CN114689081A - GNSS assisted MINS auto-calibration system and method - Google Patents

GNSS assisted MINS auto-calibration system and method Download PDF

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CN114689081A
CN114689081A CN202011596156.2A CN202011596156A CN114689081A CN 114689081 A CN114689081 A CN 114689081A CN 202011596156 A CN202011596156 A CN 202011596156A CN 114689081 A CN114689081 A CN 114689081A
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gnss
inertial navigation
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张原�
戴绍忠
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Beijing Atom Robotics Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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Abstract

The GNSS-assisted MINS automatic calibration system provided by the invention takes the speed and position information of the GNSS as assistance, combines the speed, position information and attitude angle information of the MEMS inertial navigation system, and uses an automatic calibration method to estimate and eliminate an installation error angle and an accelerometer error, thereby reducing the angle error of the MEMS inertial navigation system and improving the speed precision and position precision of the MEMS inertial navigation system. The automatic calibration system and the method have no strict limitation on the conditions in the carrier motion process, have low calculation complexity and are easy to realize.

Description

GNSS assisted MINS auto-calibration system and method
Technical Field
The invention relates to the technical field of inertia, in particular to a calibration technology of an MEMS inertial navigation system in integrated navigation.
Background
The MEMS Inertial Navigation System (MINS) has the advantages of low cost, strong anti-interference performance, higher precision in a short time and high data updating frequency, but the error of the MEMS inertial navigation system can be dispersed along with the increase of time. Satellite positioning systems (GNSS) have high speed and position accuracy over a long period of time, but have low data update frequency and are susceptible to interference, especially in places between high buildings, in tunnels, underground parking lots, and the like, where signals are lost. In order to make up for the deficiencies, an integrated navigation system is formed by the MEMS inertial navigation system and the satellite positioning system, data fusion is carried out, and the information of the satellite positioning system is used for correcting errors in the MEMS inertial navigation system.
The MEMS integrated navigation system has an installation error angle in application occasions such as vehicles and the like, so that the solution accuracy of the inertial navigation system is influenced; the accelerometer error of the MEMS inertial navigation system can directly influence the speed and position accuracy of the calculation of the MEMS inertial navigation system.
Therefore, a calibration method needs to be found, in which information of GNSS and MINS is comprehensively utilized during the carrier movement process, the installation error angle and the accelerometer error of the MEMS inertial navigation system are estimated, and the two errors are eliminated.
Disclosure of Invention
The invention provides an automatic calibration method by using the speed and position information of GNSS as assistance and combining the output of an MEMS inertial navigation system, estimates the installation error angle and the accelerometer error of the MEMS inertial navigation system and eliminates the two errors.
The method uses the speed and the position information of the GNSS as assistance, combines the speed, the position information and the attitude angle information of the MEMS inertial navigation system, uses an automatic calibration method to estimate and eliminate an installation error angle and an accelerometer error, reduces the angle error of the MEMS inertial navigation system, and improves the speed precision and the position precision of the MEMS inertial navigation system. The automatic calibration system and the method have no strict limitation on the conditions in the carrier motion process, have low calculation complexity and are easy to realize.
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FIG. 1 GNSS-assisted MINS auto-calibration procedure (GNSS-assisted MINS auto-calibration System and Process)
Detailed description of the preferred embodiments
The method utilizes speed and position information of GNSS signals with good quality as a reference, combines attitude angle information of an MEMS inertial navigation system and speed and position information in monitoring time, performs data preprocessing of two stages of automatic calibration each time conditions are met, and then calculates to obtain a group of calibration parameters. When the stored list of calibration parameters is full, the installation error angle and accelerometer error are calculated using a weighted average method. Referring to fig. 1, a GNSS assisted MINS auto-calibration system and method is shown. The system comprises a GNSS and MINS data acquisition module (1), an automatic calibration first-stage data preprocessing module (2), an automatic calibration second-stage data preprocessing module (3), an installation error angle and accelerometer error calculation module (4) and an installation error angle and accelerometer error weighting module (5). The system comprises a GNSS and MINS data acquisition module (1) for acquiring data output by the GNSS and MINS, an automatic calibration first-stage data preprocessing module (2) for carrying out automatic calibration preprocessing on the first-stage data, an automatic calibration second-stage data preprocessing module (3) for carrying out automatic calibration preprocessing on the second-stage data, an installation error angle and accelerometer error calculation module (4) for calculating an installation error angle and an accelerometer error and storing the same in a storage list, and an installation error angle and accelerometer error weighting module (5) for calculating an installation error angle and an accelerometer error of weighted average in the storage list and returning the installation error angle and the accelerometer error calculated by the weighted average to an MEMS inertial navigation system for error elimination. The specific implementation process is as follows:
data acquisition of GNSS and MINS
Let the data sampling period of GNSS be T0And the data sampling period of the MEMS inertial navigation system is T. East speed V for acquiring GNSS at current momentEVelocity V in the north directionNAnd east position DENorth orientation position DN. East velocity V output by MEMS inertial navigation system at current moment is collectedmEVelocity V in the north directionmNAnd east position DmENorth orientation position DmNObtaining a direction cosine matrix C corresponding to the attitude angle of the MEMS inertial navigation system at the current momentnb。CnbIs a 3 x 3 matrix known in the art.
2. Auto-calibration first stage data pre-processing
Setting an auto-calibrated speed decision threshold Vth5.0m/s, the monitoring time for the autocalibration is Tc＝NcT0(NcIs a positive integer, and the monitoring time is 10s or more). Nc is the number of samples within the monitoring time Tc.
When the positioning accuracy factor PDOP of the GNSS is <5.0, the GNSS signal quality is considered good. When the GNSS signal quality is good, the horizontal velocity of the GNSS at the current time:
Figure BDA0002868359010000021
when V is>VthIn the meantime, the automatic calibration counter FC starts timing from zero, and enters the processing procedure of the first stage of automatic calibration.
When the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE1、VN1And a starting position DE1、DN1Recording and storing initial velocity V of MEMS inertial navigation systemmE1、VmN1And a starting position DmE1、 DmN1。
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE2、VN2And an end position DE2、DN2Recording and storing the ending speed V of the MEMS inertial navigation systemmE2、VmN2And an end position DmE2、DmN2。
Calculating and storing the east acceleration and the north acceleration of the navigation coordinate system of the automatic calibration first-stage GNSS and MEMS inertial navigation system:
Figure BDA0002868359010000031
Figure BDA0002868359010000032
Figure BDA0002868359010000033
Figure BDA0002868359010000034
the data preprocessing of the first stage of auto-calibration is finished.
3. Auto-calibration second stage data pre-processing
After the data preprocessing process of the first stage of automatic calibration is finished, when the positioning accuracy factor PDOP of the GNSS is less than 5.0, the GNSS signal quality is considered to be good, and the horizontal speed at the current moment is as follows:
Figure BDA0002868359010000035
when V is>VthAnd then, the automatic calibration counter FC starts timing from zero and enters the processing process of the second stage of automatic calibration.
When the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE3、VN3And a starting position DE3、DN3Recording and storing initial velocity V of MEMS inertial navigation systemmE3、VmN3And a starting position DmE3、 DmN3。
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE4、VN4And an end position DE4、DN4Recording and storing the ending speed V of the MEMS inertial navigation systemmE4、VmN4And an end position DmE4、DmN4。
Calculating and storing the east and north accelerations of the navigation coordinate system of the GNSS and MEMS inertial navigation system in the second stage of automatic calibration:
Figure BDA0002868359010000041
Figure BDA0002868359010000042
Figure BDA0002868359010000043
Figure BDA0002868359010000044
and finishing the data preprocessing of the second stage of automatic calibration.
4. Storing the calculated installation error angle and the accelerometer error into a memory list
According to the acceleration obtained by the data preprocessing of the first stage of automatic calibration and the data preprocessing of the second stage of automatic calibration, the installation error angle of the calibration and the accelerometer error of the MEMS inertial navigation system can be calculated.
Acceleration vector:
Ya＝[fE1 fN1 fE2 fN2]T
factor matrix:
Figure BDA0002868359010000045
calculating to obtain a vector
Xa＝(φTφ)-1φTYa＝[Xa(1) Xa(2) Xa(3) Xa(4)]TT represents the transposition of the matrix, and [ X ] can be calculated according to the current Ya and phia(1) Xa(2) Xa(3) Xa(4)]T。
Then, the installation error angle obtained by the automatic calibration at this time is:
Figure BDA0002868359010000046
the automatic calibration obtains east and north acceleration errors in a navigation coordinate system:
fE0＝Xa(1)
fN0＝Xa(2)
known direction cosine matrix C corresponding to attitude angle of MEMS inertial navigation systemnbAnd calculating to obtain accelerometer errors of an X axis and a Y axis of the MEMS inertial navigation system:
fbx0＝Cnb(1,1)·fE0+Cnb(1,2)·fN0
fby0＝Cnb(2,1)·fE0+Cnb(2,2)·fN0
in the formula Cnb(i, j) (i ═ 1, 2; j ═ 1,2) denotes the direction cosine matrix CnbRow i and column j.
The installation error angle psi obtained by the automatic calibration0And accelerometer error fbx0、fby0And storing the data into a storage list.
5. Computing mounting error angle and accelerometer error for a stored list weighted average
Repeating the steps 1 to 4 of the specific process, calculating to obtain ten groups of installation error angles and accelerometer error data, and storing the ten groups of installation error angles and accelerometer error data in a storage list. Storing list psi by setting installation error angle0[i](i ═ 1,2, …, N), X-axis accelerometer error memory list fbx0[i](i-1, 2, …, N), Y-axis accelerometer error memory list fby0[i](i ═ 1,2, …, N), and the positive integer N ═ 10, i.e., there are 10 points in the stored list.
When calculating the weighted average, the variables farther from the current time adopt smaller weights, and the variables closer to the current time adopt larger weights.
Calculating a weighted average installation error angle:
Figure BDA0002868359010000051
calculating the weighted average of the errors of accelerometers on X axis and Y axis of the MEMS inertial navigation system:
Figure BDA0002868359010000052
Figure BDA0002868359010000053
the mounting error angle psi calculated by weighted averagec0And accelerometer error fx0、fy0Returning to the MEMS inertial navigation system for error elimination: installation angle error is provided for MEMS inertial navigation systemThe heading angle of the system is eliminated, and the acceleration provided by the accelerometer error to the MEMS inertial navigation system is eliminated.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the signal control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. With this understanding in mind, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for causing a terminal to perform the methods according to the embodiments of the present invention.

Claims (8)

1. A GNSS-assisted MINS automatic calibration system comprises a GNSS and MINS data acquisition module (1), an automatic calibration first-stage data preprocessing module (2), an automatic calibration second-stage data preprocessing module (3), an installation error angle and accelerometer error calculation module (4) and an installation error angle and accelerometer error weighting module (5), wherein the GNSS and MINS data acquisition module (1) is used for acquiring data output by the GNSS and MINS, the automatic calibration first-stage data preprocessing module (2) is used for carrying out automatic calibration preprocessing on first-stage data, the automatic calibration second-stage data preprocessing module (3) is used for carrying out automatic calibration preprocessing on second-stage data, the installation error angle and accelerometer error calculation module (4) is used for calculating installation error angles and accelerometer errors and storing the errors into a storage list, and the mounting error angle and accelerometer error weighting module (5) is used for calculating a mounting error angle and an accelerometer error of a weighted average of a storage list, and returning the mounting error angle and the accelerometer error calculated by the weighted average to the MEMS inertial navigation system for error elimination.
2. The GNSS assisted MINS auto-calibration system of claim 1, wherein the GNSS and MINS data collection module (1) is configured to collect GNSS and MINS output data, and comprises:
let the data sampling period of GNSS be T0The data sampling period of the MEMS inertial navigation system is T, and the east velocity V of the GNSS at the current moment is acquiredEVelocity V in the north directionNAnd east position DENorth orientation position DNAnd acquiring east velocity V output by the MEMS inertial navigation system at the current momentmENorth direction velocity VmNAnd east position DmENorth orientation position DmNObtaining a direction cosine matrix C corresponding to the attitude angle of the MEMS inertial navigation system at the current momentnb。
3. The GNSS-assisted MINS auto-calibration system of claim 2, wherein the auto-calibration first-phase data preprocessing module (2) is configured to perform auto-calibration preprocessing on the first-phase data, and specifically comprises:
setting an auto-calibrated speed decision threshold Vth5.0m/s, the monitoring time for the autocalibration is Tc＝NcT0Nc is the number of samples within the monitoring time Tc;
when the positioning accuracy factor PDOP of the GNSS is <5.0, the GNSS signal quality is considered to be good, and when the GNSS signal quality is good, the horizontal velocity of the GNSS at the current time:
Figure FDA0002868359000000011
when V is>VthWhen the time is up, the automatic calibration counter FC starts timing from zero and enters the processing process of the first stage of automatic calibration;
when the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE1、VN1And a starting position DE1、DN1Recording and storing initial velocity V of MEMS inertial navigation systemmE1、VmN1And a starting position DmE1、DmN1；
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE2、VN2And an end position DE2、DN2Recording and storing the ending speed V of the MEMS inertial navigation systemmE2、VmN2And an end position DmE2、DmN2；
Calculating and storing the east acceleration and the north acceleration of the navigation coordinate system of the automatic calibration first-stage GNSS and MEMS inertial navigation system:
Figure FDA0002868359000000021
Figure FDA0002868359000000022
Figure FDA0002868359000000023
Figure FDA0002868359000000024
the data preprocessing of the first stage of auto-calibration is finished.
4. The GNSS assisted MINS auto-calibration system of claim 3 wherein the auto-calibration second stage data pre-processing module (3) is configured to perform auto-calibration pre-processing on the second stage data, and comprises:
after the data preprocessing process of the first stage of automatic calibration is finished, when the positioning accuracy factor PDOP of the GNSS is less than 5.0, the GNSS signal quality is considered to be good, and the horizontal speed at the current moment is as follows:
Figure FDA0002868359000000025
when V is>VthWhen the time is up, the automatic calibration counter FC starts timing from zero and enters the processing process of the second stage of automatic calibration;
when the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE3、VN3And a starting position DE3、DN3Recording and storing initial velocity V of MEMS inertial navigation systemmE3、VmN3And a starting position DmE3、DmN3；
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE4、VN4And an end position DE4、DN4Recording and storing the ending speed V of the MEMS inertial navigation systemmE4、VmN4And an end position DmE4、DmN4；
Calculating and storing the east acceleration and the north acceleration of the navigation coordinate system of the GNSS and MEMS inertial navigation system at the second stage of automatic calibration:
Figure FDA0002868359000000031
Figure FDA0002868359000000032
Figure FDA0002868359000000033
Figure FDA0002868359000000034
and finishing the data preprocessing of the second stage of automatic calibration.
5. The GNSS assisted MINS auto-calibration system of claim 4 wherein the installation error angle and accelerometer error calculation module (4) specifically comprises:
according to the acceleration obtained by the data preprocessing of the first stage of automatic calibration and the data preprocessing of the second stage of automatic calibration, the installation error angle of the calibration and the accelerometer error of the MEMS inertial navigation system can be calculated.
Acceleration vector:
Ya＝[fE1 fN1 fE2 fN2]T
factor matrix:
Figure FDA0002868359000000035
calculating to obtain the vector
Xa＝(φTφ)-1φTYa＝[Xa(1) Xa(2) Xa(3) Xa(4)]TT represents the transposition of the matrix, and [ X ] can be calculated according to the current Ya and phia(1) Xa(2) Xa(3) Xa(4)]T。
Then, the installation error angle obtained by the automatic calibration at this time is:
Figure FDA0002868359000000036
the automatic calibration obtains east and north acceleration errors in a navigation coordinate system:
fE0＝Xa (1)
fN0＝Xa (2)
known direction cosine matrix C corresponding to attitude angle of MEMS inertial navigation systemnbAnd calculating to obtain accelerometer errors of an X axis and a Y axis of the MEMS inertial navigation system:
fbx0＝Cnb(1，1)·fE0+Cnb(1，2)·fN0
fby0＝Cnb(2，1)·fE0+Cnb(2，2)·fN0
in the formula Cnb(i, j) (i ═ 1, 2; j ═ 1,2) denotes the direction cosine matrix CnbThe element value of the ith row and the jth column;
the installation error angle psi obtained by the automatic calibration0And accelerometer error fbx0、fby0And storing the data into a storage list.
6. The GNSS assisted MINS auto-calibration system of claim 5 wherein the installation error angle and accelerometer error weighting module (5) is configured to calculate an installation error angle and accelerometer error of a weighted average of the stored list and return the installation error angle and accelerometer error calculated by the weighted average to the MEMS inertial navigation system for error cancellation, comprising:
and repeating the steps 1 to 4 of the specific process, and calculating to obtain N groups of installation error angles and accelerometer error data and storing the N groups of installation error angles and accelerometer error data in a storage list. Storing list psi by setting installation error angle0[i](i ═ 1,2, …, N), X-axis accelerometer error memory list fbx0[i](i＝1,2,…N), Y-axis accelerometer error memory list fby0[i](i＝1,2,…,N)；
Calculating a weighted average installation error angle:
Figure FDA0002868359000000041
calculating the weighted average of the errors of accelerometers on X axis and Y axis of the MEMS inertial navigation system:
Figure FDA0002868359000000042
Figure FDA0002868359000000043
the mounting error angle psi calculated by weighted averagec0And accelerometer error fx0、fy0Returning to the MEMS inertial navigation system for error elimination: the mounting angle error is provided for eliminating a course angle of the MEMS inertial navigation system, and the accelerometer error is provided for eliminating an acceleration of the MEMS inertial navigation system.
7. A method performed in the GNSS assisted MINS auto-calibration system of claim 1, comprising:
(1) the GNSS and MINS data acquisition method specifically comprises the following steps:
let the data sampling period of GNSS be T0The data sampling period of the MEMS inertial navigation system is T, and the east velocity V of the GNSS at the current moment is acquiredEVelocity V in the north directionNAnd east position DENorth orientation position DNAnd acquiring east velocity V output by the MEMS inertial navigation system at the current momentmEVelocity V in the north directionmNAnd east position DmENorth orientation position DmNObtaining a direction cosine matrix C corresponding to the attitude angle of the MEMS inertial navigation system at the current momentnb。
(3) The method comprises the following steps of automatically calibrating first-stage data preprocessing, specifically:
setting an auto-calibrated speed decision threshold Vth5.0m/s, the monitoring time for the autocalibration is Tc＝NcT0(NcIs a positive integer), Nc is the number of samples within the monitoring time Tc;
when the positioning accuracy factor PDOP of the GNSS is <5.0, the GNSS signal quality is considered to be good, and when the GNSS signal quality is good, the horizontal velocity of the GNSS at the current time:
Figure FDA0002868359000000051
when V is>VthWhen the time is up, the automatic calibration counter FC starts timing from zero and enters the processing process of the first stage of automatic calibration;
when the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE1、VN1And a starting position DE1、DN1Recording and storing initial velocity V of MEMS inertial navigation systemmE1、VmN1And a starting position DmE1、DmN1，
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE2、VN2And an end position DE2、DN2Recording and storing the ending speed V of the MEMS inertial navigation systemmE2、VmN2And an end position DmE2、DmN2；
Calculating and storing the east acceleration and the north acceleration of the navigation coordinate system of the automatic calibration first-stage GNSS and MEMS inertial navigation system:
Figure FDA0002868359000000052
Figure FDA0002868359000000053
Figure FDA0002868359000000054
Figure FDA0002868359000000055
the data preprocessing of the first stage of auto-calibration is finished.
(3) The data preprocessing of the second stage of automatic calibration specifically comprises the following steps:
after the data preprocessing process of the first stage of automatic calibration is finished, when the positioning accuracy factor PDOP of the GNSS is less than 5.0, the GNSS signal quality is considered to be good, and the horizontal speed at the current moment is as follows:
Figure FDA0002868359000000056
when V is>VthWhen the time is up, the automatic calibration counter FC starts timing from zero and enters the processing process of the second stage of automatic calibration;
when the automatic calibration counter FC is equal to zero, recording and storing the starting speed V of the GNSSE3、VN3And a starting position DE3、DN3Recording and storing initial velocity V of MEMS inertial navigation systemmE3、VmN3And a starting position DmE3、DmN3；
The auto-calibration counter FC is incremented by 1 every time GNSS data is sampled, when FC equals NcThen, the GNSS ending speed V is recorded and savedE4、VN4And an end position DE4、DN4Recording and storing the ending speed V of the MEMS inertial navigation systemmE4、VmN4And an end position DmE4、DmN4；
Calculating and storing the east acceleration and the north acceleration of the navigation coordinate system of the GNSS and MEMS inertial navigation system at the second stage of automatic calibration:
Figure FDA0002868359000000061
Figure FDA0002868359000000062
Figure FDA0002868359000000063
Figure FDA0002868359000000064
and finishing the data preprocessing of the second stage of automatic calibration.
(4) Calculating an installation error angle and an accelerometer error and storing the installation error angle and the accelerometer error into a storage list, wherein the method specifically comprises the following steps:
according to the acceleration obtained by the data preprocessing of the first stage of automatic calibration and the data preprocessing of the second stage of automatic calibration, the installation error angle of the calibration and the accelerometer error of the MEMS inertial navigation system can be calculated,
acceleration vector:
Ya＝[fE1 fN1 fE2 fN2]T
factor matrix:
Figure FDA0002868359000000065
calculating to obtain the vector
Xa＝(φTφ)-1φTYa＝[Xa(1) Xa(2) Xa(3) Xa(4)]TT represents the transposition of the matrix, and [ X ] can be calculated according to the current Ya and phia(1) Xa(2) Xa(3) Xa(4)]T，
Then, the installation error angle obtained by the automatic calibration is as follows:
Figure FDA0002868359000000066
the automatic calibration obtains east and north acceleration errors in a navigation coordinate system:
fE0＝Xa (1)
fN0＝Xa (2)
known direction cosine matrix C corresponding to attitude angle of MEMS inertial navigation systemnbAnd calculating to obtain accelerometer errors of an X axis and a Y axis of the MEMS inertial navigation system:
fbx0＝Cnb(1，1)·fE0+Cnb(1，2)·fN0
fby0＝Cnb(2，1)·fE0+Cnb(2，2)·fN0
in the formula Cnb(i, j) (i ═ 1, 2; j ═ 1,2) denotes the direction cosine matrix CnbThe element values in row i and column j,
the installation error angle psi obtained by the automatic calibration0And accelerometer error fbx0、fby0And storing the data into a storage list.
(5) Calculating the installation error angle and the accelerometer error of the weighted average of the storage list, specifically:
repeating the steps 1 to 4 of the specific process, obtaining N groups of installation error angles and accelerometer error data through calculation, storing the N groups of installation error angles and accelerometer error data into a storage list, and setting an installation error angle storage list psi0[i](i 1, 2.. N.) X-axis accelerometer error memory list fbx0[i](i ═ 1, 2.. multidata, N), Y-axis accelerometer error memory list fby0[i](i＝1，2，...，N)；
Calculating a weighted average installation error angle:
Figure FDA0002868359000000071
calculating the weighted average of the errors of accelerometers on X axis and Y axis of the MEMS inertial navigation system:
Figure FDA0002868359000000072
Figure FDA0002868359000000073
the mounting error angle psi calculated by weighted averagec0And accelerometer error fx0、fy0Returning to the MEMS inertial navigation system for error elimination: the mounting angle error is provided for eliminating a course angle of the MEMS inertial navigation system, and the accelerometer error is provided for eliminating an acceleration of the MEMS inertial navigation system.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of claim 7.
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