CN115127592A - Inertial measurement unit testing method, system, terminal equipment and storage medium - Google Patents
Inertial measurement unit testing method, system, terminal equipment and storage medium Download PDFInfo
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Abstract
The invention is suitable for the technical field of data processing, and provides an inertial measurement unit testing method, a system, terminal equipment and a storage medium, wherein the inertial measurement unit testing method comprises the following steps: performing standing detection according to self-detection data of the inertial unit to be detected in a standing state; if the static detection of the inertial set to be detected is qualified, acquiring inertial set data of the inertial set to be detected in a moving state, and performing navigation analysis on the inertial set data to obtain inertial set navigation data; acquiring positioning data of the position of the inertial unit to be detected, and performing data comparison on the positioning data and inertial unit navigation data; and if the data comparison between the positioning data and the inertial measurement unit navigation data is qualified, judging that the test of the to-be-tested inertial measurement unit is qualified. According to the invention, the effect of dynamic testing on the inertial set to be tested can be effectively achieved, and data analysis is carried out on the inertial set data, the inertial set navigation data and the positioning data obtained through dynamic testing so as to detect the performance of the inertial set to be tested, and the accuracy of the inertial set testing is improved.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to an inertial measurement unit testing method, an inertial measurement unit testing system, terminal equipment and a storage medium.
Background
With the development of times and the progress of science and technology, the aviation technology in China is rapidly developed, the inertial unit is used as an important single machine in a carrier rocket, and before the rocket assembly test is carried out, the inertial unit is generally required to be tested to test the performance of the inertial unit.
In the existing inertial measurement unit testing process, the test equipment is limited, only simple indoor calibration and static test can be performed, and dynamic test is difficult to realize.
Disclosure of Invention
The embodiment of the invention provides an inertial measurement unit testing method, aiming at solving the problem that the existing inertial measurement unit cannot be dynamically tested.
The embodiment of the invention is realized in such a way that an inertial measurement unit testing method comprises the following steps:
electrifying an inertial unit to be tested, and acquiring self-checking data of the inertial unit to be tested in a standing state;
performing static detection on the inertial measurement unit to be detected according to the self-detection data, wherein the static detection is used for detecting whether the inertial measurement unit to be detected normally operates in a static state;
if the static detection of the inertial set to be detected is qualified, acquiring inertial set data of the inertial set to be detected in a moving state, and performing navigation analysis on the inertial set data to obtain inertial set navigation data;
acquiring positioning data of the position of the inertial unit to be detected, and performing data comparison on the positioning data and the inertial unit navigation data;
and if the data comparison between the positioning data and the inertial measurement unit navigation data is qualified, judging that the test of the to-be-tested inertial measurement unit is qualified.
Further, the static detection of the inertial measurement unit to be detected according to the self-detection data includes:
respectively acquiring acceleration data and gyro data of the inertial measurement unit to be measured in different directions in the self-checking data;
carrying out vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculating a deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;
carrying out vector sum calculation on the gyro data in different directions to obtain a gyro combined vector, and calculating a deviation value between the gyro combined vector and a preset gyro vector to obtain a gyro deviation value;
and if the acceleration deviation value is smaller than a first preset deviation value and the gyro deviation value is smaller than a second preset deviation value, judging that the static detection of the to-be-detected inertial unit is qualified.
Further, the performing navigation analysis on the inertial data to obtain inertial navigation data includes:
and inputting the inertial group data into preset navigation equipment for navigation analysis to obtain the inertial group navigation speed and the inertial group navigation position.
Further, the data comparison between the positioning data and the inertial navigation data includes:
performing coordinate system conversion on the positioning data to obtain positioning conversion data, and determining an inertial set positioning speed and an inertial set positioning position according to the positioning conversion data;
comparing the inertial set positioning speed with the inertial set navigation speed to obtain an inertial set speed error, and comparing the inertial set positioning position with the inertial set navigation position to obtain an inertial set position error;
and if the inertial measurement unit speed error is smaller than a first error threshold value and the inertial measurement unit position error is smaller than a second error threshold value, judging that the data comparison between the positioning data and the inertial measurement unit navigation data is qualified.
Further, after the standing detection of the inertial measurement unit to be detected is qualified, the method further comprises the following steps:
acquiring position information of a preset transmitting point, and determining initial azimuth data according to the position information of the preset transmitting point and the inertial data;
carrying out leveling calculation according to the initial azimuth angle data and the inertial measurement data to obtain a leveling pitch angle and a leveling yaw angle, and carrying out leveling processing on the preset navigation equipment according to the leveling pitch angle and the leveling yaw angle;
and obtaining the speed information and the attitude information of the inertial measurement unit to be measured at the current moment, and sending the speed information and the attitude information of the inertial measurement unit to be measured to the leveled preset navigation equipment.
According to the invention, the self-checking data of the inertial set to be tested in a static state is obtained, the static detection can be effectively carried out on the inertial set to be tested based on the self-checking data, the performance of the inertial set to be tested in the static state is detected, the navigation analysis is carried out on the inertial set data of the inertial set to be tested in a moving state, the inertial set data can be effectively converted into inertial set navigation data, the inertial set navigation data is used for visually representing the position and speed information of the inertial set to be tested, and the stability of the performance of the inertial set to be tested is detected by carrying out data comparison on positioning data and the inertial set navigation data.
The embodiment of the invention also provides an inertial measurement unit testing system, which comprises:
the system comprises power supply equipment, an inertial unit to be tested, a controller, a bus analyzer and an upper computer, wherein the power supply equipment, the inertial unit to be tested, the controller and the bus analyzer are communicated through a local area network;
the power supply equipment is used for supplying power to the inertial measurement unit to be tested and the controller;
the inertial measurement unit to be tested is used for sending self-checking data and inertial measurement unit data to the local area network after being electrified;
the controller is used for receiving inertial group data, receiving an instruction of the upper computer, performing navigation analysis on the inertial group data to obtain inertial group navigation data, acquiring positioning data of the position of the to-be-detected inertial group, and sending the positioning data and the inertial group navigation data to the local area network;
the bus analyzer is used for receiving and storing various data in the local area network and forwarding a test instruction of the upper computer;
the upper computer is used for acquiring the self-checking data, performing static detection on the to-be-tested inertial unit according to the self-checking data, performing data comparison on the positioning data and the inertial unit navigation data, and judging that the to-be-tested inertial unit is qualified in test if the positioning data is qualified in data comparison with the inertial unit navigation data.
According to the invention, a minimized and portable inertial set testing system is provided so as to test the dynamic characteristics of the inertial set before the rocket system is tested, outfield sports car tests are facilitated for the inertial set to be tested through the minimization of the inertial set testing system, the accuracy of the inertial set to be tested is improved, the analysis of the test data of the inertial set to be tested is facilitated through the integrated design of analysis, processing and storage of all data in an upper computer, the navigation data of the inertial set is obtained through the navigation analysis of the inertial set data, the dynamic characteristics of the inertial set can be visualized, and the display and comparison of the inertial set data are facilitated.
The embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method when executing the computer program.
An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method.
Drawings
FIG. 1 is a flow chart of a method for testing an inertial measurement unit according to a first embodiment of the present invention;
FIG. 2 is a flowchart of an inertial measurement unit testing method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of an inertial measurement unit testing system according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an inertial measurement unit testing system according to a fourth embodiment of the present invention;
FIG. 5 is a flowchart illustrating exemplary steps of a fourth embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an inertial measurement unit testing system according to a fifth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a terminal device according to a sixth embodiment of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example one
Referring to fig. 1, a flowchart of an inertial measurement unit testing method according to a first embodiment of the present invention is shown, where the inertial measurement unit testing method can be applied to any terminal device or system, and the inertial measurement unit testing method includes the steps of:
step S10, electrifying the inertial unit to be tested, and acquiring self-checking data of the inertial unit to be tested in a standing state;
the inertial measurement unit to be tested is electrically connected with a power supply device through a power supply cable, the power supply device supplies power to the inertial measurement unit to be tested, and after the inertial measurement unit to be tested is powered on, the accelerometer information and the gyro information output by the inertial measurement unit to be tested in a first preset time period are obtained to obtain the self-checking data, the inertial measurement unit to be tested in the first preset time period is in a standing state, the first preset time period and a data acquisition period of the self-checking data can be set according to requirements, for example, the first preset time period can be set to be 1 minute, 2 minutes or 10 minutes and the like, and the data acquisition period can be set to be 5ms, 10ms or 15ms and the like;
optionally, in this step, the self-checking data may be collected based on a Controller, the Controller communicates with the to-be-tested inertial group through a local Area Network, and the local Area Network may be set according to a requirement, for example, the local Area Network may be set as a Controller Area Network (CAN bus).
Step S20, carrying out standing detection on the inertial measurement unit to be detected according to the self-detection data;
the static detection is used for detecting whether the running of the inertial set to be detected in the static state is normal or not, and the performance of the inertial set to be detected in the static state is judged by detecting whether self-checking data of the inertial set to be detected in the static state are normal or not;
in the step, if the static detection of the to-be-detected inertial unit is not qualified, judging that the to-be-detected inertial unit in the static state is abnormal, and sending an inertial unit detection error prompt according to the self-detection data and the identification of the to-be-detected inertial unit, wherein the inertial unit detection error prompt is used for prompting a user that the to-be-detected inertial unit has errors in the self-detection process.
Step S30, if the to-be-detected inertial unit is qualified in standing detection, acquiring inertial unit data of the to-be-detected inertial unit in a moving state, and performing navigation analysis on the inertial unit data to obtain inertial unit navigation data;
the inertial measurement unit to be measured is arranged on a mobile device, if the inertial measurement unit to be measured is qualified in standing detection, the mobile device is driven to drive the inertial measurement unit to be measured to move in position, inertial measurement unit data of the inertial measurement unit to be measured in a moving state is obtained in real time, the inertial measurement unit data comprises accelerometer information and gyro information, the accelerometer information comprises acceleration information of the inertial measurement unit to be measured in the front-back direction, the left-right direction and the up-down direction, and the gyro information comprises gyro information of the inertial measurement unit to be measured in the front-back direction, the left-right direction and the up-down direction;
in the step, through navigation analysis of the inertial group data of the to-be-detected inertial group in the moving state, the inertial group data can be effectively converted into inertial group navigation data, and the inertial group navigation data is used for visually representing the position and speed information of the to-be-detected inertial group.
Optionally, in this step, the performing navigation analysis on the inertial data to obtain inertial navigation data includes:
inputting the inertial group data into a preset navigation device for navigation analysis to obtain inertial group navigation speed and an inertial group navigation position, wherein the preset navigation device can be set according to requirements and can be a universal navigation module, the preset navigation device is used for performing navigation analysis by taking the inertial group data as input information to obtain the inertial group navigation data, and the inertial group navigation data can visually display the corresponding relation between different positions and corresponding speed information of the inertial group to be detected.
Further, in this step, after the standing detection of the to-be-detected inertial unit is qualified, the method further includes:
acquiring position information of a preset transmitting point, and determining initial azimuth data according to the position information of the preset transmitting point and the inertial data;
the method comprises the steps that position information of a preset launching point can be set according to requirements, in the step, position information of an inertial group to be tested in a standing state is obtained, the obtained position information is determined to be the position information of the preset launching point, and the position information of the preset launching point comprises longitude and latitude height information of the launching point;
specifically, in this step, if the stationary detection of the to-be-detected inertial set is qualified, acquiring longitude and latitude height information of the launch point, acquiring inertial set data of the to-be-detected inertial set within a second preset time period, and performing self-alignment calculation according to the acquired inertial set data and the longitude and latitude height information of the launch point to obtain initial azimuth data, where the second preset time period may be set as required, for example, the second preset time period may be set as any time value in 5-10 minutes;
carrying out leveling calculation according to the initial azimuth angle data and the inertial measurement data to obtain a leveling pitch angle and a leveling yaw angle, and carrying out leveling processing on the preset navigation equipment according to the leveling pitch angle and the leveling yaw angle; the preset navigation equipment is leveled according to the leveling pitch angle and the leveling yaw angle, so that the accuracy of navigation analysis of the preset navigation equipment on the inertial data is improved;
the method comprises the steps of obtaining speed information and attitude information of the inertial unit to be tested at the current moment, and sending the speed information and the attitude information of the inertial unit to be tested to the leveled preset navigation equipment, wherein the navigation analysis of the inertial unit data by the preset navigation equipment is further ensured by sending the speed information and the attitude information of the inertial unit to be tested to the leveled preset navigation equipment.
Step S40, acquiring positioning data of the position of the inertial measurement unit to be measured, and performing data comparison between the positioning data and the inertial measurement unit navigation data;
the mobile equipment is provided with a positioning module which can be set according to requirements, the positioning module in the step is a GPS/BD-2 receiving board and is used for acquiring positioning data of the inertial set to be tested in real time, and in the step, the positioning data and the inertial set navigation data are compared to detect the stability of the performance of the inertial set to be tested in a moving state, so that the accuracy of the test of the inertial set to be tested is improved;
step S50, if the data comparison of the positioning data and the inertial measurement unit navigation data is qualified, determining that the test of the to-be-tested inertial measurement unit is qualified;
the method comprises the steps that positioning data and inertial measurement unit navigation data are compared to obtain a data error between the positioning data and the inertial measurement unit navigation data, when the data error between the positioning data and the inertial measurement unit navigation data is larger than or equal to a preset error value, it is determined that the data comparison between the positioning data and the inertial measurement unit navigation data is unqualified, namely, the performance stability of an inertial measurement unit to be measured in a moving state is poor, and when the data error between the positioning data and the inertial measurement unit navigation data is smaller than the preset error value, it is determined that the data comparison between the positioning data and the inertial measurement unit navigation data is qualified, namely, the performance stability of the inertial measurement unit to be measured in the moving state is high.
In the embodiment, the self-checking data of the to-be-tested inertial set in the static state is acquired, the to-be-tested inertial set can be effectively subjected to static detection based on the self-checking data so as to detect the performance of the to-be-tested inertial set in the static state, the inertial set data of the to-be-tested inertial set in the moving state is subjected to navigation analysis so as to effectively convert the inertial set data into the inertial set navigation data, the inertial set navigation data is used for visually representing the position and speed information of the to-be-tested inertial set, and the positioning data and the inertial set navigation data are subjected to data comparison so as to detect the stability of the performance of the to-be-tested inertial set.
Example two
Please refer to fig. 2, which is a flowchart illustrating a method for testing a conventional team according to a second embodiment of the present invention, wherein the method for further refining step S20 includes the steps of:
step S21, respectively acquiring acceleration data and gyro data of the inertial measurement unit to be measured in different directions from the self-checking data;
acquiring acceleration data and gyro data of an inertial measurement unit to be measured in the self-checking data in the front-back direction, the left-right direction and the up-down direction respectively to obtain front-back acceleration data, left-right acceleration data, up-down acceleration data, front-back gyro data, left-right gyro data and up-down gyro data;
step S22, carrying out vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculating a deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;
wherein, the preset acceleration vector can be set according to the requirement, and the preset acceleration vector can be set to 9.8m/s 2 ；
Step S23, carrying out vector sum calculation on the gyro data in different directions to obtain a gyro resultant vector, and calculating a deviation value between the gyro resultant vector and a preset gyro vector to obtain a gyro deviation value;
the preset gyro vector may be set according to a requirement, for example, the preset gyro vector may be set to 15 °/hour, in which the vector sum calculation is performed on the acceleration data in different directions, and a formula for performing the vector sum calculation on the gyro data in different directions includes:
Vector3_ADD1(imu.a_1s,Input_ag.a,1.0,&imu.a_1s)；
Vector3_ADD2(imu.g_1s,Input_ag.g,1.0,&imu.g_1s)；
wherein, Input _ ag.a and Input _ ag.g are tabulation data and gyro data in the self-test data, and imu.a _1s and imu.g _1s are the accumulated sum of 1 second;
vector3_ get _ Norm1(a _ sum, (f 64) & d _ Val), acceleration deviation value a ═ abs (a-G0)/G0
Vector3_ get _ Norm2(g _ sum, (f 64) & d _ Val), gyro deviation value;
step S24, if the acceleration deviation value is smaller than a first preset deviation value and the gyro deviation value is smaller than a second preset deviation value, judging that the static detection of the to-be-detected inertial set is qualified;
wherein, first default deviation value and second default deviation value all can set up according to the user's demand, and in this step, first default deviation value sets up to 1.0e-3, and the second default deviation value sets up to 1.0, and is optional, if the acceleration deviation value is less than or equal to first default deviation value, and gyro deviation value less than or equal to second default deviation value, then judges that the detection of stewing of the group of being used to await measuring is qualified, concrete:
imu _ Val- > a _ res ═ fabs (d _ Val-9.8)/9.8, standard of deviation interpretation: acceleration deviation value of 1.0e-3
imu _ Val- > g _ res ═ fabs (d _ Val × 57.3 × 3600-15), standard of deviation interpretation: and the gyro deviation value is less than 1.0.
In the embodiment, the acceleration data and the gyro data of the inertial measurement unit to be measured in different directions in the self-checking data are respectively obtained, so that the vector sum calculation accuracy of the acceleration data and the gyro data is improved, the acceleration data in different directions are subjected to vector sum calculation to obtain an acceleration resultant vector, a deviation value between the acceleration resultant vector and a preset acceleration vector can be effectively calculated based on the acceleration resultant vector to obtain an acceleration deviation value, the accuracy of the acceleration data of the to-be-tested inertial set in a standing state can be effectively represented based on the acceleration deviation value, the gyro combined vector is obtained by carrying out vector summation calculation on the gyro data in different directions, a deviation value between the gyro combined vector and a preset gyro vector can be effectively calculated based on the gyro and the vector, a gyro deviation value is obtained, and the accuracy of the gyro data of the to-be-measured inertial set in a standing state can be effectively represented based on the gyro deviation value.
EXAMPLE III
Please refer to fig. 3, which is a flowchart of a conventional team testing method according to a third embodiment of the present invention, the method for further refining the step S40 includes the steps of:
step S41, converting the coordinate system of the positioning data to obtain positioning conversion data, and determining the positioning speed and the positioning position of the inertial group according to the positioning conversion data;
the positioning data and the inertial group data can be effectively converted into data in the same coordinate system by converting the coordinate system of the positioning data, and the accuracy of the inertial group data can be effectively detected based on the positioning conversion data obtained after the coordinate system conversion, so that the accuracy of an inertial group test is improved;
optionally, in this step, the performing coordinate system conversion on the positioning data to obtain a formula used for positioning conversion data includes:
wherein, I is a 4 x 4 order identity matrix,
wherein, Delta theta x ,Δθ y ,Δθ z Is the angular increment of each gyro output in a unit period.
The formula for determining the inertial measurement unit positioning speed and the inertial measurement unit positioning position according to the positioning conversion data comprises the following formulas:
calculating inertial measurement unit positioning speed:
wherein, V x n ,V y n ,V z n Is the speed information under the geographic coordinate system,
a projection of the acceleration output values in a geographical system;
calculating an inertial measurement unit positioning position:
a. calculating longitude and latitude:
b. and (3) calculating the azimuth angle of the target system:
c. and (3) position calculation:
wherein，X m ,Y m ,Z m The position information is the position information under a target coordinate system, alpha is the included angle of the target position relative to the north direction, and the unit is rad;
step S42, carrying out speed comparison on the inertial set positioning speed and the inertial set navigation speed to obtain an inertial set speed error, and carrying out position comparison on the inertial set positioning position and the inertial set navigation position to obtain an inertial set position error;
the method comprises the steps that an inertial set positioning speed and an inertial set navigation speed are subjected to speed comparison to obtain an inertial set speed error, the accuracy of tabulated data of an inertial set to be tested in a moving state can be effectively represented on the basis of the inertial set speed error, an inertial set positioning position and an inertial set navigation position are subjected to position comparison to obtain an inertial set position error, and the accuracy of gyro data of the inertial set to be tested in the moving state can be effectively represented on the basis of the inertial set position error;
step S43, if the inertial measurement unit speed error is smaller than a first error threshold value and the inertial measurement unit position error is smaller than a second error threshold value, determining that the data comparison between the positioning data and the inertial measurement unit navigation data is qualified;
wherein, this first error threshold value and second error threshold value all can set up according to the demand.
In the embodiment, the positioning data and the inertial data can be effectively converted into data in the same coordinate system by converting the coordinate system, the accuracy of the inertial data can be effectively detected based on the positioning conversion data obtained after the coordinate system conversion, the accuracy of an inertial test is further improved, an inertial speed error is obtained by comparing the inertial positioning speed with the inertial navigation speed, the accuracy of the table data added to the to-be-tested inertial set in a moving state can be effectively represented based on the inertial speed error, a position error of the to-be-tested inertial set is obtained by comparing the inertial positioning position with the inertial navigation position, and the accuracy of the gyro data of the to-be-tested inertial set in the moving state can be effectively represented based on the inertial positioning error.
Example four
Please refer to fig. 4, which is a schematic structural diagram of an inertial measurement unit testing system according to a fourth embodiment of the present invention, including: power supply unit 10, the inertial measurement unit 11 that awaits measuring, controller 12, bus analysis appearance 13 and host computer 14, through local area network 15 communication between power supply unit 10, the inertial measurement unit 11 that awaits measuring, controller 12 and the bus analysis appearance 13, wherein:
the power supply equipment 10 is used for supplying power to the inertial measurement unit 11 to be tested and the controller 12; the inertial measurement unit 11 to be tested is used for sending self-checking data and inertial measurement unit data to the local area network 15 after being electrified; the controller 12 is configured to receive the inertial group data, receive an instruction of the upper computer 14, perform navigation analysis on the inertial group data to obtain inertial group navigation data, obtain positioning data of a position where the to-be-detected inertial group 11 is located, and send the positioning data and the inertial group navigation data to the local area network 15; the bus analyzer 13 is used for receiving and storing various data in the local area network 15 and forwarding a test instruction of the upper computer 14; the upper computer 14 is used for obtaining self-checking data, performing static detection on the inertial measurement unit 11 to be tested according to the self-checking data, performing data comparison on positioning data and inertial measurement unit navigation data, and judging that the test of the inertial measurement unit 11 to be tested is qualified if the data comparison of the positioning data and the inertial measurement unit navigation data is qualified. Preferably, the bus analyzer 13 of the present embodiment is a CAN analyzer, and the local area network 15 is a CAN bus.
The application scene of the inertial measurement unit testing system is as follows: the power supply equipment 10, the inertial measurement unit 11 to be tested and the controller 12 are placed into a test automobile (mobile equipment) through a designed tool, a power supply and communication cable is connected, a bus analyzer 13(CAN analyzer) is connected, the upper computer 14 CAN adopt a general notebook computer and is connected with the CAN analyzer through a usb, and the functions of instruction control, data communication, data analysis and display, test data storage and the like are realized through an upper computer position so as to complete an inertial measurement unit sports car test.
Referring to fig. 5, the implementation steps of the inertial measurement unit testing system provided in this embodiment include: the method comprises the steps that an inertial unit 11 to be tested and a controller 12 are powered on, the inertial unit 11 to be tested is subjected to parameter initialization, self-checking data are fed back, a positioning device in the controller 12 collects the longitude and latitude heights of emitting points, the longitude and latitude heights of the emitting points are written into the controller 12 and an upper computer 14 respectively, the upper computer 14 sends an ignition allowing command, a mobile device is controlled to drive the inertial unit 11 to be tested to move, the controller 12 receives inertial unit data, navigation analysis is conducted on the inertial unit data according to a navigation calculation module, inertial unit navigation data are obtained, the controller 12 forwards positioning data collected by a positioning module, the upper computer 14 stores all data received by a bus analyzer 13, data comparison is conducted between the positioning data and the inertial unit navigation data, and if the positioning data are qualified, the testing of the inertial unit 11 to be tested is judged to be qualified.
In this embodiment, the controller 12 is used to organize data collection, utilizes general navigation calculation module, will be used to add table data and gyro data conversion in organizing data and be more audio-visual position and speed information, can carry out data comparison with the positioning data simultaneously to the stability of the group data is used to the group to test 11 of being used to the group that awaits measuring at the sports car in-process. In the embodiment, the CAN bus is adopted for communication, data processing is convenient through a universal bus protocol, and meanwhile, a test system CAN be simplified, the inertial unit testing system has the advantages of miniaturization, portability and the like, in the embodiment, a common notebook computer is used as the testing upper computer 14, and the CANalyst analyzer is simply connected through the USB to simulate the ground software for command control, so that the ground testing equipment can be greatly simplified, the testing system can be optimized, by secondarily developing CANalyst analyzer software and designing upper computer 14 software, the functions of data monitoring, data storage and analysis and the like of the test system are realized, the inertial data is converted into navigation information by adding the controller 12, and the inertial data can be checked and judged by dynamic characteristics visually by comparing the navigation information with data of a general GPS/BD-2 receiver (integrated into a single controller).
In the embodiment, a minimized and portable inertial measurement unit testing system is provided so as to test the dynamic characteristics of the inertial measurement unit before testing a rocket system, the external field sports car test of the inertial measurement unit to be tested is facilitated through the minimization of the inertial measurement unit testing system, the accuracy of the test of the inertial measurement unit to be tested is improved, the analysis of the test data of the inertial measurement unit to be tested is facilitated through the integrated design of analysis, processing and storage of all data in an upper computer, the navigation data of the inertial measurement unit is obtained through the navigation analysis of the inertial measurement unit, the dynamic characteristics of the inertial measurement unit can be visualized, and the display and comparison of the inertial measurement unit data are facilitated.
EXAMPLE five
Referring to fig. 6, a schematic structural diagram of an inertial measurement unit testing system 100 according to a fifth embodiment of the present invention is shown, including: self-checking unit 16, navigation analysis unit 17 and data comparison unit 18, wherein:
the self-checking unit 16 is configured to power on the to-be-tested inertial unit, acquire self-checking data of the to-be-tested inertial unit in a static state, perform static detection on the to-be-tested inertial unit according to the self-checking data, and the static detection is used to detect whether the to-be-tested inertial unit operates normally in the static state.
Optionally, the self-checking unit 16 is further configured to: respectively acquiring acceleration data and gyro data of the inertial measurement unit to be measured in different directions in the self-checking data;
carrying out vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculating a deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;
carrying out vector sum calculation on the gyro data in different directions to obtain a gyro combined vector, and calculating a deviation value between the gyro combined vector and a preset gyro vector to obtain a gyro deviation value;
and if the acceleration deviation value is smaller than a first preset deviation value and the gyro deviation value is smaller than a second preset deviation value, judging that the static detection of the to-be-detected inertial unit is qualified.
Further, the self-checking unit 16 is further configured to: acquiring position information of a preset transmitting point, and determining initial azimuth data according to the position information of the preset transmitting point and the inertial data;
carrying out leveling calculation according to the initial azimuth angle data and the inertial measurement data to obtain a leveling pitch angle and a leveling yaw angle, and carrying out leveling processing on the preset navigation equipment according to the leveling pitch angle and the leveling yaw angle;
and obtaining the speed information and the attitude information of the inertial measurement unit to be measured at the current moment, and sending the speed information and the attitude information of the inertial measurement unit to be measured to the leveled preset navigation equipment.
And the navigation analysis unit 17 is configured to, if the stationary detection of the to-be-detected inertial unit is qualified, obtain inertial unit data of the to-be-detected inertial unit in a moving state, and perform navigation analysis on the inertial unit data to obtain inertial unit navigation data.
Optionally, the navigation analysis unit 17 is further configured to: and inputting the inertial group data into preset navigation equipment for navigation analysis to obtain the navigation speed and the navigation position of the inertial group.
The data comparison unit 18 is used for acquiring positioning data of the position of the inertial measurement unit to be measured and performing data comparison between the positioning data and the inertial measurement unit navigation data; and if the data comparison between the positioning data and the inertial measurement unit navigation data is qualified, judging that the test of the to-be-tested inertial measurement unit is qualified.
Optionally, the data comparing unit 18 is further configured to: performing coordinate system conversion on the positioning data to obtain positioning conversion data, and determining an inertial set positioning speed and an inertial set positioning position according to the positioning conversion data;
comparing the inertial set positioning speed with the inertial set navigation speed to obtain an inertial set speed error, and comparing the inertial set positioning position with the inertial set navigation position to obtain an inertial set position error;
and if the inertial measurement unit speed error is smaller than a first error threshold value and the inertial measurement unit position error is smaller than a second error threshold value, judging that the data comparison of the positioning data and the inertial measurement unit navigation data is qualified.
In the embodiment, the self-checking data of the to-be-tested inertial set in the static state is acquired, the to-be-tested inertial set can be effectively subjected to static detection based on the self-checking data so as to detect the performance of the to-be-tested inertial set in the static state, the inertial set data of the to-be-tested inertial set in the moving state is subjected to navigation analysis so as to effectively convert the inertial set data into the inertial set navigation data, the inertial set navigation data is used for visually representing the position and speed information of the to-be-tested inertial set, and the positioning data and the inertial set navigation data are subjected to data comparison so as to detect the stability of the performance of the to-be-tested inertial set.
EXAMPLE six
Fig. 7 is a block diagram of a terminal device 2 according to a sixth embodiment of the present application. As shown in fig. 7, the terminal device 2 of this embodiment includes: a processor 20, a memory 21 and a computer program 22, such as a program of the routine testing method, stored in said memory 21 and executable on said processor 20. The processor 20, when executing the computer program 22, implements the steps in the embodiments of the above-mentioned respective inertial testing methods, such as S10 to S50 shown in fig. 1, or S21 to S24 shown in fig. 2, or S41 to S43 shown in fig. 3. Alternatively, when the processor 20 executes the computer program 22, the functions of the units in the embodiment corresponding to fig. 6 are implemented, please refer to the related description in the embodiment corresponding to fig. 6, which is not described herein again.
Illustratively, the computer program 22 may be divided into one or more units, which are stored in the memory 21 and executed by the processor 20 to accomplish the present application. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 22 in the terminal device 2. For example, the computer program 22 may be divided into a self-test unit 16, a navigation analysis unit 17 and a data comparison unit 18, each of which functions as described above.
The terminal device may include, but is not limited to, a processor 20, a memory 21. Those skilled in the art will appreciate that fig. 6 is merely an example of the terminal device 2 and does not constitute a limitation of the terminal device 2, and may include more or fewer components than those shown, or some of the components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 20 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 21 may be an internal storage unit of the terminal device 2, such as a hard disk or a memory of the terminal device 2. The memory 21 may also be an external storage device of the terminal device 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 2. Further, the memory 21 may also include both an internal storage unit and an external storage device of the terminal device 2. The memory 21 is used for storing the computer program and other programs and data required by the terminal device. The memory 21 may also be used to temporarily store data that has been output or is to be output.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. The computer readable storage medium may be non-volatile or volatile. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An inertial measurement unit testing method, comprising:
electrifying an inertial unit to be tested, and acquiring self-checking data of the inertial unit to be tested in a standing state;
performing static detection on the inertial measurement unit to be detected according to the self-detection data, wherein the static detection is used for detecting whether the inertial measurement unit to be detected normally operates in a static state;
if the static detection of the to-be-detected inertial unit is qualified, acquiring inertial unit data of the to-be-detected inertial unit in a moving state, and performing navigation analysis on the inertial unit data to obtain inertial unit navigation data;
acquiring positioning data of the position of the to-be-measured inertial unit, and performing data comparison on the positioning data and the inertial unit navigation data;
and if the data comparison between the positioning data and the inertial measurement unit navigation data is qualified, judging that the test of the to-be-tested inertial measurement unit is qualified.
2. The inertial measurement unit testing method according to claim 1, wherein the static detection of the inertial measurement unit to be tested according to the self-test data comprises:
respectively acquiring acceleration data and gyro data of the inertial measurement unit to be measured in different directions in the self-checking data;
carrying out vector sum calculation on the acceleration data in different directions to obtain an acceleration resultant vector, and calculating a deviation value between the acceleration resultant vector and a preset acceleration vector to obtain an acceleration deviation value;
carrying out vector sum calculation on the gyro data in different directions to obtain a gyro combined vector, and calculating a deviation value between the gyro combined vector and a preset gyro vector to obtain a gyro deviation value;
and if the acceleration deviation value is smaller than a first preset deviation value and the gyro deviation value is smaller than a second preset deviation value, judging that the static detection of the to-be-detected inertial unit is qualified.
3. The inertial measurement unit testing method according to claim 1, wherein the performing navigation analysis on the inertial measurement unit data to obtain inertial measurement unit navigation data includes:
and inputting the inertial group data into preset navigation equipment for navigation analysis to obtain the inertial group navigation speed and the inertial group navigation position.
4. The inertial measurement unit testing method according to claim 3, wherein the comparing the positioning data with the inertial measurement unit navigation data comprises:
performing coordinate system conversion on the positioning data to obtain positioning conversion data, and determining an inertial unit positioning speed and an inertial unit positioning position according to the positioning conversion data;
comparing the inertial set positioning speed with the inertial set navigation speed to obtain an inertial set speed error, and comparing the inertial set positioning position with the inertial set navigation position to obtain an inertial set position error;
and if the inertial measurement unit speed error is smaller than a first error threshold value and the inertial measurement unit position error is smaller than a second error threshold value, judging that the data comparison between the positioning data and the inertial measurement unit navigation data is qualified.
5. The inertial measurement unit testing method according to claim 4, wherein the coordinate system transformation of the positioning data to obtain the positioning transformation data comprises:
wherein I is an identity matrix of 4 x 4 order,
wherein, Delta theta x ,Δθ y ,Δθ z Is the angular increment of each gyro output in a unit period.
6. The inertial measurement unit testing method according to claim 5, wherein the formula for determining the inertial measurement unit positioning speed and the inertial measurement unit positioning position according to the positioning conversion data comprises:
calculating inertial measurement unit positioning speed:
wherein, V x n ,V y n ,V z n Is the speed information in the geographic coordinate system,
a projection of the acceleration output values in a geographic system;
calculating an inertial measurement unit positioning position:
a. longitude and latitude calculation:
b. calculating the azimuth angle of the target system:
c. and (3) position calculation:
wherein, X m ,Y m ,Z m And alpha is the included angle of the target azimuth relative to the north direction.
7. The inertial measurement unit testing method according to claim 3, wherein, if the static test of the inertial measurement unit to be tested is qualified, the method further comprises:
acquiring position information of a preset transmitting point, and determining initial azimuth data according to the position information of the preset transmitting point and the inertial group data;
leveling calculation is carried out according to the initial azimuth angle data and the inertial group data to obtain a leveling pitch angle and a leveling yaw angle, and leveling processing is carried out on the preset navigation equipment according to the leveling pitch angle and the leveling yaw angle;
and obtaining the speed information and the attitude information of the inertial measurement unit to be measured at the current moment, and sending the speed information and the attitude information of the inertial measurement unit to be measured to the leveled preset navigation equipment.
8. An inertial measurement unit testing system, the system comprising:
the system comprises power supply equipment, an inertial unit to be tested, a controller, a bus analyzer and an upper computer, wherein the power supply equipment, the inertial unit to be tested, the controller and the bus analyzer are communicated through a local area network;
the power supply equipment is used for supplying power to the inertial measurement unit to be tested and the controller;
the inertial measurement unit to be tested is used for sending self-checking data and inertial measurement unit data to the local area network after being electrified;
the controller is used for receiving inertial group data, receiving an instruction of the upper computer, performing navigation analysis on the inertial group data to obtain inertial group navigation data, acquiring positioning data of the position of the to-be-detected inertial group, and sending the positioning data and the inertial group navigation data to the local area network;
the bus analyzer is used for receiving and storing various data in the local area network and forwarding a test instruction of the upper computer;
the upper computer is used for obtaining the self-checking data, carrying out static detection on the inertial measurement unit to be tested according to the self-checking data, carrying out data comparison on the positioning data and the navigation data of the inertial measurement unit, and judging that the test of the inertial measurement unit to be tested is qualified if the positioning data is qualified by data comparison with the navigation data of the inertial measurement unit.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method according to any one of claims 1 to 7.
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