CN114485727A - Precision self-detection method and device for strapdown inertial navigation system - Google Patents
Precision self-detection method and device for strapdown inertial navigation system Download PDFInfo
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Abstract
The invention provides a precision self-detection method of a strapdown inertial navigation system, which comprises the steps of obtaining acceleration values and angle rate values when an X axis, a Y axis and a Z axis of the strapdown inertial navigation system respectively face upwards and downwards; respectively averaging acceleration values and angular velocity values when a single axial direction faces upwards and downwards, and calculating accelerometer zero values and gyroscope zero values of three axial directions; subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value; subtracting the zero value of each axial gyroscope from the zero value of the gyroscope calibrated by the corresponding axial system to obtain a second difference absolute value; and if the first difference absolute value is larger than a first threshold value or the second difference absolute value is larger than a second threshold value, marking the strapdown inertial navigation system as needing to be calibrated again. The method can quickly determine whether the precision of the strapdown inertial navigation system is lost or not and whether system-level calibration is needed or not. The invention also provides a device for self-detecting the precision of the strapdown inertial navigation system.
Description
Technical Field
The invention relates to the technical field of navigation calibration, in particular to a method and a device for self-detecting the precision of a strapdown inertial navigation system.
Background
The strapdown inertial navigation system has indispensable importance for mine positioning, can provide speed, position, gesture and course information of mine equipment in the advancing process in real time, but zero offset and scale factors of the strapdown inertial navigation system change along with time, so that the strapdown inertial navigation system needs to calibrate system parameters once per year in a calibration test.
The existing inertial navigation precision self-detection generally needs other equipment for auxiliary inspection, such as: and (4) carrying out test comparison on a turntable test or a system with one-order higher precision than the test system. In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the method needs external assistance for detection, cannot be met in actual mines, and cannot realize the requirement of rapid self-detection.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a method and a device for self-detecting the precision of a strapdown inertial navigation system without the assistance of external detection equipment.
In order to achieve the above object, a first aspect of the present invention provides a method for self-detecting accuracy of a strapdown inertial navigation system, where the strapdown inertial navigation system has an accelerometer and a gyroscope, and the method includes:
acquiring acceleration values and angle rate values of an X axis, a Y axis and a Z axis of the strapdown inertial navigation system when the X axis, the Y axis and the Z axis respectively face upwards and downwards;
respectively averaging the acceleration values and the angular speed values when a single axial direction faces upwards and downwards, and calculating the zero values of the accelerometers and the zero values of the gyroscopes in three axial directions;
subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value;
subtracting the zero value of each axial gyroscope from the zero value of the gyroscope calibrated by the corresponding axial system to obtain a second difference absolute value;
and if the first difference absolute value is larger than a first threshold value or the second difference absolute value is larger than a second threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
Further, the method further comprises:
the strapdown inertial navigation system subtracts an angular rate module value of an actual position from the earth rotation angular rate to obtain a third difference absolute value in a static state;
subtracting the acceleration module value of the actual position from the earth gravity acceleration value to obtain a fourth difference absolute value;
and if the third difference absolute value is greater than a third threshold value or the fourth difference absolute value is greater than a fourth threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
Further, the method further comprises:
the strapdown inertial navigation system calculates the relative error of the angle rate by using the angle rate module value of the actual position in a static state;
the strapdown inertial navigation system calculates the relative error of the acceleration by using the acceleration module value of the actual position in a static state;
and if the relative error of the angle rate is greater than a fifth threshold value or the relative error of the acceleration is greater than a sixth threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
Further, the calculation method of the angular rate modulus value is as follows:
assuming the strapdown inertial navigation system is initialWhen the gyroscope is placed, the X axis, the Y axis and the Z axis are respectively coincided with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, so that the original output of the gyroscope is output
Expressed as:
wherein Lat is latitude value of the location of the strapdown inertial navigation system, omegaieIs the earth rotation angular rate;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
the attitude matrix formed by the strapdown inertial navigation system from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
actual measured angular rate of gyroscope
Expressed as:
to pair
Obtaining the angle rate modulus value by taking the modulus value
Further, the calculation method of the acceleration module value is as follows:
assuming that when the strapdown inertial navigation system is initially arranged, the X axis, the Y axis and the Z axis are respectively coincided with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, the original output of the accelerometer is output
Expressed as:
in the formula, g is the gravity acceleration value of the earth;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
the attitude matrix formed by the strapdown inertial navigation system from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
acceleration actually measured by accelerometer
Expressed as:
to pair
Obtaining the acceleration modulus by taking the modulus
According to the precision self-detection method for the strapdown inertial navigation system, provided by the invention, zero position self-detection is realized by placing different positions of the strapdown inertial navigation system, detection is not required by external auxiliary equipment, whether the strapdown inertial navigation system has precision loss or not can be quickly detected, and the system calibration frequency of a fixed period is reduced.
A second aspect of the present invention provides a device for self-detecting precision of a strapdown inertial navigation system, the strapdown inertial navigation system having an accelerometer and a gyroscope, the device comprising:
the acceleration value and angle value acquisition unit is used for acquiring acceleration values and angle values when an X axis, a Y axis and a Z axis of the strapdown inertial navigation system respectively face upwards and downwards;
the accelerometer zero-position value and gyroscope zero-position value calculating unit is used for respectively averaging acceleration values and angular velocity values when a single axial direction faces upwards and downwards and calculating accelerometer zero-position values and gyroscope zero-position values of three axial directions;
the first difference absolute value calculating unit is used for subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value;
the second difference absolute value calculating unit is used for subtracting the zero value of the gyroscope in each axial direction from the zero value of the gyroscope calibrated by the system in the corresponding axial direction to obtain a second difference absolute value;
the first recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the first difference absolute value is larger than a first threshold value or the second difference absolute value is larger than a second threshold value.
Further, a device for self-detecting the precision of a strapdown inertial navigation system further comprises:
the third difference absolute value calculating unit is used for subtracting the angular rate module value of the actual position from the earth rotation angular rate to obtain a third difference absolute value under the static state of the strapdown inertial navigation system;
the fourth absolute difference value calculating unit is used for subtracting the acceleration mode value of the actual position from the earth gravity acceleration value to obtain a fourth absolute difference value in the static state of the strapdown inertial navigation system;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the third difference absolute value is larger than the third threshold or the fourth difference absolute value is larger than the fourth threshold.
Further, a device for self-detecting the precision of a strapdown inertial navigation system further comprises:
the angle rate relative error calculation unit is used for calculating the relative error of the angle rate by using the angle rate module value of the actual position in a static state of the strapdown inertial navigation system;
the acceleration relative error calculation unit is used for calculating the relative error of the acceleration by using the acceleration module value of the actual position in a static state of the strapdown inertial navigation system;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the relative error of the angle rate is larger than a fifth threshold value or the relative error of the acceleration is larger than a sixth threshold value.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart illustrating an implementation process of a method for self-detecting a precision of a strapdown inertial navigation system according to an embodiment of the present invention.
Fig. 2(a) -2 (f) are schematic views illustrating placement positions of a strapdown inertial navigation system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a device for self-detecting the accuracy of a strapdown inertial navigation system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart illustrating an implementation process of a method for self-detecting a precision of a strapdown inertial navigation system according to an embodiment of the present invention.
Referring to fig. 1, a method for self-detecting accuracy of a strapdown inertial navigation system having an accelerometer and a gyroscope, the method includes:
and S102, acquiring acceleration values and angle values when an X axis, a Y axis and a Z axis of the strapdown inertial navigation system are upward and downward respectively.
And step S104, averaging the acceleration values and the angular velocity values of the single axial direction when the single axial direction faces upwards and downwards respectively, and calculating the zero values of the accelerometers and the gyroscopes in the three axial directions.
And S106, subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value.
And S108, subtracting the zero value of each axial gyroscope from the zero value of the gyroscope calibrated by the corresponding axial system to obtain a second difference absolute value.
Step S110, if the first difference absolute value is greater than the first threshold or the second difference absolute value is greater than the second threshold, the strapdown inertial navigation system is marked as needing to be recalibrated.
Specifically, in this embodiment, the strapdown inertial navigation system is a cuboid, and two opposite surfaces of the cuboid correspond to one coordinate axis. The sensitive directions of the strapdown inertial navigation system are divided into an X axis, a Y axis and a Z axis, and the Z axis is arranged in a group facing upwards and downwards, the X axis is arranged in a group facing upwards and downwards, and the Y axis is arranged in a group facing upwards and downwards by arranging the positions shown in the figure 2. Assuming that the test results of the triaxial accelerometer with the sensitive axis upward and the sensitive axis downward are respectively used as three-dimensional vectors aonAnd aupIs shown as aonAnd aupObtaining the zero value a of the triaxial accelerometer by taking the average value0(ii) a Similarly, the test results of the three-axis gyroscope with the sensitive axis upward and the sensitive axis downward are respectively represented by omegaonAnd omegaupRepresents, for ωonAnd omegaupThe mean value is taken to obtain the zero value omega of the gyroscope0Reference is made to the following formula; finally a is to0And omega0And comparing with a system calibration zero value (a first threshold value and a second threshold value).
a0＝(aon+aup)/2
ω0＝(ωon+ωup)/2。
It should be noted that the first threshold and the second threshold are actually set according to the model of the actual strapdown inertial navigation system and according to the requirement, and are not specifically limited herein.
Through the steps, the precision self-detection method of the strapdown inertial navigation system provided by the embodiment of the invention realizes zero position self-detection by placing different positions of the strapdown inertial navigation system, does not need external auxiliary equipment for detection, can quickly detect whether the strapdown inertial navigation system has precision loss or not, and reduces the system calibration times of a fixed period.
In some embodiments, for simplicity and convenience, further describing the differences from the above embodiments, a method for self-detecting accuracy of a strapdown inertial navigation system further includes:
and step S112, in a static state, subtracting the angular rate modulus value of the actual position from the earth rotation angular rate by the strapdown inertial navigation system to obtain a third difference absolute value.
And step S114, subtracting the acceleration module value of the actual position from the earth gravity acceleration value to obtain a fourth difference absolute value.
And step S116, if the third difference absolute value is greater than the third threshold or the fourth difference absolute value is greater than the fourth threshold, marking the strapdown inertial navigation system as needing to be calibrated again.
Similarly, the third threshold and the fourth threshold are actually set according to the model of the actual strapdown inertial navigation system and according to the requirement, and are not specifically limited herein.
In some embodiments, a method for self-detecting the accuracy of a strapdown inertial navigation system, the method further comprises:
and step S118, calculating the relative error of the angle rate by using the angle rate module value of the actual position in the static state of the strapdown inertial navigation system.
And step S120, calculating the relative error of the acceleration by using the acceleration module value of the actual position of the strapdown inertial navigation system in a static state.
And step S122, if the relative error of the angle rate is greater than a fifth threshold value or the relative error of the acceleration is greater than a sixth threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
Similarly, the fifth threshold and the sixth threshold are actually set according to the model of the actual strapdown inertial navigation system and according to the requirement, and are not specifically limited herein.
As a possible implementation manner, the calculation method of the angular rate modulus values involved in steps S112 and S118 is as follows:
assuming that when the strapdown inertial navigation system is initially arranged, the X axis, the Y axis and the Z axis are respectively coincided with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, the original output of the gyroscope is
Expressed as:
in the formula, Lat is latitude value of the location of the strapdown inertial navigation system，ωieIs the earth rotation angular rate;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
then the strapdown inertial navigation system forms an attitude matrix from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
actual measured angular rate of gyroscope
Expressed as:
to pair
Obtaining the angular rate modulus by taking the modulus
As a possible implementation manner of this, the calculation method of the acceleration module values involved in step S114 and step S120 is as follows:
assuming that when the strapdown inertial navigation system is initially arranged, the X axis, the Y axis and the Z axis are respectively superposed with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, the original accelerometer of the accelerometerOutput of
Expressed as:
in the formula, g is the gravity acceleration value of the earth;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
then the strapdown inertial navigation system forms an attitude matrix from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
acceleration actually measured by accelerometer
Expressed as:
to pair
Obtaining the acceleration modulus by taking the modulus
As a preferred embodiment, the actual outputs of the gyroscope and the accelerometer are respectively represented by omegaoutAnd aoutThe scale coefficients of the gyroscope and the accelerometer are respectively expressed by kωAnd k isaIndicating that the three-axis gyroscope and the three-axis accelerometer are sensitive to angular rate
And acceleration measurements
Is represented as follows:
if the measured zero position changes during the zero position self-test, the actual zero position measurement value obtained in step S110 should be substituted into the above equation for calculation.
Under the static state, the output of the strapdown inertial navigation system meets the module value of the angular rate module value and the acceleration module value, and the error evaluation standard formula can adopt the following formula:
in the formula, mgIs the relative error of the angular rate, maIs the relative error in acceleration.
According to the method provided by the preferred embodiment, the result obtained according to the above-mentioned evaluation standard is compared with the delivery precision of the sensor to judge whether calibration coefficient calibration is needed, so that whether the strapdown inertial navigation system has precision loss can be quickly detected in a mine, and the system calibration times in a fixed period are reduced.
Fig. 3 is a schematic structural diagram of a device for self-detecting the accuracy of a strapdown inertial navigation system according to an embodiment of the present invention. For convenience of explanation, only the portions related to the present embodiment are shown.
Referring to fig. 3, the present embodiment provides a device 3 for self-detecting precision of a strapdown inertial navigation system, where the strapdown inertial navigation system has an accelerometer and a gyroscope, and the device includes:
the acceleration value and angle value acquisition unit 31 is used for acquiring acceleration values and angle values when an X axis, a Y axis and a Z axis of the strapdown inertial navigation system respectively face upwards and downwards;
an accelerometer zero-position and gyroscope zero-position calculating unit 32, configured to average acceleration values and angular velocity values of a single axial direction when the single axial direction faces upward and downward, and calculate accelerometer zero-position values and gyroscope zero-position values of three axial directions;
the first difference absolute value calculating unit 33 is configured to subtract the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value;
a second difference absolute value calculation unit 34, configured to subtract the zero value of the gyroscope in each axial direction from the zero value of the gyroscope calibrated by the system in the corresponding axial direction to obtain a second difference absolute value;
the first recalibration marking unit 35 is configured to mark the strapdown inertial navigation system as requiring recalibration if the first difference absolute value is greater than a first threshold or the second difference absolute value is greater than a second threshold.
In some embodiments, a device for self-detecting accuracy of a strapdown inertial navigation system further includes:
the third difference absolute value calculating unit is used for subtracting the angular rate module value of the actual position from the earth rotation angular rate to obtain a third difference absolute value under the static state of the strapdown inertial navigation system;
the fourth difference absolute value calculating unit is used for subtracting the acceleration mode value of the actual position from the earth gravity acceleration value to obtain a fourth difference absolute value when the strapdown inertial navigation system is in a static state;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the third difference absolute value is larger than the third threshold or the fourth difference absolute value is larger than the fourth threshold.
In some embodiments, a device for self-detecting accuracy of a strapdown inertial navigation system further includes:
the angle rate relative error calculation unit is used for calculating the relative error of the angle rate by using the angle rate module value of the actual position in a static state of the strapdown inertial navigation system;
the acceleration relative error calculation unit is used for calculating the relative error of the acceleration by using the acceleration module value of the actual position in the static state of the strapdown inertial navigation system;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the relative error of the angle rate is larger than a fifth threshold value or the relative error of the acceleration is larger than a sixth threshold value.
It should be noted that, since each unit of the above-mentioned apparatus provided in the embodiment of the present invention is based on the same concept as that of the embodiment of the method of the present invention, the technical effect thereof is the same as that of the embodiment of the method of the present invention, and specific contents thereof may be referred to the description of the embodiment of the method of the present invention, and are not described herein again.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A method for self-detecting precision of a strapdown inertial navigation system, wherein the strapdown inertial navigation system is provided with an accelerometer and a gyroscope, and the method comprises the following steps:
acquiring acceleration values and angle rate values of an X axis, a Y axis and a Z axis of the strapdown inertial navigation system when the X axis, the Y axis and the Z axis respectively face upwards and downwards;
respectively averaging the acceleration values and the angular speed values when a single axial direction faces upwards and downwards, and calculating the zero values of the accelerometers and the zero values of the gyroscopes in three axial directions;
subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value;
subtracting the zero value of each axial gyroscope from the zero value of the gyroscope calibrated by the corresponding axial system to obtain a second difference absolute value;
and if the first difference absolute value is larger than a first threshold value or the second difference absolute value is larger than a second threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
2. The method for self-detecting the precision of the strapdown inertial navigation system according to claim 1, further comprising:
the strapdown inertial navigation system subtracts the angular rate module value of the actual position from the earth rotation angular rate to obtain a third difference absolute value in a static state;
subtracting the acceleration module value of the actual position from the earth gravity acceleration value to obtain a fourth difference absolute value;
and if the third difference absolute value is greater than a third threshold value or the fourth difference absolute value is greater than a fourth threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
3. The method for self-detecting the precision of the strapdown inertial navigation system according to claim 1, further comprising:
the strapdown inertial navigation system calculates the relative error of the angle rate by using the angle rate module value of the actual position in a static state;
the strapdown inertial navigation system calculates the relative error of the acceleration by using the acceleration module value of the actual position in a static state;
and if the relative error of the angle rate is greater than a fifth threshold value or the relative error of the acceleration is greater than a sixth threshold value, marking the strapdown inertial navigation system as needing to be calibrated again.
4. The method for self-detecting the precision of the strapdown inertial navigation system according to claim 2 or 3, wherein the angle rate module value is calculated as follows:
assuming that when the strapdown inertial navigation system is initially arranged, the X axis, the Y axis and the Z axis are respectively coincided with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, the original output of the gyroscope is
Expressed as:
in the formula, Lat is the latitude value, omega, of the location of the strapdown inertial navigation systemieIs the earth rotation angular rate;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
the attitude matrix formed by the strapdown inertial navigation system from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
actual measured angular rate of gyroscope
Expressed as:
to pair
Obtaining the angle rate modulus value by taking the modulus value
5. The method for self-detecting the accuracy of the strapdown inertial navigation system according to claim 2 or 3, wherein the acceleration module value is calculated by the following method:
assuming that when the strapdown inertial navigation system is initially arranged, the X axis, the Y axis and the Z axis are respectively coincided with the northeast direction of the navigation coordinate system n, and b is a carrier coordinate system, the original output of the accelerometer is output
Expressed as:
in the formula, g is the gravity acceleration value of the earth;
an installation error angle exists between the strapdown inertial navigation system and the navigation coordinate system, and the installation error angle comprises: a pitch angle theta, a roll angle gamma and a heading angle psi,
the attitude matrix formed by the strapdown inertial navigation system from the ideal position to the actual position
Is represented as follows:
the ideal position is a position where three axes of the strapdown inertial navigation system coincide with a navigation coordinate system;
acceleration actually measured by accelerometer
Expressed as:
to pair
Obtaining the acceleration modulus by taking the modulus
6. A device for self-detecting precision of a strapdown inertial navigation system, wherein the strapdown inertial navigation system is provided with an accelerometer and a gyroscope, the device comprises:
the acceleration value and angle value acquisition unit is used for acquiring acceleration values and angle values when an X axis, a Y axis and a Z axis of the strapdown inertial navigation system respectively face upwards and downwards;
the accelerometer zero-position value and gyroscope zero-position value calculating unit is used for respectively averaging acceleration values and angular velocity values when a single axial direction faces upwards and downwards and calculating accelerometer zero-position values and gyroscope zero-position values of three axial directions;
the first difference absolute value calculating unit is used for subtracting the zero value of each axial accelerometer from the zero value of the accelerometer calibrated by the system corresponding to the axial direction to obtain a first difference absolute value;
the second difference absolute value calculating unit is used for subtracting the zero value of the gyroscope in each axial direction from the zero value of the gyroscope calibrated by the system in the corresponding axial direction to obtain a second difference absolute value;
the first recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the first difference absolute value is larger than a first threshold value or the second difference absolute value is larger than a second threshold value.
7. The device for self-detecting the precision of the strapdown inertial navigation system according to claim 6, further comprising:
the third absolute difference value calculating unit is used for subtracting the angular rate modulus of the actual position from the earth rotation angular rate to obtain a third absolute difference value in the static state of the strapdown inertial navigation system;
the fourth absolute difference value calculating unit is used for subtracting the acceleration mode value of the actual position from the earth gravity acceleration value to obtain a fourth absolute difference value in the static state of the strapdown inertial navigation system;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the third difference absolute value is larger than the third threshold or the fourth difference absolute value is larger than the fourth threshold.
8. The device for self-detecting the precision of the strapdown inertial navigation system according to claim 6, further comprising:
the angle rate relative error calculation unit is used for calculating the relative error of the angle rate by using the angle rate module value of the actual position in a static state of the strapdown inertial navigation system;
the acceleration relative error calculation unit is used for calculating the relative error of the acceleration by using the acceleration module value of the actual position in a static state of the strapdown inertial navigation system;
and the second recalibration marking unit is used for marking the strapdown inertial navigation system as needing recalibration if the relative error of the angle rate is larger than a fifth threshold value or the relative error of the acceleration is larger than a sixth threshold value.
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