CN114061620B - Four-redundancy inertial navigation discrete calibration method and calibration system - Google Patents
Four-redundancy inertial navigation discrete calibration method and calibration system Download PDFInfo
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Abstract
The invention provides a four-redundancy inertial navigation discrete calibration method and a calibration system, wherein the calibration method comprises the following steps: for four sensors of the space uniform distribution type four-redundancy inertial sensor, respectively defining four oblique sensitive axis coordinate systems, an output orthogonal coordinate system and a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system; dividing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, wherein the first conversion matrix and the second conversion matrix can be directly calculated, and the second conversion matrix is obtained through a discrete calibration method; and calculating to obtain a conversion matrix to be calibrated according to the first conversion matrix and the second conversion matrix. According to the invention, the virtual orthogonal coordinate system is constructed, so that the calibration problem from the skew sensitive axis coordinate system to the orthogonal coordinate system is converted into the calibration problem from the virtual orthogonal coordinate system to the orthogonal coordinate system, the calibration difficulty is effectively reduced, and the calibration efficiency is improved.
Description
Technical Field
The invention relates to the field of inertial navigation, in particular to a four-redundancy inertial navigation discrete calibration method and a calibration system.
Background
In order to improve the fitting property and the reliability of the inertial navigation device, some inertial sensitive components adopt a multi-gyro oblique crossing configuration mode. Under the composition, the inertial navigation operation can be realized only by the triaxial gyroscope, and the reliability of the system is greatly improved.
At present, the calibration method of the inertia sensitive assembly is mainly aimed at a traditional triaxial gyro orthogonal system, and the calibration of the sensitive assembly of the oblique multiple gyroscopes is lack of research. For the four-redundancy inertial navigation system, the main method at present is to model the redundancy system and adopt a system-level calibration method. The method has long calibration time and has the problem of poor coupling between model errors and errors.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the invention provides a four-redundancy inertial navigation discrete calibration method and a calibration system.
According to a first aspect of the invention, there is provided a four-redundancy inertial navigation discrete calibration method, comprising:
For four sensors of the space uniform distribution type four-redundancy inertial sensor, any three sensors form an oblique sensitive axis coordinate system, four oblique sensitive axis coordinate systems are defined, an output orthogonal coordinate system is defined, the four orthogonal coordinate systems consist of two perpendicular coordinate axes Ox, oy and Oz, and a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system is defined;
Dividing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, wherein the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor;
Obtaining a second conversion matrix by a discrete calibration method;
and according to the first conversion matrix and the second conversion matrix, calculating to obtain a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system.
According to a second aspect of the present invention, there is provided a four-redundancy inertial navigation discrete calibration system comprising:
The definition module is used for forming an oblique sensitive axis coordinate system for four sensors of the spatially uniform distributed four-redundancy inertial sensor, defining four oblique sensitive axis coordinate systems, defining an output orthogonal coordinate system, and defining a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system, wherein each virtual orthogonal coordinate system consists of two perpendicular coordinate axes Ox, oy and Oz;
The system comprises a decomposition module, a first conversion module and a second conversion module, wherein the decomposition module is used for decomposing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor;
the solving module is used for solving the second conversion matrix through a discrete calibration method;
The calculation module is used for calculating and obtaining a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system according to the first conversion matrix and the second conversion matrix.
According to the four-redundancy inertial navigation discrete calibration method and the calibration system, the virtual orthogonal coordinate system is constructed, so that the calibration problem from the skew sensitive axis coordinate system to the orthogonal coordinate system is converted into the calibration problem from the virtual orthogonal coordinate system to the orthogonal coordinate system, the calibration difficulty is effectively reduced, and the calibration efficiency is improved.
Drawings
FIG. 1 is a flow chart of a four-redundancy inertial navigation discrete calibration method provided by the invention;
FIG. 2 is a schematic diagram of a sensitive axis coordinate system and an output orthogonal coordinate system;
FIG. 3 is a schematic diagram of a discrete calibration flow for four redundancy inertial navigation;
FIG. 4 is a schematic structural diagram of a four-redundancy inertial navigation discrete calibration system provided by the invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the four-redundancy inertial navigation discrete calibration method mainly comprises the following steps: for four sensors (gyroscopes) of a spatially uniform distributed four-redundancy inertial sensor, wherein any three sensors form an oblique sensitive axis coordinate system, four oblique sensitive axis coordinate systems are defined, an output orthogonal coordinate system is defined, the four orthogonal coordinate systems consist of two perpendicular coordinate axes Ox, oy and Oz, and a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system is defined; dividing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, wherein the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor; obtaining a second conversion matrix by a discrete calibration method; and according to the first conversion matrix and the second conversion matrix, calculating to obtain a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system.
It can be understood that based on the requirements in the background technology, based on the design of a theoretical redundant system measurement matrix, an equivalent virtual gyro output coordinate system under the combined condition of each device is constructed through matrix change, and a semi-discrete calibration method is used for calibrating the installation error from the virtual gyro output coordinate system to an ideal orthogonal coordinate system. Finally, the original device installation error is obtained through the inverse change of the coordinate system. By constructing the virtual orthogonal coordinate system, the calibration problem from the skew sensitive axis coordinate system to the orthogonal coordinate system is converted into the calibration problem from the virtual orthogonal coordinate system to the orthogonal coordinate system, so that the calibration difficulty is effectively reduced, and the calibration efficiency is improved.
Example two
A four-redundancy inertial navigation discrete calibration method mainly comprises the following steps:
S1, for four sensors of a spatially uniform distributed four-redundancy inertial sensor, any three sensors form an oblique sensitive axis coordinate system, four oblique sensitive axis coordinate systems are defined, an output orthogonal coordinate system is defined, the four oblique sensitive axis coordinate systems consist of two perpendicular coordinate axes Ox, oy and Oz, and a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system is defined.
As an embodiment, the defining four orthogonal sensitive axis coordinate systems, defining an output orthogonal coordinate system, including two perpendicular coordinate axes Ox, oy and Oz, and defining a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system includes: in the four-redundancy inertial sensor, four sensors are adopted as a, b, c, d, the sensitive axes of the three sensors are arbitrarily selected to form an oblique sensitive axis coordinate system, the four oblique sensitive axis coordinate systems are defined as b abc、babd、bacd、bbcd, and each sensitive axis coordinate system is formed by the sensitive axes of the lower corner mark sensors; the definition output orthogonal coordinate system b 0 consists of coordinate axes Ox, oy and Oz which are perpendicular to each other; the virtual orthogonal coordinate system is an approximate orthogonal coordinate system constructed by coordinate transformation, and is denoted by b abc0、bbcd0、bacd0、babd0.
Specifically, taking a spatially uniform distributed four-redundancy inertial sensor as an example, an installation error modeling analysis is performed, and a coordinate system as shown in fig. 2 is defined:
(1) Sensitive axis coordinate system: in the four-redundancy inertial navigation, four sensors (gyroscopes) a, b, c, d are provided, and the sensitive axes of the three sensors can be arbitrarily selected to form an oblique coordinate system.
Four skewed sensitive axis coordinate systems are defined: b abc、babd、bacd、bbcd, each coordinate system is composed of the sensitive axis of the subscript device. Taking b abc as an example, the b abc coordinate system is composed of sensitive axes Oa, ob, oc of the sensors a, b, c, as shown in fig. 2.
(2) Outputting an orthogonal coordinate system: the output orthogonal coordinate system b 0 is an orthogonal coordinate system and consists of two perpendicular coordinate axes Ox, oy and Oz. Wherein Oz approximately coincides with the sensor coordinate axis Od, and Oy is located in a plane formed by the sensor coordinate axes Oc and Od. The Ox orientation is in accordance with the right hand rule. Such as Ox, oy, oz axes in fig. 2.
(3) Virtual orthogonal coordinate system: the virtual orthogonal coordinate system is an approximate orthogonal coordinate system constructed by coordinate transformation, and is denoted by b abc0、bbcd0、bacd0、babd0.
S2, decomposing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, wherein the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor.
Specifically, the above step S1 defines each coordinate system, and the present step S2 solves the first transformation matrix from the sensitive axis coordinate system to the virtual orthogonal coordinate system. The sensitivity axis coordinate system b abc、babd、bacd、bbcd is multiplied by a first conversion matrix to obtain:
for inertial navigation of a four-redundancy spatially uniformly distributed layout, a first transformation matrix The values of (2) are as follows:
wherein each observation vector has the following value:
S3, obtaining a second conversion matrix through a discrete calibration method.
Specifically, the discrete calibration flow for four-redundancy inertial navigation is shown in fig. 3:
The aim of the calibration is to obtain the coordinate transformation relationship from the sensor coordinate system b abc、babd、bacd、bbcd to the output coordinate system b 0, i.e. to obtain the coordinate transformation matrix The conversion relationship can be expressed as:
And (3) expanding the coordinate transformation matrix in the formula (6-4) through coordinate transformation to obtain:
In equation (6-5), the theoretical transformation matrix The known quantity can be obtained by the formulas 6-2 and 6-3, and only the second transformation matrix/>, is neededThe conversion from the sensitive axis coordinate system to the output coordinate system can be completed.
Based on the method, the virtual orthogonal coordinate system b abc0、bbcd0、bacd0、babd0 is constructed, so that the calibration problem from the skew sensitive axis coordinate system to the output orthogonal coordinate system is converted into the calibration problem from the virtual approximate orthogonal coordinate system to the output orthogonal coordinate system, the calibration difficulty is effectively reduced, and the calibration efficiency is improved.
For the calibration problem from the virtual approximately orthogonal coordinate system to the output orthogonal coordinate system, a discrete calibration method is adopted, the virtual orthogonal coordinate system b abc0、bbcd0、bacd0、babd0 is constructed as the middle quantity of calibration through modeling in FIG. 2, and only the conversion matrix from the virtual orthogonal coordinate system to the orthogonal coordinate system is required to be calibratedAnd (3) obtaining the product.
For a pair ofAccording to the calibration design method, as an embodiment, four redundancy inertial sensors are fixedly arranged on a three-axis turntable, and an output orthogonal coordinate system is defined to coincide with the three-axis turntable, so that the three-axis turntable rotates according to different rotation turns at different stages;
The first stage: clockwise rotating along the b 0 Ox axis for a preset number of turns;
and a second stage: clockwise rotating along the b 0 system Oy axis for a preset number of turns;
and a third stage: clockwise rotating along the b 0 system Oz axis for a preset number of turns;
Fourth stage: and simultaneously rotates along the b 0 line Ox axis, the Oy axis and the Oz axis for a preset number of turns.
When the four-redundancy inertial sensor rotates, pulse output of each sensor in each stage under a sensitive axis coordinate system is recorded in real time; according to the pulse output of each sensor and the corresponding first conversion matrix, calculating the pulse output of each sensor under the sensitive axis coordinate system and converting the pulse output into the pulse output under the virtual orthogonal coordinate system; and according to the rotation number of the corresponding coordinate axis in each stage and the pulse output under the virtual orthogonal coordinate system, solving the corresponding second conversion matrix by using a least square method.
In particular, toThe calibration design method of the device is as follows:
1) Calibration method and transposition design:
The four-redundancy inertial navigation is fixedly arranged on the three-axis turntable, and an output coordinate system b 0 can be defined to be in three-axis coincidence with the three-axis turntable. The turntable was rotated and the indexing design was as follows:
the first stage: clockwise rotating along the b 0 Ox axis for 10 times;
And a second stage: clockwise rotate 10 turns along the axis b 0 line Oy;
And a third stage: clockwise rotate along the b 0 Oz axis for 10 turns;
fourth stage: while rotating 10 turns along the b 0 series Ox axis, oy axis and Oz axis.
And when four-redundancy inertial navigation is rotated, recording pulse output of the sensor in each stage in real time. The pulse output of a, b, c, d sensors in each stage is noted Nai, nbi, nci, ndi. Where i is the phase number of the rotation.
2) And (3) calibration data processing:
The mounting error can be obtained by processing the pulse number output by each device in the calibration process To install error matrix/>Is calculated as an example:
Order the The pulses of the devices a, b, c in the four rotation phases are shown as Nai, nbi, nci phases, respectively, where i is the rotation. By converting matrix/>The device output can be converted into a virtual orthogonal coordinate system, and in the ith rotation stage, the output pulse number in the virtual orthogonal coordinate system is Nxi, nyi, nzi, and the calculation formula is as follows:
The system of equations can be obtained by the number of rotations of the corresponding coordinate axes at each stage as follows:
Expanding (6-7) and arranging into a form of an equation set:
Equation (6-8) is written as b=ax, and the vector x to be solved can be solved by the least square method:
x＝(ATA)-1ATb (6-9)；
Obtaining the vector [k11 k12 k13 k21 k22 k23 k31 k32 k33]T, by the method of 6-9 to obtain the installation error matrix, namely the second conversion matrix The same method is used to calculate the other three second transformation matrices/>And
And S4, calculating to obtain a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system according to the first conversion matrix and the second conversion matrix.
According to four first conversion matricesAnd corresponding four second conversion matricesAnd/>Calculating to obtain a conversion matrix from four sensitive axis coordinate systems to an output orthogonal coordinate system:
By means of the discrete calibration method, the virtual orthogonal coordinate system b abc0、bbcd0、bacd0、babd0 is constructed, the calibration problem from the oblique coordinate system to the orthogonal coordinate system is converted into the calibration problem from the approximately orthogonal coordinate system to the orthogonal coordinate system, the calibration difficulty is effectively reduced, and the calibration efficiency is improved.
Example III
Referring to fig. 4, the four-redundancy inertial navigation discrete calibration system includes a definition module 401, a decomposition module 402, a solution module 403, and a calculation module 404, wherein:
The definition module 401 is configured to define four sensors of the spatially uniform distributed four-redundancy inertial sensor, wherein any three sensors form an oblique sensitive axis coordinate system, define four oblique sensitive axis coordinate systems, define an output orthogonal coordinate system, and define a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system, wherein each output orthogonal coordinate system is formed by two perpendicular coordinate axes Ox, oy and Oz;
The decomposition module 402 is configured to decompose a transformation matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, where the first part is a first transformation matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second transformation matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, where the first transformation matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor;
A solving module 403, configured to solve the second conversion matrix by using a discrete calibration method;
And the calculation module 404 is configured to calculate a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system according to the first conversion matrix and the second conversion matrix.
It can be understood that the four-redundancy inertial navigation discrete calibration system provided by the invention corresponds to the four-redundancy inertial navigation discrete calibration method provided by the first embodiment and the second embodiment, and the relevant technical features of the four-redundancy inertial navigation discrete calibration system can refer to the relevant technical features of the four-redundancy inertial navigation discrete calibration method and are not repeated herein.
According to the four-redundancy inertial navigation discrete calibration method and the calibration system, based on the normalized coordinate system and the semi-discrete calibration principle, the installation error parameters of all device combinations are unified under the same virtual orthogonal output coordinate system, and the parameter estimation is performed by adopting multi-position calibration. Compared with the prior art, the invention has the following advantages:
(1) And (3) calibrating speed improvement: by adopting normalization processing, the installation errors of the combination of the multiple groups of devices are calibrated synchronously and rapidly, and the calibration efficiency of the multiple gyroscope system is greatly improved.
(2) The use condition is wide: the invention has strong universality and applicability to multi-gyro oblique crossing systems except four-redundancy inertial navigation.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A four-redundancy inertial navigation discrete calibration method is characterized by comprising the following steps:
For four sensors of the space uniform distribution type four-redundancy inertial sensor, any three sensors form an oblique sensitive axis coordinate system, four oblique sensitive axis coordinate systems are defined, an output orthogonal coordinate system is defined, the four orthogonal coordinate systems consist of two perpendicular coordinate axes Ox, oy and Oz, and a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system is defined;
Dividing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, wherein the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor;
Obtaining a second conversion matrix by a discrete calibration method;
and according to the first conversion matrix and the second conversion matrix, calculating to obtain a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system.
2. The four-redundancy inertial navigation discrete calibration method according to claim 1, wherein defining four skew sensitive axis coordinate systems, defining an output orthogonal coordinate system, each composed of two perpendicular coordinate axes Ox, oy and Oz, and defining a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system, comprises:
In the four-redundancy inertial sensor, four sensors are adopted as a, b, c, d, the sensitive axes of the three sensors are arbitrarily selected to form an oblique sensitive axis coordinate system, the four oblique sensitive axis coordinate systems are defined as b abc、babd、bacd、bbcd, and each sensitive axis coordinate system is formed by the sensitive axes of the lower corner mark sensors;
The definition output orthogonal coordinate system b 0 consists of coordinate axes Ox, oy and Oz which are perpendicular to each other;
The virtual orthogonal coordinate system is an approximate orthogonal coordinate system constructed by coordinate transformation, and is denoted by b abc0、bbcd0、bacd0、babd0.
3. The four-redundancy inertial navigation discrete calibration method of claim 2, wherein the first conversion matrix is directly obtainable by calculation from spatially uniform distributed four-redundancy inertial sensors, comprising:
multiplying the sensitive axis coordinate system b abc、babd、bacd、bbcd by the first transformation matrix to obtain a corresponding virtual orthogonal coordinate system:
for a spatially uniform distributed four-redundancy inertial sensor, a first transformation matrix The values of (2) are as follows:
wherein each observation vector has the following value:
4. a four-redundancy inertial navigation discrete calibration method according to claim 3, wherein said obtaining the second conversion matrix by the discrete calibration method comprises:
The four-redundancy inertial sensor is fixedly arranged on the three-axis turntable, an output orthogonal coordinate system is defined to coincide with the three-axis turntable, and the three-axis turntable rotates according to different rotation turns at different stages;
The first stage: clockwise rotating along the b 0 Ox axis for a preset number of turns;
and a second stage: clockwise rotating along the b 0 system Oy axis for a preset number of turns;
and a third stage: clockwise rotating along the b 0 system Oz axis for a preset number of turns;
Fourth stage: simultaneously rotating along the b 0 line Ox axis, the Oy axis and the Oz axis for a preset number of turns;
When the four-redundancy inertial sensor rotates, pulse output of each sensor in each stage under a sensitive axis coordinate system is recorded in real time;
According to the pulse output of each sensor and the corresponding first conversion matrix, calculating the pulse output of each sensor under the sensitive axis coordinate system and converting the pulse output into the pulse output under the virtual orthogonal coordinate system;
And according to the rotation number of the corresponding coordinate axis in each stage and the pulse output under the virtual orthogonal coordinate system, solving the corresponding second conversion matrix by using a least square method.
5. The four-redundancy inertial navigation discrete calibration method of claim 4, wherein rotating the three-axis table at different phases with different numbers of rotations comprises:
the three-axis turntable is rotated in stages, and the indexing is as follows:
the first stage: clockwise rotating along the b 0 Ox axis for 10 times;
And a second stage: clockwise rotate 10 turns along the axis b 0 line Oy;
And a third stage: clockwise rotate along the b 0 Oz axis for 10 turns;
fourth stage: while rotating 10 turns along the b 0 series Ox axis, oy axis and Oz axis.
6. The method for calibrating the four-redundancy inertial navigation discrete type according to claim 5, wherein the step of recording pulse output of each sensor in each stage in a sensitive axis coordinate system in real time when the four-redundancy inertial sensor rotates comprises the steps of:
The pulse output of a, b, c, d sensors in each phase is noted Nai, nbi, nci, ndi, where i is the rotating phase number, i=1, 2,3,4;
correspondingly, the calculating the conversion of the pulse output of each sensor under the sensitive axis coordinate system to the pulse output under the virtual orthogonal coordinate system according to the pulse output of each sensor and the corresponding first conversion matrix comprises the following steps:
Taking a, b and c as examples, pulse output Nai, nbi, nci of the a, b and c sensors in each stage and corresponding first conversion matrix Pulse output Nxi, nyi, nzi under a virtual orthogonal coordinate system is calculated, and the calculation formula is as follows:
correspondingly, according to the rotation number of the corresponding coordinate axis of each stage and the pulse output under the virtual orthogonal coordinate system, the method for solving the corresponding second conversion matrix by using the least square method comprises the following steps:
The equation set is obtained by the rotation number of the corresponding coordinate axis in each stage as follows:
Order the According to/>The set of equations is organized as follows:
Obtaining a vector [k11 k12 k13 k21 k22 k23 k31 k32 k33]T, by a least square method to obtain a second conversion matrix
The same method is used to calculate the other three second transformation matricesAnd/>
7. The method for calibrating the four-redundancy inertial navigation discrete type according to claim 6, wherein the calculating a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system according to the first conversion matrix and the second conversion matrix comprises:
according to four first conversion matrices And corresponding four second conversion matricesAnd/>Calculating to obtain a conversion matrix from four sensitive axis coordinate systems to an output orthogonal coordinate system:
8. a four-redundancy inertial navigation discrete calibration system, comprising:
The definition module is used for forming an oblique sensitive axis coordinate system for four sensors of the spatially uniform distributed four-redundancy inertial sensor, defining four oblique sensitive axis coordinate systems, defining an output orthogonal coordinate system, and defining a virtual orthogonal coordinate system corresponding to each sensitive axis coordinate system, wherein each virtual orthogonal coordinate system consists of two perpendicular coordinate axes Ox, oy and Oz;
The system comprises a decomposition module, a first conversion module and a second conversion module, wherein the decomposition module is used for decomposing a conversion matrix from a sensitive axis coordinate system to be calibrated to an output orthogonal coordinate system into two parts, the first part is a first conversion matrix from the sensitive axis coordinate system to be calibrated to a corresponding virtual orthogonal coordinate system, and the second part is a second conversion matrix from the virtual orthogonal coordinate system to the output orthogonal coordinate system, wherein the first conversion matrix can be directly obtained by calculation according to a spatially uniform distributed four-redundancy inertial sensor;
the solving module is used for solving the second conversion matrix through a discrete calibration method;
The calculation module is used for calculating and obtaining a conversion matrix from the sensitive axis coordinate system to be calibrated to the output orthogonal coordinate system according to the first conversion matrix and the second conversion matrix.
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