro drift;
the calculating of the fitting coefficient of the fitting formula by using the fitting formula of the theoretical course angle and the course angle error comprises the following steps:
using fitting formula phizCalculating the fitting coefficients phi acos psi-bsin psi + c, where phizIndicating course angle error, psi is course angle, and a, b and c represent fitting coefficients;
using formulas
And calculating the drift amount of the gyroscope, wherein,
is the drift amount of the gyroscope, omegaieIs the angular rate of rotation of the earth, the latitude of the location of L, ReIs the radius of the earth, KU2,KU3,KU4Is a compass alignment loop control parameter.
2. The method of claim 1, wherein the obtaining output data of the inertial measurement unit comprises:
acquiring angular velocity output by a gyroscope arranged on a turntable and specific force output by an accelerometer arranged on the turntable;
the calculating the theoretical course angle by aligning the output data by adopting a gyrocompass method comprises the following steps:
and (4) aligning by adopting a gyrocompass method according to the angular speed and the specific force to calculate a theoretical course angle.
3. The method of claim 2, wherein said calculating a theoretical heading angle using gyrocompass alignment based on said angular velocity and specific force comprises:
and adjusting a compass alignment loop control parameter in a gyro compass method according to the angular velocity and the specific force to perform alignment, and calculating the theoretical course angle after alignment.
4. The method of claim 2, wherein obtaining the angular velocity of the gyroscope output disposed on the turntable and the specific force of the accelerometer output disposed on the turntable comprises:
and acquiring the angular speed output by a gyroscope arranged on the rotary table and the specific force output by an accelerometer arranged on the rotary table when the rotary table rotates at different course angles.
5. A gyrocompass calibration device, characterized in that, the device comprises:
the acquisition module is used for acquiring an actual course angle and output data of the inertia measurement assembly;
the alignment module is used for aligning the output data by adopting a gyrocompass method to calculate a theoretical course angle;
the calculation module is used for calculating a course angle error according to the theoretical course angle and the actual course angle and calculating a gyro drift amount according to the theoretical course angle and the course angle error;
the calibration module is used for calibrating the gyro compass according to the gyro drift amount;
the calculation module is specifically used for calculating a fitting coefficient of a fitting formula by using the fitting formula of the theoretical course angle and the course angle error; calculating the gyro drift amount according to the relation between the fitting coefficient and the gyro drift; the calculating of the fitting coefficient of the fitting formula by using the fitting formula of the theoretical course angle and the course angle error comprises the following steps:
using fitting formula phizCalculating the fitting coefficients phi acos psi-bsin psi + c, where phizIndicating course angle error, psi is course angle, and a, b and c represent fitting coefficients;
using formulas
And calculating the drift amount of the gyroscope, wherein,
for gyroscopic drift, ωieIs the angular rate of rotation of the earth, the latitude of the location of L, ReIs the radius of the earth, KU2,KU3,KU4Is a compass alignment loop control parameter.
6. The apparatus of claim 5, wherein the obtaining module obtains the output data of the inertial measurement unit and comprises:
and acquiring the angular velocity output by a gyroscope arranged on the turntable and the specific force output by an accelerometer arranged on the turntable.
7. A computing device, wherein the computing device comprises: a processor, and a memory and a communication module respectively connected with the processor,
the memory to store machine-readable instructions executable by the processor;
the communication module is used for carrying out communication transmission with external equipment;
the processor to execute the machine-readable instructions to perform the method of any of claims 1-4.
8. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1-4.
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| CN102359781A (en) * | 2011-08-28 | 2012-02-22 | 北京机械设备研究所 | North seeker calibrating method |
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| US8670964B2 (en) * | 2009-10-15 | 2014-03-11 | American Gnc Corporation | Gyrocompass modeling and simulation system (GMSS) and method thereof |
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| CN101187568A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | Multi-position strapping north-seeking system direction effect calibration method |
| CN102359781A (en) * | 2011-08-28 | 2012-02-22 | 北京机械设备研究所 | North seeker calibrating method |
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