CN111089606B - Rapid self-calibration method for key parameters of three-self laser inertial measurement unit - Google Patents
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Abstract
The invention discloses a three-self laser inertial measurement unit key parameter quick self-calibration method, which realizes error correction of inertial measurement unit parameters by calculating parameter residual errors of each sampling moment of 6 positions, takes the inertial measurement unit parameters corrected by the current sampling moment of the current position as the inertial measurement unit parameters of the next sampling moment of the current position, stacks the error correction of each sampling moment of each position, carries out next round of error correction if a residual error set value is not reached after one round of error correction, takes the inertial measurement unit parameters corrected by the last sampling moment of the last position of the current round as the inertial measurement unit parameters of the first sampling moment of the first position of the next round, stacks the error correction of each round, accelerates the error correction of the inertial measurement unit parameters, and improves the self-calibration speed of the inertial measurement unit parameters.
Description
Technical Field
The invention belongs to the technical field of inertial measurement unit parameter calibration, and particularly relates to a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit.
Background
The inertial measurement unit consists of three orthogonally distributed accelerometers and three orthogonally distributed gyroscopes, and can perform positioning, orientation and tracking navigation by measuring acceleration increment and angular velocity increment of three axial directions of a space coordinate system. The navigation function of the inertial measurement unit does not depend on external signals, has strong concealment and is widely applied to the military field. However, since the outputs of the accelerometer and the gyroscope have error drift along time, an error model needs to be built according to parameters such as zero offset and scale factors which change along time so as to compensate.
The scale factor of the three-self laser inertial measurement unit gyroscope is an inherent parameter related to the optical path length, the angular velocity channel installation error and the acceleration channel installation error of the laser inertial measurement unit depend on the deformation of the structure of the platform body, and the numerical variation of the angular velocity channel installation error and the acceleration channel installation error is negligible. Errors of zero bias of a gyroscope, a scale factor of an accelerometer and zero bias parameter drift of the accelerometer along with time are subjected to recalibration correction in a parameter holding period under the long-term storage condition of a missile weapon system so as to ensure the striking precision of the weapon system, and although the self-calibration of the inertial component on the missile (which needs 90 minutes for calibration once) can be realized at present, compared with the calibration of the high-precision calibration equipment of the prior art array, the calibration has been carried forward by one step, but the use maintenance after army equipment still has great workload, and the gap from the life calibration maintenance is also great.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit, which realizes the rapid self-calibration of the key parameters of the inertial measurement unit, improves the system precision and reduces the maintenance cost.
The invention solves the technical problems by the following technical scheme: a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit comprises the following steps:
step 1: the inertial measurement unit is sequentially positioned at 6 positions, error correction is carried out on the inertial measurement unit key parameters at each sampling moment of each position through parameter residual errors, the inertial measurement unit output parameters at the next sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the current sampling moment of the position, or the inertial measurement unit output parameters at the first sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the last sampling moment of the position until the error correction of the inertial measurement unit key parameters at the last sampling moment of the last position is completed; judging whether the residual error of the key parameter at the last sampling moment of the last position is smaller than a residual error set value, if so, completing self-calibration of the key parameter, otherwise, turning to step 2;
step 2: updating the inertial measurement unit output parameter of the first sampling moment of the first position by using the corrected inertial measurement unit key parameter of the last sampling moment of the last position, and circularly executing the step 1 until the key parameter residual error of the last sampling moment of the last position is smaller than the residual error set value.
According to the calibration method, the self-calibration of the inertial measurement unit key parameters is realized by calculating the parameter residual error of each sampling moment at each position, and after each round of error correction is finished, the judgment is carried out once until the residual error set value is met, namely the completion of the self-calibration of the key parameters is indicated, the calculation of the key parameter residual error is completed through a computer program, the error correction of the inertial measurement unit key parameters can be quickly realized at each position, the corrected inertial measurement unit key parameters are used as the inertial measurement unit output parameters at the next sampling moment or at the next position, the inertial measurement unit key parameters after the last position correction are used as the inertial measurement unit output parameters at the first sampling moment at the first position for the next round of error correction, so that the error correction of each sampling moment at each position and the error correction of each round of inertial measurement unit are overlapped, the error correction of the inertial measurement unit key parameters is accelerated, and the self-calibration speed of the inertial measurement unit key parameters is improved; the method can complete the calibration of key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, ensures the striking precision of the missile weapon system, and greatly reduces the use and maintenance cost.
Further, in the step 1, performing error correction on the inertial measurement unit key parameter at each sampling time at each position includes the following steps:
step 1.1, constructing an initial posture transformation matrix corresponding to the position during the m-th round of correction according to measured acceleration data;
step 1.2, according to the initial posture transformation matrix navigation in the step 1.1, resolving a speed error and an upward rotation angle error to update the speed and the upward rotation angle of the inertial unit;
step 1.3, calculating components of a gyro error and an accelerometer error in a geographic coordinate system when the position is not corrected according to the speed error and the angle error of the tangential rotation in the step 1.2;
step 1.4, calculating a parameter residual error of the inertial measurement unit according to the components in the step 1.3;
and step 1.5, carrying out error correction on the inertial measurement unit key parameters according to the parameter residual errors in the step 1.4.
Further, in the step 1.1, the initial posture transformation matrix of the jth position in the mth round of correction is usedTo show that, by means of the method,
is provided with->
Then:
where j=1, 2,3,4,5, Δd jm For the angle transformation matrix when the mth round is corrected and transformed to the jth position,respectively calculating auxiliary parameters in the middle of x, y and z-direction acceleration values at the first sampling moment of the jth position during the correction of the mth wheel;
when j=0, the matrixThe elements in (1) are obtained by the following formula:
wherein,the initial attitude angle of the inertial unit at the first position is corrected for the mth wheel.
Further, in the step 1.2, a calculation formula of the speed error is:
wherein R represents x, y or z,for the kth sampling time x, y or z direction speed error of the jth position in the mth round of correction, +.>For the kth sampling time x, y or z direction speed error of the jth position in the mth round correction, +.>For the posture transformation matrix of the jth position and the kth sampling moment in the mth round of correction, +.>For the posture transformation matrix of the (k-1) sampling moment of the (j) th position in the (m) th round of correction,/for the (k) th sampling moment>For the kth sampling moment x, y or z-direction acceleration output vector at the jth position in the mth round of correction, g is the local gravitational acceleration, Ω is the angular velocity of rotation of the earth, +.>For the local latitude to be a local latitude,the speed errors in the x, y and z directions are respectively the kth sampling time x, y and z direction at the jth position in the mth round of correction, and delta t jm For the sampling time of the jth position in the mth round of correction, k is the sampling time, k=1, 2,3 …, and:
wherein I is a unit diagonal matrix,outputting angular speeds for the kth sampling moment x, y and z of the jth position in the mth wheel correction;
the calculation formula of the angle error of the rotation in the sky direction is as follows:
wherein,for the error of the angle of rotation in the sky direction of the kth sampling time of the jth position in the mth round of correction, +.>For the posture conversion moment of the kth sampling moment of the jth position in the mth round correctionArray errors.
Further, in the step 1.3, the calculation formulas of the components of the gyro error and the accelerometer error under the geographic coordinate system when not corrected are as follows:
wherein,x, y and z directional velocity error components of the kth sampling moment of the jth position during the mth round of correction under the geographic coordinate system respectively +.>All are initial gesture transformation matrix->In the presence of an element of the group,the x, y and z velocity errors of the kth sampling moment at the jth position during the mth round of correction are respectively,x, y and z acceleration values at the kth sampling time of the jth position in the mth round of correction are respectively +.>For the static end time of the j-th position, < >>The static start time of the j-th position, k is the sampling time, deltat jm Sampling time of the jth position in the mth round of correction, g is local gravity acceleration, N jm For the number of samples at the jth position during the mth round of correction, R represents x, y or z direction,/->For the kth sampling time x, y or z angular velocity error of the jth position in the mth round of correction, +.>And outputting angular speeds for the kth sampling time x, y and z of the jth position in the mth round of correction.
Further, in the step 1.4, a calculation formula of the parameter residual error of the inertial measurement unit is as follows:
wherein,calculating residual error for zero offset of the accelerometer at the jth position and the kth sampling time x, y and z direction in the mth round of correction, +.>Calculating residuals for the scale factors of the accelerometer in the x, y and z directions at the kth sampling time x, y and z at the jth position in the mth round of correction, +.>R represents x, y or z direction, < >>Calculating residual error for zero offset of the gyro at the kth sampling time x, y or z direction at the jth position in kth round correction, +.>The x-direction speed error component of the kth sampling time of the 1 st, 2 nd, 3 rd, 4 th and 5 th positions in the m-th wheel correction is +.>The z-direction speed error components of the kth sampling time at the 1 st, 2 nd and 4 th positions in the m-th round of correction,the sampling time x, y or z direction angular velocity errors of the kth sampling time x, y or z of the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th positions in the m-th wheel correction.
Further, in the step 1.5, an error correction formula of the inertial measurement unit key parameter is:
wherein R represents x, y or z,zero offset and/or +/of accelerometer at kth sampling time x, y or z for jth position after mth round correction>Calibration factor of the accelerometer in x, y or z direction for the kth sampling time x, y or z at the jth position after the mth round of correction,/>Zero offset of the gyro in the x, y or z direction at the kth sampling time of the jth position after the mth round correction is added>Calculating residual error for zero offset of the accelerometer at the jth position and the kth sampling time x, y or z direction in the mth round of correction, +.>Calculating a residual error for the accelerometer scale factor in the x, y or z direction at the kth sampling time x, y or z at the jth position in the mth round of correction, and (2)>Calculating residual error for zero offset of the gyro at the kth sampling time x, y or z direction at the jth position in the mth round of correction, wherein when k=1, the k-1 time is the last roundThe last sampling instant at the last position is corrected.
Further, in the step 1 or 2, a specific formula for updating the inertial measurement unit output parameter is as follows:
wherein,respectively updated x, y and z acceleration values, K xy 、K yx 、K zx 、K zy 、K xz 、K yz Are all the mounting errors of the accelerometer, +.>The output vector of the acceleration in the x, y or z direction at the kth sampling moment of the jth position in the mth round of correction is respectively +.>Calibration factors of the accelerometer in x, y and z directions at the kth sampling moment of the jth position after the mth round of correction are respectively +.>Zero offset g of the accelerometer is respectively calculated at the kth sampling moment x, y and z of the jth position after the mth round correction 0 Is the standard gravity acceleration>The angular velocities E are respectively output for the updated x, y and z gyroscopes xy 、E yx 、E zx 、E zy 、E xz 、E yz Are all installation errors of the gyroscopes epsilon x 、ε y 、ε z Respectively measured by gyroscopesOutput angular velocity in x, y, z direction E 1x 、E 1y 、E 1z The scale factors of the x, y and z-direction gyroscopes are respectively +.>And the zero offset of the gyro is realized at the kth sampling moment x, y and z of the jth position after the mth round correction.
Further, in the step 1, a second position is obtained by rotating the first position by 90 ° around the Z axis, a third position is obtained by rotating the second position by 90 ° around the Z axis, a fourth position is obtained by rotating the third position by 90 ° around the Z axis, a fifth position is obtained by rotating the fourth position by 90 ° around the Y axis, and a sixth position is obtained by rotating the fifth position by 180 ° around the Y axis, i.e. six positions where the inertial unit is located in sequence.
Further, the residual set values comprise an accelerometer zero bias residual set value, an accelerometer scale factor residual set value and a gyro zero bias residual set value; the zero offset residual error set value of the accelerometer is 1e -5 g 0 The accelerometer scale factor residual error setting value is 1e -5 And the zero bias residual error set value of the gyroscope is 0.03 degrees/h.
Advantageous effects
Compared with the prior art, the three-self laser inertial measurement unit key parameter quick self-calibration method provided by the invention realizes error correction of inertial measurement unit parameters by calculating parameter residual errors of each sampling moment of 6 positions, and the inertial measurement unit parameters corrected by the current sampling moment of the current position are used as the inertial measurement unit parameters of the next sampling moment of the current position, so that the error correction of each sampling moment of each position is overlapped, if a residual error set value is not reached after one round of error correction, the next round of error correction is carried out, and the inertial measurement unit parameters corrected by the last sampling moment of the last position of the current round are used as the inertial measurement unit parameters of the first sampling moment of the first position of the next round, so that the error correction of the inertial measurement unit parameters is accelerated, and the self-calibration speed of the inertial measurement unit parameters is improved; the method can complete the calibration of key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, ensures the striking precision of the missile weapon system, and greatly reduces the use and maintenance cost.
Detailed Description
The following description of the embodiments of the present invention will be apparent and complete, and it is to be understood that the embodiments described are merely some, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit, which comprises the following steps:
1. the inertial measurement unit is sequentially positioned at 6 positions, error correction is carried out on the inertial measurement unit key parameters at each sampling moment of each position through parameter residual errors, the inertial measurement unit output parameters at the next sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the current sampling moment of the position or the inertial measurement unit output parameters at the first sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the last sampling moment of the position until the error correction of the inertial measurement unit key parameters at the last sampling moment of the position is completed; and judging whether the parameter residual error at the last sampling time at the last position is smaller than a residual error set value, if so, completing self-calibration of key parameters, otherwise, turning to step 2.
Table 1 rotation sequence listing for six positions
Taking the first position (j=0) as the north upper east (i.e., the x axis is north, the Y axis is up, and the Z axis is east), the second position is obtained by rotating 90 ° around the Z axis from the first position, the third position is obtained by rotating 90 ° around the Z axis from the second position, the fourth position is obtained by rotating 90 ° around the Z axis from the third position, the fifth position is obtained by rotating 90 ° around the Y axis from the fourth position, and the sixth position is obtained by rotating 180 ° around the Y axis from the fifth position, i.e., six positions where the inertial group is located in order, as shown in table 1 below.
If the first position is inconsistent with the first position in the embodiment, adding a coordinate transformation matrix in the data preprocessing process. According to the coordinate transformation principle, any two coordinate systems with three orthogonal axes can be overlapped together through three times of rotation, if the actual first position needs to rotate alpha around the Z axis, then rotate beta around the X axis after rotation and then rotate gamma around the Y axis after rotation, then the coordinate transformation matrix is usedAnd preprocessing the data.
The inertial measurement unit key parameters comprise accelerometer zero bias, accelerometer calibration factors and gyro zero bias, and the error correction of the inertial measurement unit key parameters at each sampling moment of each position comprises the following steps:
1.1 constructing an initial attitude transformation matrix corresponding to the position during the mth round of correction according to the measured acceleration data.
Setting the initial posture transformation matrix of the jth position in the mth round of correction asThen->
Is provided withThen: />
Where j=1, 2,3,4,5, Δd jm For the angular transformation matrix when transformed to the j-th position in the m-th round of correction, the calculation of the angular transformation matrix can be seen in inertial theory Qin Yongyuan,the acceleration values are respectively x, y and z-direction acceleration values at the first sampling moment of the jth position during the mth round of correction, the acceleration values are equal to the acceleration values updated at the last sampling moment of the jth-1 position during the mth round of correction, and q is an intermediate calculation auxiliary parameter.
When j=0, the matrixThe elements in (1) are obtained by the following formula:
wherein,the initial attitude angle of the inertial group at the first position (j=0) at the time of the mth round correction can be obtained by measurement.
1.2 according to the stepsThe initial pose transformation matrix in step 1.1The navigation calculates the speed error and the angle error of rotation in the direction of the sky so as to update the speed and the angle of rotation in the direction of the sky of the inertial unit.
The calculation formula of the speed error is as follows:
wherein R represents x, y or z,for the kth sampling time x, y or z direction speed error of the jth position in the mth round of correction, +.>For the kth sampling time x, y or z direction speed error of the jth position in the mth round correction, +.>For the posture transformation matrix of the jth position and the kth sampling moment in the mth round of correction, +.>For the posture transformation matrix of the (k-1) sampling moment of the (j) th position in the (m) th round of correction,/for the (k) th sampling moment>For the kth sampling time x, y or z direction acceleration output vector (the acceleration output vector is obtained by parameter correction after the real-time measurement of an accelerometer) at the jth position in the mth wheel correction, g is the local gravity acceleration, Ω is the earth rotation angular velocity,>for local latitude>The speed errors in the x, y and z directions are respectively the kth sampling time x, y and z direction at the jth position in the mth round of correction, and delta t jm For the sampling time of the jth position in the mth round of correction, k is the sampling instant, k=1, 2,3 …, when k=1, k-1 is equal to 0, +.>0->Transforming the matrix for the initial posture; and, in addition, the method comprises the steps of,
wherein I is a unit diagonal matrix,and outputting angular speeds to the gyro at the kth sampling time x, y and z at the jth position in the m-th wheel correction, wherein the output angular speed of the gyro is the output angular speed updated at the last sampling time of the last position or the output angular speed updated at the last sampling time of the last position.
The calculation formula of the angle error of the rotation in the sky direction is as follows:
wherein,for the error of the angle of rotation in the sky direction of the kth sampling time of the jth position in the mth round of correction, +.>And correcting the posture transformation matrix error of the kth sampling moment at the jth position for the mth round.
1.3, calculating the components of the gyro error and the accelerometer error in the geographic coordinate system when the position is not corrected according to the speed error and the angle error of the sky direction rotation in the step 1.2, wherein the calculation formula of the components is as follows:
wherein,x, y and z directional velocity error components of the kth sampling moment of the jth position during the mth round of correction under the geographic coordinate system respectively +.>All are initial gesture transformation matrix->In the presence of an element of the group,the x, y and z velocity errors of the kth sampling moment at the jth position during the mth round of correction are respectively,the acceleration values in the x, y and z directions at the kth sampling time of the jth position in the mth wheel correction (the acceleration value is the acceleration value updated at the last sampling time of the last position) are respectively obtained>For the static end time of the j-th position, < >>For the static start time of the j-th position, N jm For the number of samples of the jth position during the mth round of correction, +.>The kth sampling time x, y or z direction angular velocity error at the jth position is corrected for the mth wheel.
1.4 calculating a parameter residual error of the inertial measurement unit according to the component in the step 1.3, wherein the calculation formula of the parameter residual error is as follows:
wherein,calculating residual error for zero offset of the accelerometer at the jth position and the kth sampling time x, y and z direction in the mth round of correction, +.>Calculating residuals for the scale factors of the accelerometer in the x, y and z directions at the kth sampling time x, y and z at the jth position in the mth round of correction, +.>Calculating residual error for zero offset of the gyro at the kth sampling time x, y or z direction at the jth position in kth round correction, +.>The x-direction speed error component of the kth sampling time of the 1 st, 2 nd, 3 rd, 4 th and 5 th positions in the m-th wheel correction is +.>The z-direction speed error component of the kth sampling time at the 1 st, 2 nd and 4 th positions in the m-th round of correction is respectively +.>The sampling time x, y or z direction angular velocity errors of the kth sampling time x, y or z of the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th positions in the m-th wheel correction.
1.5, carrying out error correction on the key parameters of the inertial measurement unit according to the parameter residual error in the step 1.4, wherein an error correction formula is as follows:
wherein,zero offset and/or +/of accelerometer at kth sampling time x, y or z for jth position after mth round correction>Calibration factor of the accelerometer in x, y or z direction for the kth sampling time x, y or z at the jth position after the mth round of correction,/>And when k=1, the k-1 moment is the last sampling moment of the last position in the last round of correction.
1.6 updating the inertial output parameter of the next sampling moment of the position according to the inertial key parameter corrected in the step 1.5, or updating the inertial output parameter of the first sampling moment of the next position according to the inertial key parameter corrected in the last sampling moment of the position. The output parameters of the inertial measurement unit comprise acceleration values and output angular velocities, and a specific updating formula is as follows:
wherein,respectively updated x, y and z acceleration values, K xy (representing the output of the y-axis accelerometer when the x-axis is oriented in the sky), K yx (representing the output of the x-axis accelerometer when the y-axis is oriented in the sky), K zx (representing the output of the x-axis accelerometer when the z-axis is oriented in the sky), K zy (representing the output of the y-axis accelerometer when the z-axis is oriented in the sky), K xz (representing the output of the z-axis accelerometer when the x-axis is oriented in the sky), K yz (indicating that the output of the z-axis accelerometer is given by manufacturer when the y-axis is oriented in the sky) g 0 Is the standard gravity acceleration>The angular velocities E are respectively output for the updated x, y and z gyroscopes xy 、E yx 、E zx 、E zy 、E xz 、E yz All are installation errors (set by factories when leaving factories) of the gyroscopes, epsilon x 、ε y 、ε z Output angular velocities measured by a gyroscope (measured by a gyroscope) in the x, y and z directions respectively, E 1x 、E 1y 、E 1z The scale factors of the x, y and z-direction gyroscopes are respectively given by factories when the factory leaves the factory. The acceleration value and the output angular velocity updated at the current time of the position participate in the posture transformation matrix of the next sampling time of the position>In the calculation of the components etc. or in addition to the initial posture transformation matrix of the first sampling instant of the next position +.>Posture transformation matrix->In the calculation of components and the like, the superposition of error correction is realized, and the self-calibration speed of the key parameters of the inertial measurement unit is accelerated.
And judging whether the parameter residual error at the last sampling time at the last position is smaller than a residual error set value, if so, completing self-calibration of key parameters, otherwise, turning to step 2.
The residual set values comprise an accelerometer zero bias residual set value, an accelerometer scale factor residual set value and a gyro zero bias residual set value; zero offset residual error set value of accelerometer 1e -5 g 0 Accelerometer scale factor residual error set value is 1e -5 The zero offset residual error set value of the gyroscope is 0.03 degrees/h, namely judgmentWhether or not it is less than 1e -5 g 0 (g in this example) 0 The value is 9.80665m/s 2 )，/>Whether or not it is less than 1e -5 ，/>Whether less than 0.03 DEG/h.
2. Updating the inertial measurement unit output parameter of the first sampling moment of the first position by using the corrected inertial measurement unit key parameter of the last sampling moment of the last position (the updating formula is shown in step 1.6), and circularly executing step 1 until the key parameter residual error of the last sampling moment of the last position is smaller than the residual error set value.
According to the calibration method, the self calibration of the inertial measurement unit key parameters is realized by calculating the parameter residual error of each sampling moment of each position, and once judgment is carried out after each round of error correction is completed until a residual error set value is met, namely the completion of the self calibration of the key parameters is indicated, the calculation of the key parameter residual error is completed through a computer program, the error correction of the inertial measurement unit key parameters can be rapidly realized at each position, the corrected inertial measurement unit key parameters are used as the inertial measurement unit output parameters of the next sampling moment or the next position, and the inertial measurement unit key parameters after the last position correction are used as the inertial measurement unit output parameters of the first sampling moment of the first position in the next round of error correction, so that the error correction of each sampling moment of each position and the error correction of each round of error are overlapped, the error correction of the inertial measurement unit key parameters is accelerated, and the self calibration speed of the inertial measurement unit key parameters is improved; the method can complete the calibration of key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, other non-drifting parameters along with time are determined through the last full-parameter calibration, the striking precision of the missile weapon system is ensured, and the use and maintenance cost is greatly reduced.
The foregoing disclosure is merely illustrative of specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art will readily recognize that changes and modifications are possible within the scope of the present invention.
Claims (8)
1. A rapid self-calibration method for key parameters of a three-self laser inertial measurement unit is characterized by comprising the following steps:
step 1: the inertial measurement unit is sequentially positioned at 6 positions, error correction is carried out on the inertial measurement unit key parameters at each sampling moment of each position through parameter residual errors, the inertial measurement unit output parameters at the next sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the current sampling moment of the position or the inertial measurement unit output parameters at the first sampling moment of the position are updated by the inertial measurement unit key parameters corrected at the last sampling moment of the position until the error correction of the inertial measurement unit key parameters at the last sampling moment of the position is completed; judging whether the residual error of the key parameter at the last sampling moment of the last position is smaller than a residual error set value, if so, completing self-calibration of the key parameter, otherwise, turning to step 2;
step 2: updating the inertial measurement unit output parameter of the first sampling moment of the first position by using the corrected inertial measurement unit key parameter of the last sampling moment of the last position, and circularly executing the step 1 until the key parameter residual error of the last sampling moment of the last position is smaller than the residual error set value;
in the step 1, error correction is performed on the inertial measurement unit key parameters at each sampling time at each position, and the method comprises the following steps:
step 1.1, constructing an initial posture transformation matrix corresponding to the position during the m-th round of correction according to measured acceleration data;
step 1.2, according to the initial posture transformation matrix navigation in the step 1.1, resolving a speed error and an upward rotation angle error to update the speed and the upward rotation angle of the inertial unit;
step 1.3, calculating components of a gyro error and an accelerometer error in a geographic coordinate system when the position is not corrected according to the speed error and the angle error of the rotation in the step 1.2, wherein a specific calculation formula is as follows:
step 1.4, calculating a parameter residual error of the inertial measurement unit according to the components in the step 1.3;
step 1.5, carrying out error correction on the inertial measurement unit key parameters according to the parameter residual errors in the step 1.4;
in the step 1.3, the calculation formulas of the components of the gyro error and the accelerometer error under the geographic coordinate system when the components are not corrected are as follows:
wherein,respectively x, y and z velocity errors of kth sampling time of jth position during mth round correction under geographic coordinate systemComponent (F)>All are initial gesture transformation matrix->Element of (a)>X, y and z direction speed errors of the kth sampling time of the jth position in the mth round of correction are respectively +.>X, y and z acceleration values at the kth sampling time of the jth position in the mth round of correction are respectively +.>For the static end time of the j-th position, < >>The static start time of the j-th position, k is the sampling time, deltat jm Sampling time of the jth position in the mth round of correction, g is local gravity acceleration, N jm For the number of samples at the jth position during the mth round of correction, R represents the x, y or z direction, for the kth sampling time x, y or z angular velocity error at the jth position in the mth round of correction, and outputting angular speeds for the kth sampling time x, y and z of the jth position in the mth round of correction.
2. The method for rapid self-calibration of key parameters of a three-self-laser inertial measurement unit according to claim 1, wherein in said step 1.1, the initial posture transformation matrix of the jth position in the mth round of correction is usedTo indicate (I)>Is provided with
Then:
where j=1, 2,3,4,5, Δd jm For the angle transformation matrix when the mth round is corrected and transformed to the jth position, respectively calculating auxiliary parameters in the middle of x, y and z-direction acceleration values at the first sampling moment of the jth position during the correction of the mth wheel;
when j=0, the matrixThe elements in (1) are obtained by the following formula:
wherein,the initial attitude angle of the inertial unit at the first position is corrected for the mth wheel.
3. The method for rapid self-calibration of key parameters of a three-self laser inertial measurement unit according to claim 1, wherein in the step 1.2, a calculation formula of a speed error is as follows:
wherein R represents x, y or z,for the kth sampling time x, y or z direction speed error of the jth position in the mth round of correction, +.>For the kth sampling time x, y or z direction speed error of the jth position in the mth round correction, +.>For the posture transformation matrix of the jth position and the kth sampling moment in the mth round of correction, +.>For the posture transformation matrix of the (k-1) sampling moment of the (j) th position in the (m) th round of correction,/for the (k) th sampling moment> For the kth sampling moment x, y or z-direction acceleration output vector at the jth position in the mth round of correction, g is the local gravitational acceleration, Ω is the angular velocity of rotation of the earth, +.>For the local latitude to be a local latitude,the speed errors in the x, y and z directions are respectively the kth sampling time x, y and z direction at the jth position in the mth round of correction, and delta t jm For the sampling time of the jth position in the mth round of correction, k is the sampling time, k=1, 2,3 …, and:
wherein I is a unit diagonal matrix, outputting angular speeds for the kth sampling moment x, y and z of the jth position in the mth wheel correction;
the calculation formula of the angle error of the rotation in the sky direction is as follows:
wherein,for the error of the angle of rotation in the sky direction of the kth sampling time of the jth position in the mth round of correction, +.>And correcting the posture transformation matrix error of the kth sampling moment at the jth position for the mth round.
4. The method for rapid self-calibration of key parameters of a three-self laser inertial measurement unit according to claim 1, wherein in the step 1.4, the calculation formula of the parameter residual error of the inertial measurement unit is as follows:
wherein,calculating residual error for zero offset of the accelerometer at the jth position and the kth sampling time x, y and z direction in the mth round of correction, +.>Calculating residuals for the scale factors of the accelerometer in the x, y and z directions at the kth sampling time x, y and z at the jth position in the mth round of correction, +.>R represents x, y or z direction, < >>Calculating residual error for zero offset of the gyro in the x, y or z direction at the jth position in the mth round of correction, +.>The x-direction speed error component of the kth sampling time of the 1 st, 2 nd, 3 rd, 4 th and 5 th positions in the m-th wheel correction is +.> The z-direction speed error component of the kth sampling time at the 1 st, 2 nd and 5 th positions in the m-th round of correction is respectively +.> The sampling time x, y or z direction angular velocity errors of the kth sampling time x, y or z of the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th positions in the m-th wheel correction.
5. The method for rapid self-calibration of three-self-laser inertial measurement unit key parameters according to claim 1, wherein in the step 1.5, an error correction formula of the inertial measurement unit key parameters is as follows:
wherein R represents x, y or z,zero offset and/or +/of accelerometer at kth sampling time x, y or z for jth position after mth round correction>The jth position is the kth position after the mth round correctionSample time x, y or z accelerometer calibration factor, < >>Zero offset of the gyro in the x, y or z direction at the kth sampling time of the jth position after the mth round correction is added>Calculating residual error for zero offset of the accelerometer at the jth position and the kth sampling time x, y or z direction in the mth round of correction, +.>Calculating a residual error for the accelerometer scale factor in the x, y or z direction at the kth sampling time x, y or z at the jth position in the mth round of correction, and (2)>And calculating residual errors for the zero offset of the gyro at the kth sampling time x, y or z of the jth position in the m-th round of correction, wherein when k=1, the k-1 time is the last sampling time of the last position in the last round of correction.
6. The method for rapidly self-calibrating key parameters of a three-self laser inertial measurement unit according to claim 1, wherein in the step 1 or 2, the specific formula for updating the output parameters of the inertial measurement unit is as follows:
wherein,respectively updated x, y and z acceleration values, K xy 、K yx 、K zx 、K zy 、K xz 、K yz Are all the mounting errors of the accelerometer, +.>The output vector of the acceleration in the x, y or z direction at the kth sampling moment of the jth position in the mth round of correction is respectively +.>Calibration factors of the accelerometer in x, y and z directions at the kth sampling moment of the jth position after the mth round of correction are respectively +.>Zero offset g of the accelerometer is respectively calculated at the kth sampling moment x, y and z of the jth position after the mth round correction 0 Is the standard gravity acceleration>The angular velocities E are respectively output for the updated x, y and z gyroscopes xy 、E yx 、E zx 、E zy 、E xz 、E yz Are all installation errors of the gyroscopes epsilon x 、ε y 、ε z The angular velocities of the gyroscope measured x, y and z directions are respectively output, E 1x 、E 1y 、E 1z The scale factors of the x, y and z-direction gyroscopes are respectively +.>And the zero offset of the gyro is realized at the kth sampling moment x, y and z of the jth position after the mth round correction.
7. The method for rapidly and self-calibrating key parameters of a three-self laser inertial measurement unit according to claim 1, wherein in the step 1, a second position is obtained by rotating the first position by 90 degrees around a Z axis, a third position is obtained by rotating the second position by 90 degrees around the Z axis, a fourth position is obtained by rotating the third position by 90 degrees around the Z axis, a fifth position is obtained by rotating the fourth position by 90 degrees around a Y axis, and a sixth position is obtained by rotating the fifth position by 180 degrees around the Y axis, wherein the six positions are sequentially located by the inertial measurement unit.
8. The rapid self-calibration method of three self-laser inertial measurement unit key parameters according to claim 1, wherein the residual set values comprise an accelerometer zero bias residual set value, an accelerometer scale factor residual set value and a gyro zero bias residual set value; the zero offset residual error set value of the accelerometer is 1e -5 g 0 The accelerometer scale factor residual error setting value is 1e -5 And the zero bias residual error set value of the gyroscope is 0.03 degrees/h.
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