CN115507878A - MEMS inertial measurement unit navigation performance test method and system - Google Patents
MEMS inertial measurement unit navigation performance test method and system Download PDFInfo
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Abstract
The invention provides a method and a system for testing the navigation performance of an MEMS (micro-electromechanical system) inertial unit, belongs to the technical field of MEMS inertial unit navigation, is used for testing the performance of the MEMS inertial unit navigation, and solves the problems that the test experiment track is unreasonable in the existing MEMS inertial unit navigation performance test, and the accuracy of the MEMS inertial unit navigation performance test cannot be achieved. The MEMS inertial navigation unit navigation performance testing method comprises the following steps: setting model settings using operational change anglesmAn operational change angle; using multiple operating change angle formationnA complete running track; controlling the MEMS inertial measurement units to sequentially run according to the running tracks, and acquiring a plurality of running data errors through data information output by the MEMS inertial measurement units in the running process of each running track; and acquiring an error comprehensive value by combining a plurality of operation data errors with an average value method, and judging whether the navigation performance of the MEMS inertial unit is qualified or not by using the error comprehensive value. The system comprises modules corresponding to the method steps.
Description
Technical Field
The invention provides a method and a system for testing the navigation performance of an MEMS (micro-electromechanical system) inertial navigation unit, and belongs to the technical field of MEMS inertial navigation.
Background
The MEMS inertial navigation provides position information and attitude information for a carrier in real time through track calculation, the requirement of MEMS inertial navigation performance test in the prior art is high, and the requirements of high precision and high accuracy need to be met, but the test experiment track in the existing MEMS inertial navigation performance test is unreasonable in arrangement, and the requirement of high accuracy of the MEMS inertial navigation performance test cannot be met.
Disclosure of Invention
The invention provides a method and a system for testing the navigation performance of an MEMS (micro-electromechanical system) inertial unit, which are used for solving the problems that the test experiment track is unreasonable in the existing MEMS inertial unit navigation performance test and the accuracy of the MEMS inertial unit navigation performance test cannot be achieved, and adopt the following technical scheme:
a method for testing the navigation performance of an MEMS inertial navigation unit comprises the following steps:
setting model settings with operational change anglesmAn operational change angle;
formed by a plurality of operational variablesnA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m；
controlling the MEMS inertial measurement units to sequentially run according to running tracks, and acquiring a plurality of running data errors through data information output by the MEMS inertial measurement units in the running process of each running track;
and obtaining an error comprehensive value by combining the plurality of running data errors with an average value method, and judging whether the navigation performance of the MEMS inertial unit is qualified or not by using the error comprehensive value.
Further, the model settings are set using the operation variation anglemAn operational change angle comprising:
extracting the operation change angle range and the range number required in the current performance test process from a preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 °;
and setting the number of the operation change angles by combining the operation change angle range and the range number with an operation change angle setting model. Wherein the change angle setting model is as follows:
wherein, the first and the second end of the pipe are connected with each other,mrepresenting the number of the angle of operation change and rounding upwards, i.e. integral operation test of MEMS inertial unitThe number of operation change angles involved in the operation change process at least necessarily included in the process can be included in a single operation trackmThe variable angle can also be formed by integrally containing all the running tracksmA variation angle;N 0 a total number of ranges representing a preset operational variation angle range;N 1 and the number of the operation change angle ranges required in the current performance test process is represented.
Further, using a plurality of operational change angle formationsnA complete trajectory of travel comprising:
extracting the set running change angle numerical valuem；
Changing the number of the operation anglesmComparing the angle number range with the angle number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
combining the number of the operation change angles with the angle number setting modelmDetermining an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track in the number range of the angles; the angle number setting model is as follows:
wherein, the first and the second end of the pipe are connected with each other,N up andN dowm respectively representing an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track;L 0 representing a preset standard value of the running track;Lrepresenting the track length actually set by the running track;
set by the upper limit number value and the lower limit number valuenAnd (4) completing the running track. Wherein, the number of the running tracksnAnd the number of operation change anglesmSatisfies the following relationship:
further, the control of the MEMS inertial measurement units sequentially traveling according to the traveling tracks, and the acquisition of a plurality of traveling data errors through data information output by the MEMS inertial measurement units in the traveling process of each traveling track, includes:
acquiring initial attitude matrix data of the MEMS inertial measurement unit;
sequentially controlling the MEMS inertial measurement unit according tonRunning the complete running tracks and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data with the initial attitude matrix data;
and comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to obtain a track error value and an attitude error value corresponding to each running track.
Further, the step of obtaining an error comprehensive value by combining the plurality of operation data errors with an average value method, and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value comprises the following steps:
extracting a track error value and an attitude error value corresponding to each running track, and acquiring an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
when the error comprehensive value does not exceed a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit meets the performance requirement;
and when the error comprehensive value exceeds a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement.
A MEMS inertial navigation system navigation performance test system comprises:
an angle setting module for setting model settings using operational variation anglesmAn operational change angle;
a running track setting module for forming a running track by using a plurality of running change anglesnA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m；
the test data acquisition module is used for controlling the MEMS inertial units to sequentially run according to running tracks and acquiring a plurality of running data errors through data information output by the MEMS inertial units in the running process of each running track;
and the test judgment module is used for acquiring an error comprehensive value by combining the plurality of running data errors with an average value method and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
Further, the angle setting module includes:
the first extraction module is used for extracting the operation change angle range and the range number required in the current performance test process from the preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 °;
and the angle quantity acquisition module is used for setting the number of the operation change angles by utilizing the operation change angle range and the range quantity in combination with the operation change angle setting model. Wherein the change angle setting model is as follows:
wherein the content of the first and second substances,mthe number of the operation change angles is expressed and is rounded upwards, namely, the number of the operation change angles involved in the operation track change process at least must be included in the integral operation test of the MEMS inertial measurement unit can be included by a single operation trackmThe variable angle can be formed by integrally containing all the running tracksmAnd an angle of change.N 0 A total number of ranges representing a preset operational variation angle range;N 1 and the number of the operation change angle ranges required in the current performance test process is represented.
Further, the trajectory setting module includes:
a second extraction module for extracting the set value of the operation change anglem；
A comparison module for comparingThe number of the operation change anglemComparing the number of the angle with the number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
a number setting module for setting the number of the angle by combining the angle number setting model with the number of the operation change anglemDetermining an upper limit number value and a lower limit number value of operation change angles contained in each operation track in the number range of the angles; the angle number setting model comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,N up andN dowm respectively representing an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track;L 0 representing a preset standard value of the running track;Lthe track length of the actual set running track is represented;
a running track setting module for setting by the upper limit number value and the lower limit number valuenAnd (5) completing the running track. Wherein, the number of the running tracksnAnd the number of angle of operation changemSatisfies the following relationship:
further, the test data acquisition module includes:
the data acquisition module is used for acquiring initial attitude matrix data of the MEMS inertial measurement unit;
the test module is used for sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks, and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data with the initial attitude matrix data;
and the error value acquisition module is used for comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to acquire a track error value and an attitude error value corresponding to each running track.
Further, the test decision module includes:
the third extraction module is used for extracting a track error value and an attitude error value corresponding to each running track, and obtaining an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
the first judging module is used for judging that the navigation performance of the MEMS inertial unit meets the performance requirement when the error comprehensive value does not exceed a preset error threshold value;
and the second judging module is used for judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement when the error comprehensive value exceeds a preset error threshold value.
The invention has the beneficial effects that:
the invention provides a method and a system for testing the navigation performance of an MEMS (micro-electromechanical system) inertial unit, which effectively improve the reasonability of the setting of the experimental track and the diversity of track change conditions of the navigation performance test of the MEMS inertial unit by setting the angle change number and the angle change times of each running track in the test process, thereby effectively improving the accuracy of the navigation performance test of the MEMS inertial unit. The problem that the MEMS inertial measurement unit navigation performance cannot be effectively tested under the complex condition due to the fact that the test operation track is simple to set and the angle change condition is less is solved, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
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FIG. 1 is a first flow chart of the method of the present invention;
FIG. 2 is a second flow chart of the method of the present invention;
fig. 3 is a system block diagram of the system of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides a method for testing the navigation performance of an MEMS inertial measurement unit, which comprises the following steps of:
s1, setting model setting by utilizing operation change anglemAn operational change angle;
s2, forming by utilizing a plurality of operation change anglesnA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m；
s3, controlling the MEMS inertial units to sequentially run according to running tracks, and acquiring a plurality of running data errors through data information output by the MEMS inertial units in the running process of each running track;
and S4, obtaining an error comprehensive value by combining the plurality of running data errors with an average value method, and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
The working principle of the technical scheme is as follows: first, model settings are set using the operation change anglemAn operational change angle; then, a plurality of operation change angles are used to formnA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m(ii) a Then, controlling the MEMS inertial units to sequentially run according to running tracks, and acquiring a plurality of running data errors through data information output by the MEMS inertial units in the running process of each running track; and finally, obtaining an error comprehensive value by combining the plurality of running data errors with an average value method, and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
The effect of the above technical scheme is as follows: according to the method for testing the navigation performance of the MEMS inertial unit, the reasonability of the setting of the experimental track and the diversity of the track change conditions of the MEMS inertial unit navigation performance test are effectively improved through the setting of the angle change number and the angle change times of each running track in the test process, and the accuracy of the MEMS inertial unit navigation performance test is further effectively improved. The problem that the MEMS inertial measurement unit navigation performance under the complex condition cannot be effectively tested due to the fact that the test operation track is simple to set and the angle change condition is less is prevented, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
One embodiment of the present invention, as shown in FIG. 2, sets the model settings using the operational change anglemAn operational change angle comprising:
s101, extracting an operation change angle range and range number required in the current performance test process from a preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 °;
and S102, setting the number of the operation change angles by using the range and the number of the operation change angles and combining the operation change angle setting model. Wherein the change angle setting model is as follows:
wherein, the first and the second end of the pipe are connected with each other,mthe number of the operation change angles is expressed, and the operation change angles are rounded upwards, namely the number of the operation change angles involved in the operation track change process at least must be included in the integral operation test of the MEMS inertial measurement unit, and a single operation track can includemThe variable angle can also be formed by integrally containing all the running tracksmA variation angle;N 0 a total number of ranges representing a preset operational variation angle range;N 1 and the number of the operation change angle ranges required in the current performance test process is shown.
The working principle of the technical scheme is as follows: firstly, extracting the operation change angle range and the range number required in the current performance test process from a preset operation change angle range; wherein the preset operation change angle ranges comprise (0 degrees, 15 degrees), (15 degrees, 32 degrees), (32 degrees, 55 degrees), (55 degrees-73 degrees), (73 degrees-90 degrees) and (90 degrees-180 degrees), and then the operation change angle number is set by using the operation change angle ranges and the range number in combination with the operation change angle setting model.
The effect of the above technical scheme is as follows: the setting reasonability and the track change condition diversity of the experimental track of the MEMS inertial navigation unit navigation performance test are effectively improved by setting the angle change number in the test process through the formula and the mode, and the accuracy of the MEMS inertial navigation unit navigation performance test is further effectively improved. The problem that the MEMS inertial measurement unit navigation performance cannot be effectively tested under the complex condition due to the fact that the test operation track is simple to set and the angle change condition is less is solved, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
One embodiment of the present invention utilizes a plurality of operational change angle formationsnA complete trajectory comprising:
s201, extracting the set running change angle numerical valuem；
S202, changing the number of the operation anglesmComparing the number of the angle with the number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
s203, combining the angle number setting model with the number value of the operation change anglemDetermining an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track in the number range of the angles; the angle number setting model is as follows:
wherein the content of the first and second substances,N up andN dowm respectively representing an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track;L 0 representing a preset running track standard value;Lrepresenting the track length actually set by the running track;
by setting the upper and lower order valuesDevice for placingnAnd (4) completing the running track. Wherein, the number of the running tracksnAnd the number of operation change anglesmSatisfies the following relationship:
the working principle of the technical scheme is as follows: firstly, extracting the set running change angle valuem(ii) a Then, changing the value of the operation anglemComparing the number of the angle with the number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles; finally, combining the angle number setting model with the number value of the operation change anglemThe number range of the angles determines the upper limit numerical value and the lower limit numerical value of the operation change angle contained in each operation track.
The effect of the above technical scheme is as follows: the setting of the angle change times corresponding to each running track in the test process in the mode and the mode effectively improves the reasonability of the setting of the experimental track of the MEMS inertial measurement unit navigation performance test and the diversity of track change conditions, and further effectively improves the accuracy of the MEMS inertial measurement unit navigation performance test. The problem that the MEMS inertial measurement unit navigation performance cannot be effectively tested under the complex condition due to the fact that the test operation track is simple to set and the angle change condition is less is solved, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
One embodiment of the present invention controls the MEMS inertial measurement unit to sequentially travel according to the travel tracks, and obtains a plurality of travel data errors through data information output by the MEMS inertial measurement unit in the travel process of each travel track, including:
s301, acquiring initial attitude matrix data of the MEMS inertial measurement unit;
s302, sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks, and acquiring output data corresponding to each running track; and using said output numberAcquiring track data and attitude data of the MEMS inertial measurement unit according to the initial attitude matrix data;
s303, comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to obtain a track error value and an attitude error value corresponding to each running track.
Meanwhile, an error comprehensive value is obtained by combining the plurality of running data errors with an average value method, and whether the MEMS inertial navigation unit is qualified or not is judged by using the error comprehensive value, wherein the method comprises the following steps:
s401, extracting a track error value and an attitude error value corresponding to each running track, and acquiring an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
s402, when the error comprehensive value does not exceed a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit meets the performance requirement;
and S403, when the error comprehensive value exceeds a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement.
The working principle of the technical scheme is as follows: firstly, acquiring initial attitude matrix data of the MEMS inertial measurement unit; sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks, and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data and the initial attitude matrix data; and comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to obtain a track error value and an attitude error value corresponding to each running track.
Then, extracting a track error value and an attitude error value corresponding to each running track, and acquiring an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode; when the error comprehensive value does not exceed a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit meets the performance requirement; and when the error comprehensive value exceeds a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement.
The effect of the above technical scheme is: by the method, the accuracy and the efficiency of acquiring the test data of the MEMS inertial navigation unit navigation performance test can be effectively improved, and the accuracy and the efficiency of testing the MEMS inertial navigation unit navigation performance test are further improved.
The embodiment of the invention provides a system for testing the navigation performance of an MEMS inertial measurement unit, and as shown in FIG. 3, the system for testing the navigation performance of the MEMS inertial measurement unit comprises:
an angle setting module for setting model settings using operation change anglesmAn operational change angle;
a running track setting module for forming a running track by using a plurality of running change anglesnA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m；
the test data acquisition module is used for controlling the MEMS inertial units to sequentially run according to running tracks and acquiring a plurality of running data errors through data information output by the MEMS inertial units in the running process of each running track;
and the test judgment module is used for acquiring an error comprehensive value by combining the plurality of running data errors with an average value method and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
The working principle of the technical scheme is as follows: first, model settings are set by an angle setting module using an operation change anglemAn operational change angle;
then, a plurality of operation change angles are formed by the track setting modulenA complete running track; wherein each of the operation tracks comprisesnAn operational change angle; wherein the content of the first and second substances,n<m；
then, a test data acquisition module is adopted to control the MEMS inertial units to sequentially run according to running tracks, and a plurality of running data errors are acquired through data information output by the MEMS inertial units in the running process of each running track;
and finally, obtaining an error comprehensive value by combining the plurality of running data errors with an average value method through a test judging module, and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
The effect of the above technical scheme is: the embodiment provides a system for testing the navigation performance of an MEMS inertial measurement unit, which effectively improves the reasonability of the setting of the experimental track and the diversity of the track change conditions of the navigation performance test of the MEMS inertial measurement unit by setting the angle change number and the angle change times of each running track in the test process, and further effectively improves the accuracy of the navigation performance test of the MEMS inertial measurement unit. The problem that the MEMS inertial measurement unit navigation performance cannot be effectively tested under the complex condition due to the fact that the test operation track is simple to set and the angle change condition is less is solved, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
In one embodiment of the present invention, the angle setting module includes:
the first extraction module is used for extracting the operation change angle range and the range number required in the current performance test process from the preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 °;
and the angle quantity acquisition module is used for setting the operation change angle quantity by combining the operation change angle range and the range quantity with the operation change angle setting model. Wherein the change angle setting model is as follows:
wherein the content of the first and second substances,mthe number of the operation change angles is expressed, and the operation change angles are rounded upwards, namely the number of the operation change angles involved in the operation track change process at least must be included in the integral operation test of the MEMS inertial measurement unit, and a single operation track can includemThe variable angle can also be formed by integrally containing all the running tracksmAnd an angle of change.N 0 A total number of ranges representing a preset operational variation angle range;N 1 and the number of the operation change angle ranges required in the current performance test process is represented.
The working principle of the technical scheme is as follows: firstly, extracting the operation change angle range and the range number required in the current performance test process from a preset operation change angle range through a first extraction module; the preset operation change angle range comprises (0 degree, 15 degrees) ], (15 degrees, 32 degrees) ], (32 degrees, 55 degrees) ], (55 degrees-73 degrees) ], (73 degrees-90 degrees) ] and (90 degrees-180 degrees) ], and then the operation change angle number is set by the angle number obtaining module by combining the operation change angle range and the range number with the operation change angle setting model.
The effect of the above technical scheme is as follows: the setting reasonability and the track change condition diversity of the experimental track of the MEMS inertial navigation unit navigation performance test are effectively improved by setting the angle change number in the test process through the formula and the mode, and the accuracy of the MEMS inertial navigation unit navigation performance test is further effectively improved. The problem that the MEMS inertial measurement unit navigation performance under the complex condition cannot be effectively tested due to the fact that the test operation track is simple to set and the angle change condition is less is prevented, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
In an embodiment of the present invention, the track setting module includes:
a second extraction module for extracting the set value of the operation change anglem；
A comparison module for comparing the value of the operation change anglemComparing the angle number range with the angle number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
a number setting module for setting the number of the angle by combining the angle number setting model with the number of the operation change anglemThe number range of the angles determines the upper limit number value and the lower limit of the operation change angle contained in each operation trackA sub-value; the angle number setting model comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,N up andN dowm respectively representing an upper limit numerical value and a lower limit numerical value of the operation change angle contained in each operation track;L 0 representing a preset standard value of the running track;Lthe track length of the actual set running track is represented;
a running track setting module for setting by the upper limit number value and the lower limit number valuenAnd (5) completing the running track. Wherein, the number of the running tracksnAnd the number of angle of operation changemSatisfies the following relationship:
the working principle of the technical scheme is as follows: firstly, extracting the set running change angle value through a second extraction modulem(ii) a Then, utilizing a comparison module to change the running angle valuemComparing the number of the angle with the number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles; finally, a number setting module is adopted to combine the number of the operation change angles by utilizing an angle number setting modelmDetermining an upper limit number value and a lower limit number value of operation change angles contained in each operation track in the number range of the angles;
the effect of the above technical scheme is as follows: the setting rationality and the track change condition diversity of the experimental track of the MEMS inertial navigation unit navigation performance test are effectively improved by setting the angle change times corresponding to each running track in the test process in the mode and the mode, and the accuracy of the MEMS inertial navigation unit navigation performance test is further effectively improved. The problem that the MEMS inertial measurement unit navigation performance cannot be effectively tested under the complex condition due to the fact that the test operation track is simple to set and the angle change condition is less is solved, and meanwhile the problem that the test efficiency is reduced due to the fact that the operation track is too complex to set, the number of test links is large, and the test data volume is large can be avoided.
In one embodiment of the present invention, the test data acquiring module includes:
the data acquisition module is used for acquiring initial attitude matrix data of the MEMS inertial measurement unit;
the test module is used for sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data and the initial attitude matrix data;
and the error value acquisition module is used for comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to acquire a track error value and an attitude error value corresponding to each running track.
Meanwhile, the test judgment module includes:
the third extraction module is used for extracting a track error value and an attitude error value corresponding to each running track, and obtaining an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
the first judging module is used for judging that the navigation performance of the MEMS inertial measurement unit meets the performance requirement when the error comprehensive value does not exceed a preset error threshold value;
and the second judging module is used for judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement when the error comprehensive value exceeds a preset error threshold value.
The working principle of the technical scheme is as follows: the operation process of the test data acquisition module comprises the following steps:
firstly, acquiring initial attitude matrix data of the MEMS inertial measurement unit through a data acquisition module;
then, sequentially controlling the MEMS inertial measurement units by using the test module according tonRunning the complete running track and obtaining each running trackOutput data corresponding to the row tracks; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data and the initial attitude matrix data;
and finally, comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks by adopting an error value acquisition module to acquire a track error value and an attitude error value corresponding to each running track.
Meanwhile, the operation process of the test judgment module comprises the following steps:
firstly, extracting a track error value and an attitude error value corresponding to each running track by adopting a third extraction module, and acquiring an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
then, when the error comprehensive value does not exceed a preset error threshold value, a first judging module is used for judging that the navigation performance of the MEMS inertial unit meets the performance requirement;
and finally, when the error comprehensive value exceeds a preset error threshold value, a second judging module judges that the navigation performance of the MEMS inertial unit does not meet the performance requirement.
The effect of the above technical scheme is as follows: by means of the method, the accuracy and the efficiency of acquiring the test data of the MEMS inertial measurement unit navigation performance test can be effectively improved, and the accuracy and the efficiency of testing the MEMS inertial measurement unit navigation performance test are further improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for testing the navigation performance of an MEMS inertial measurement unit is characterized by comprising the following steps:
setting model settings using operational change anglesmAn operational change angle;
formed by a plurality of operational variablesnA complete running track;
controlling the MEMS inertial measurement units to sequentially run according to running tracks, and acquiring a plurality of running data errors through data information output by the MEMS inertial measurement units in the running process of each running track;
and obtaining an error comprehensive value by combining the plurality of running data errors with an average value method, and judging whether the navigation performance of the MEMS inertial unit is qualified or not by using the error comprehensive value.
2. The MEMS inertial navigation unit performance testing method of claim 1, wherein the model setting is set by using an operation change anglemAn operational change angle comprising:
extracting the operation change angle range and the range number required in the current performance test process from a preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 ° ];
and setting the number of the operation change angles by combining the operation change angle range and the range number with an operation change angle setting model.
3. The MEMS inertial navigation unit performance testing method of claim 1, wherein the angle is formed by a plurality of operation changesnA complete trajectory of travel comprising:
extracting the set value of the operation change anglem；
Changing the number of the operation anglesmComparing the angle number range with the angle number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
combining the number of the operation change angles with the angle number setting modelmDetermining an upper limit number value and a lower limit number value of operation change angles contained in each operation track in the number range of the angles;
through the upper partNumber of orders and lower number of orders settingnAnd (4) completing the running track.
4. The method for testing the navigation performance of the MEMS inertial navigation unit according to claim 1, wherein the step of controlling the MEMS inertial navigation unit to sequentially run according to running tracks and obtaining a plurality of running data errors through data information output by the MEMS inertial navigation unit in the running process of each running track comprises the steps of:
acquiring initial attitude matrix data of the MEMS inertial measurement unit;
sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data with the initial attitude matrix data;
and comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to obtain a track error value and an attitude error value corresponding to each running track.
5. The method for testing the navigation performance of the MEMS inertial navigation unit according to claim 1, wherein the step of obtaining an error comprehensive value by combining the plurality of operation data errors with an average value method and judging whether the navigation performance of the MEMS inertial navigation unit is qualified or not by using the error comprehensive value comprises the steps of:
extracting a track error value and an attitude error value corresponding to each running track, and acquiring an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
when the error comprehensive value does not exceed a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit meets the performance requirement;
and when the error comprehensive value exceeds a preset error threshold value, judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement.
6. A MEMS inertial navigation unit navigation performance test system is characterized by comprising:
an angle setting module for setting model settings using operational variation anglesmAn operational change angle;
a running track setting module for forming a running track by using a plurality of running change anglesnA complete running track;
the test data acquisition module is used for controlling the MEMS inertial units to sequentially run according to running tracks and acquiring a plurality of running data errors through data information output by the MEMS inertial units in the running process of each running track;
and the test judgment module is used for acquiring an error comprehensive value by combining the plurality of running data errors with an average value method and judging whether the navigation performance of the MEMS inertial measurement unit is qualified or not by using the error comprehensive value.
7. The MEMS inertial navigation unit performance testing system of claim 6, wherein the angle setting module comprises:
the first extraction module is used for extracting the operation change angle range and the range number required in the current performance test process from the preset operation change angle range; wherein the predetermined operational variation angle ranges include (0 °,15 ° ], (15 °,32 ° ], (32 °,55 ° ], (55 ° -73 ° ], (73 ° -90 ° ] and (90 ° -180 °;
and the angle quantity acquisition module is used for setting the operation change angle quantity by combining the operation change angle range and the range quantity with the operation change angle setting model.
8. The MEMS inertial navigation unit performance testing system of claim 6, wherein the trajectory setting module comprises:
a second extraction module for extracting the set value of the operation change anglem；
A comparison module for comparing the value of the operation change anglemComparing the angle number range with the angle number range of the preset operation change angle to obtain the set number value of the operation change anglemThe number range of the angles;
a number setting module for setting the number of the angle by combining the angle number setting model with the number of the operation change anglemDetermining an upper limit number value and a lower limit number value of operation change angles contained in each operation track in the number range of the angles;
a running track setting module for setting by the upper limit number value and the lower limit number valuenAnd (4) completing the running track.
9. The MEMS inertial navigation unit performance testing system according to claim 6, wherein the test data acquisition module comprises:
the data acquisition module is used for acquiring initial attitude matrix data of the MEMS inertial measurement unit;
the test module is used for sequentially controlling the MEMS inertial measurement units according tonRunning the complete running tracks and acquiring output data corresponding to each running track; acquiring track data and attitude data of the MEMS inertial measurement unit by combining the output data and the initial attitude matrix data;
and the error value acquisition module is used for comparing the track data, the attitude data and the attitude data with the standard track route and the attitude reference data corresponding to the running tracks to acquire a track error value and an attitude error value corresponding to each running track.
10. The MEMS inertial navigation unit performance testing system according to claim 6, wherein the test decision module comprises:
the third extraction module is used for extracting a track error value and an attitude error value corresponding to each running track, and obtaining an error comprehensive value by combining the track error value and the attitude error value corresponding to each running track with an average value mode;
the first judging module is used for judging that the navigation performance of the MEMS inertial unit meets the performance requirement when the error comprehensive value does not exceed a preset error threshold value;
and the second judging module is used for judging that the navigation performance of the MEMS inertial measurement unit does not meet the performance requirement when the error comprehensive value exceeds a preset error threshold value.
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Effective date of registration: 20230621 Address after: 230088 1056, North building, Hefei original animation Park Management Co., Ltd., No. 19, Tianzhi Road, high tech Zone, Hefei, Anhui Province Patentee after: Kaifeng Navigation Control Technology Co.,Ltd. Address before: 100000 Building 5, Yard 29, Kechuangqi Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: Beijing Kaikai Hangyu Navigation Control Technology Co.,Ltd. |