CN106802150B - Datum drift removing method and device - Google Patents
Datum drift removing method and device Download PDFInfo
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- CN106802150B CN106802150B CN201710115355.9A CN201710115355A CN106802150B CN 106802150 B CN106802150 B CN 106802150B CN 201710115355 A CN201710115355 A CN 201710115355A CN 106802150 B CN106802150 B CN 106802150B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a kind of datum drift removing method and devices.This method comprises: obtaining the gun parallax from inertial measurement combination relative to main inertial measurement combination；Acquire main inertial measurement combination and the accelerometer information from inertial measurement combination；Calculate main inertial measurement combination and the not horizontal from inertial measurement combination；According to the gun parallax and the not horizontal, the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination is calculated；After main inertial measurement combination is switched to from inertial measurement combination, using the Reference Transforming matrix, the datum drift of vehicle inertial navigation data is eliminated.The present invention solves after current inertial measurement combination switches over, vehicle inertial navigation data can generate datum drift, and then the problem of influencing vehicle flight control accuracy, it realizes and eliminates vehicle inertial navigation data datum drift, improve the effect of vehicle flight control accuracy.
Description
Technical field
The present invention relates to navigation data processing technique more particularly to a kind of datum drift removing methods and device.
Background technique
Carrier interior is usually provided with more set inertial measurement combination.By taking three strapdown inertial measure units as an example, positive reason
Under condition, the output data of main inertial measurement combination generates vehicle inertial navigation data for calculating, and from inertial measurement combination
Two sets of data redundancies of output are spare.When main inertial measurement combination breaks down, vehicle inertial navigation data will be by from used
Property measurement combination output any one sets of data calculate generate.
After main inertial measurement combination is switched to from inertial measurement combination, since different inertial measurement combination has difference
Benchmark, i.e., it is different from main inertial measurement combination benchmark from inertial measurement combination so that at this time by being exported from inertial measurement combination
Data, which calculate the vehicle inertial navigation data generated, can generate datum drift.Obviously, the datum drift will lead to
Navigation error, and then influence the accuracy of vehicle flight control.
Summary of the invention
The present invention provides a kind of datum drift removing method and device, eliminates vehicle inertial navigation data benchmark to realize
Deviation improves the effect of vehicle flight control accuracy.
In a first aspect, the present invention provides a kind of datum drift removing methods, comprising:
Obtain the gun parallax from inertial measurement combination relative to main inertial measurement combination；
After the main inertial measurement combination and the power-up from inertial measurement combination, the main inertia measurement is acquired respectively
Combination and the accelerometer information from inertial measurement combination；
According to the accelerometer information of the main inertial measurement combination, the unhorizontal of the main inertial measurement combination is calculated
Degree, and according to the accelerometer information from inertial measurement combination, calculate the not horizontal from inertial measurement combination；
According to the gun parallax, the not horizontal of the main inertial measurement combination and described from inertial measurement combination
Not horizontal calculates described from inertial measurement combination to the Reference Transforming matrix of the main inertial measurement combination；
When the main inertial measurement combination switch to it is described from inertial measurement combination after, using the Reference Transforming matrix,
Eliminate the datum drift of vehicle inertial navigation data.
Further, after described in switching to when the main inertial measurement combination from inertial measurement combination, the benchmark is utilized
Transition matrix eliminates the datum drift of vehicle navigation data, comprising:
After described in being switched to when the main inertial measurement combination from inertial measurement combination, by vehicle inertial navigation data structure
At navigation matrix and the Reference Transforming matrix multiple, to eliminate the datum drift of the vehicle inertial navigation data.
Further, the accelerometer information includes y-axis accelerometer output data and z-axis accelerometer output number
According to；The not horizontal includes pitching not horizontal and yaw not horizontal.
Further, the calculation formula of the not horizontal of the main inertial measurement combination are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw of main inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy1 *It is exported for the y-axis accelerometer of main inertial measurement combination
Data, δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination；
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy2 *To be exported from the y-axis accelerometer of inertial measurement combination
Data, δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
Further, the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01Based on
The yaw not horizontal of inertial measurement combination,For the pitching not horizontal of main inertial measurement combination, Δ A12To be surveyed from inertia
Gun parallax of the amount combination relative to main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02For from
The yaw not horizontal of inertial measurement combination.
Second aspect, the present invention also provides a kind of datum drift cancellation element, which includes:
Module is obtained, for obtaining the gun parallax from inertial measurement combination relative to main inertial measurement combination；
Acquisition module, for being acquired after the main inertial measurement combination and the power-up from inertial measurement combination respectively
The main inertial measurement combination and the accelerometer information from inertial measurement combination；
First computing module calculates the main inertia for the accelerometer information according to the main inertial measurement combination
Combined not horizontal is measured, and according to the accelerometer information from inertial measurement combination, is calculated described from inertia measurement
Combined not horizontal；
Second computing module, for utilizing the gun parallax, the not horizontal of the main inertial measurement combination and described
From the not horizontal of inertial measurement combination, calculate described from inertial measurement combination to the Reference Transforming of the main inertial measurement combination
Matrix；
Deviation cancellation module, for when the main inertial measurement combination switch to it is described from inertial measurement combination after, utilize
The Reference Transforming matrix eliminates the datum drift of vehicle inertial navigation data.
Further, the deviation cancellation module be used for when the main inertial measurement combination switch to it is described from inertia measurement
After combination, the navigation matrix and the Reference Transforming matrix multiple that vehicle inertial navigation data is constituted, to eliminate the fortune
Carry the datum drift of device inertial navigation data.
Further, the accelerometer information includes y-axis accelerometer output data and z-axis accelerometer output number
According to；The not horizontal includes pitching not horizontal and yaw not horizontal.
Further, the calculation formula of the not horizontal of the main inertial measurement combination are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw of main inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy1 *It is exported for the y-axis accelerometer of main inertial measurement combination
Data, δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination；
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy2 *To be exported from the y-axis accelerometer of inertial measurement combination
Data, δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
Further, the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01Based on
The yaw not horizontal of inertial measurement combination,For the pitching not horizontal of main inertial measurement combination, Δ A12To be surveyed from inertia
Gun parallax of the amount combination relative to main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02For from
The yaw not horizontal of inertial measurement combination.
Compared with prior art, the present invention has the following advantages:
(1) present invention is by generating Reference Transforming matrix, and utilizes the Reference Transforming matrix, eliminates vehicle inertia and leads
The datum drift for data of navigating solves after current inertial measurement combination switches over, and vehicle inertial navigation data can generate base
Quasi- deviation, and then the problem of influence vehicle flight control accuracy.
(2) present invention, which can be realized, eliminates vehicle inertial navigation data datum drift, improves vehicle flight control essence
The effect of exactness.
Detailed description of the invention
Fig. 1 is the flow chart of one of embodiment of the present invention one datum drift removing method；
Fig. 2 is the structure chart of one of embodiment of the present invention two datum drift cancellation element.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment be used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of
It describes, only the parts related to the present invention are shown rather than entire infrastructure in attached drawing.
Embodiment one
Fig. 1 is the flow chart of one of embodiment of the present invention one datum drift removing method, and the present embodiment is applicable to
After inertial measurement combination switches over, need to vehicle inertial navigation data generate datum drift eliminate the case where,
This method can be executed by datum drift cancellation element, and wherein the device can be by software and or hardware realization, which can
It is integrated in vehicle.With reference to Fig. 1, datum drift removing method provided in this embodiment can specifically include following steps:
The gun parallax of S110, acquisition from inertial measurement combination relative to main inertial measurement combination.
Specifically, main inertial measurement combination is different from the installation site from inertial measurement combination due in carrier interior,
Thus, the main inertial measurement combination and described there are gun parallaxes between inertial measurement combination.It is described from used that acquisition can be aimed at
Property gun parallax of the measurement combination relative to the main inertial measurement combination.
S120, when the main inertial measurement combination and it is described be powered on from inertial measurement combination after, it is used to acquire the master respectively
Property measurement combination and the accelerometer information from inertial measurement combination.
Specifically, for make the main inertial measurement combination and it is described be fully warmed-up from inertial measurement combination, to improve data
The accuracy of acquisition, the main inertial measurement combination and it is described can be powered on preset duration from inertial measurement combination, when described default
Length should be at least 30 minutes.In the present embodiment, the preset duration is 30 minutes, i.e., when the main inertial measurement combination and described
After being powered on 30 minutes from inertial measurement combination, the main inertial measurement combination is acquired respectively and described from inertial measurement combination
Accelerometer information.
S130, according to the accelerometer information of the main inertial measurement combination, calculate the main inertial measurement combination not
Levelness, and according to the accelerometer information from inertial measurement combination, it calculates described from the unhorizontal of inertial measurement combination
Degree.
Optionally, the accelerometer information includes y-axis accelerometer output data and z-axis accelerometer output data；
The not horizontal includes pitching not horizontal and yaw not horizontal.I.e. in the present embodiment, according to the main inertia measurement group
The y-axis accelerometer output data and z-axis accelerometer output data of conjunction calculate the unhorizontal of the main inertial measurement combination
Degree, also, according to the y-axis accelerometer output data from inertial measurement combination and z-axis accelerometer output data, it calculates
The not horizontal from inertial measurement combination.
Optionally, the calculation formula of the not horizontal of the main inertial measurement combination are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw of main inertial measurement combination
Not horizontal, T1For accumulated time, it is preferred that T1=1s, g0For local gravitational acceleration, δ Wy1 *For the y of main inertial measurement combination
Axis accelerometer output data, δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination.
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination
Not horizontal, T1For accumulated time, it is preferred that T1=1s, g0For local gravitational acceleration, δ Wy2 *For from the y of inertial measurement combination
Axis accelerometer output data, δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
S140, according to the gun parallax, the not horizontal of the main inertial measurement combination and described from inertia measurement group
The not horizontal of conjunction calculates described from inertial measurement combination to the Reference Transforming matrix of the main inertial measurement combination.
Optionally, the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01Based on
The yaw not horizontal of inertial measurement combination,For the pitching not horizontal of main inertial measurement combination, Δ A12To be surveyed from inertia
Gun parallax of the amount combination relative to main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02For from
The yaw not horizontal of inertial measurement combination.
S150, when the main inertial measurement combination switch to it is described from inertial measurement combination after, utilize the Reference Transforming
Matrix eliminates the datum drift of vehicle inertial navigation data.
Optionally, after described in switching to when the main inertial measurement combination from inertial measurement combination, the benchmark is utilized to turn
Matrix is changed, the datum drift of vehicle navigation data is eliminated, comprising:
After described in being switched to when the main inertial measurement combination from inertial measurement combination, by vehicle inertial navigation data structure
At navigation matrix and the Reference Transforming matrix multiple, to eliminate the datum drift of the vehicle inertial navigation data.
Specifically, when the main inertial measurement combination switch to it is described from inertial measurement combination after, vehicle inertia is led
Reference Transforming matrix described in the navigation matrix premultiplication that data of navigating are constituted, can eliminate each vehicle inertia in the navigation matrix
The datum drift that navigation data is generated because inertial measurement combination switches.
The technical solution of the present embodiment utilizes the Reference Transforming matrix by generating Reference Transforming matrix, eliminates fortune
The datum drift for carrying device inertial navigation data solves after current inertial measurement combination switches over, vehicle inertial navigation number
It the problem of according to that can generate datum drift, and then influence vehicle flight control accuracy, realizes and eliminates vehicle inertial navigation
Data base deviation improves the effect of vehicle flight control accuracy.
Embodiment two
Fig. 2 is the structure chart of one of embodiment of the present invention two datum drift cancellation element, and the present embodiment is applicable to
After inertial measurement combination switches over, need to vehicle inertial navigation data generate datum drift eliminate the case where.
With reference to Fig. 2, datum drift cancellation element provided in this embodiment specifically be can be such that
Module 210 is obtained, for obtaining the gun parallax from inertial measurement combination relative to main inertial measurement combination；
Acquisition module 220, for being adopted after the main inertial measurement combination and the power-up from inertial measurement combination respectively
Collect the main inertial measurement combination and the accelerometer information from inertial measurement combination；
It is used to calculate the master for the accelerometer information according to the main inertial measurement combination for first computing module 230
Property the combined not horizontal of measurement calculate described from inertia survey and according to the accelerometer information from inertial measurement combination
Measure combined not horizontal；
Second computing module 240, for using the gun parallax, the not horizontal of the main inertial measurement combination and
The not horizontal from inertial measurement combination calculates described from inertial measurement combination to the benchmark of the main inertial measurement combination
Transition matrix；
Deviation cancellation module 250, for when the main inertial measurement combination switch to it is described from inertial measurement combination after, benefit
With the Reference Transforming matrix, the datum drift of vehicle inertial navigation data is eliminated.
Optionally, the deviation cancellation module be used for when the main inertial measurement combination switch to it is described from inertia measurement group
After conjunction, the navigation matrix and the Reference Transforming matrix multiple that vehicle inertial navigation data is constituted, to eliminate the delivery
The datum drift of device inertial navigation data.
Optionally, the accelerometer information includes y-axis accelerometer output data and z-axis accelerometer output data；
The not horizontal includes pitching not horizontal and yaw not horizontal.
Optionally, the calculation formula of the not horizontal of the main inertial measurement combination are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw of main inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy1 *It is exported for the y-axis accelerometer of main inertial measurement combination
Data, δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination；
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination
Not horizontal, T1For accumulated time, g0For local gravitational acceleration, δ Wy2 *To be exported from the y-axis accelerometer of inertial measurement combination
Data, δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
Optionally, the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01Based on
The yaw not horizontal of inertial measurement combination,For the pitching not horizontal of main inertial measurement combination, Δ A12To be surveyed from inertia
Gun parallax of the amount combination relative to main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02For from
The yaw not horizontal of inertial measurement combination.
Datum drift cancellation element provided in this embodiment is eliminated with datum drift provided by any embodiment of the invention
Method belongs to same inventive concept, and datum drift removing method provided by any embodiment of the invention can be performed, have execution
The corresponding functional module of datum drift removing method and beneficial effect.The not technical detail of detailed description in the present embodiment, can
The datum drift removing method provided referring to any embodiment of that present invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of datum drift removing method characterized by comprising
Obtain the gun parallax from inertial measurement combination relative to main inertial measurement combination；
After the main inertial measurement combination and the power-up from inertial measurement combination, the main inertial measurement combination is acquired respectively
With the accelerometer information from inertial measurement combination；
According to the accelerometer information of the main inertial measurement combination, the not horizontal of the main inertial measurement combination is calculated, and
According to the accelerometer information from inertial measurement combination, the not horizontal from inertial measurement combination is calculated；
According to the gun parallax, the not horizontal of the main inertial measurement combination and the not water from inertial measurement combination
Pingdu calculates described from inertial measurement combination to the Reference Transforming matrix of the main inertial measurement combination；
After described in switching to when the main inertial measurement combination from inertial measurement combination, the Reference Transforming matrix is utilized, is eliminated
The datum drift of vehicle inertial navigation data；
Wherein, the datum drift includes main inertial measurement combination and the pitching not horizontal difference from inertial measurement combination, is gone back
Including main inertial measurement combination and from the yaw not horizontal difference of inertial measurement combination；
Not horizontal is main inertial measurement combination and pitching not horizontal and yaw not horizontal from inertial measurement combination.
2. the method according to claim 1, wherein from inertia described in being switched to when the main inertial measurement combination
After measurement combination, using the Reference Transforming matrix, the datum drift of vehicle navigation data is eliminated, comprising:
After described in being switched to when the main inertial measurement combination from inertial measurement combination, vehicle inertial navigation data is constituted
Navigate matrix and the Reference Transforming matrix multiple, to eliminate the datum drift of the vehicle inertial navigation data.
3. the method according to claim 1, wherein the accelerometer information includes the output of y-axis accelerometer
Data and z-axis accelerometer output data；The not horizontal includes pitching not horizontal and yaw not horizontal.
4. according to the method described in claim 3, it is characterized in that, the calculating of the not horizontal of the main inertial measurement combination is public
Formula are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw not water of main inertial measurement combination
Pingdu, T1For accumulated time, g0For local gravitational acceleration, δ Wy1 *Number is exported for the y-axis accelerometer of main inertial measurement combination
According to δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination；
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination not water
Pingdu, T1For accumulated time, g0For local gravitational acceleration, δ Wy2 *To export number from the y-axis accelerometer of inertial measurement combination
According to δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
5. the method according to claim 3 or 4, which is characterized in that the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01For the survey of main inertia
Combined yaw not horizontal is measured,For the pitching not horizontal of main inertial measurement combination, Δ A12For from inertial measurement combination
Relative to the gun parallax of main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02To be surveyed from inertia
Measure combined yaw not horizontal.
6. a kind of datum drift cancellation element characterized by comprising
Module is obtained, for obtaining the gun parallax from inertial measurement combination relative to main inertial measurement combination；
Acquisition module, described in being acquired after the main inertial measurement combination and the power-up from inertial measurement combination respectively
Main inertial measurement combination and the accelerometer information from inertial measurement combination；
First computing module calculates the main inertia measurement for the accelerometer information according to the main inertial measurement combination
Combined not horizontal, and according to the accelerometer information from inertial measurement combination, it calculates described from inertial measurement combination
Not horizontal；
Second computing module, for utilizing the gun parallax, the not horizontal of the main inertial measurement combination and described from used
Property the combined not horizontal of measurement, calculate described in from inertial measurement combination to the Reference Transforming square of the main inertial measurement combination
Battle array；
Deviation cancellation module, for when the main inertial measurement combination switch to it is described from inertial measurement combination after, using described
Reference Transforming matrix eliminates the datum drift of vehicle inertial navigation data.
7. device according to claim 6, which is characterized in that
The deviation cancellation module be used for when the main inertial measurement combination switch to described in from inertial measurement combination after, will deliver
The navigation matrix and the Reference Transforming matrix multiple that device inertial navigation data is constituted, to eliminate the vehicle inertial navigation number
According to datum drift.
8. device according to claim 6, which is characterized in that the accelerometer information includes the output of y-axis accelerometer
Data and z-axis accelerometer output data；The not horizontal includes pitching not horizontal and yaw not horizontal.
9. device according to claim 8, which is characterized in that the calculating of the not horizontal of the main inertial measurement combination is public
Formula are as follows:
In formula (1),For the pitching not horizontal of main inertial measurement combination, ψ01For the yaw not water of main inertial measurement combination
Pingdu, T1For accumulated time, g0For local gravitational acceleration, δ Wy1 *Number is exported for the y-axis accelerometer of main inertial measurement combination
According to δ Wz1 *For the Z axis accelerometer output data of main inertial measurement combination；
The calculation formula of the not horizontal from inertial measurement combination are as follows:
In formula (2),For from the pitching not horizontal of inertial measurement combination, ψ02For from the yaw of inertial measurement combination not water
Pingdu, T1For accumulated time, g0For local gravitational acceleration, δ Wy2 *To export number from the y-axis accelerometer of inertial measurement combination
According to δ Wz2 *For from the Z axis accelerometer output data of inertial measurement combination.
10. device according to claim 8 or claim 9, which is characterized in that the calculation formula of the Reference Transforming matrix are as follows:
In formula (3), [A]21For the Reference Transforming matrix from inertial measurement combination to main inertial measurement combination, ψ01For the survey of main inertia
Combined yaw not horizontal is measured,For the pitching not horizontal of main inertial measurement combination, Δ A12For from inertial measurement combination
Relative to the gun parallax of main inertial measurement combination,For from the pitching not horizontal of inertial measurement combination, ψ02To be surveyed from inertia
Measure combined yaw not horizontal.
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