CN110542430B - Large dynamic performance testing device and method for inertial measurement unit - Google Patents
Large dynamic performance testing device and method for inertial measurement unit Download PDFInfo
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- CN110542430B CN110542430B CN201910673598.3A CN201910673598A CN110542430B CN 110542430 B CN110542430 B CN 110542430B CN 201910673598 A CN201910673598 A CN 201910673598A CN 110542430 B CN110542430 B CN 110542430B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
A large dynamic performance testing device and method for an inertia measurement unit comprises the following steps: force bearing structure, pressure bearing, angle dial, angle pointer, spacer pin, rigid swing arm, mounting panel. The bearing structure comprises a bottom plate, a support column and a cantilever beam which are connected in sequence. The supporting column is used for changing the distance between the cantilever beam and the bottom plate; the mounting plate is fixedly connected with one end of the rigid swing arm, and the other end of the rigid swing arm is connected with a cantilever beam of the bearing structure through a pressure bearing; an angle dial is arranged at the connecting position of the rigid swing arm and the pressure bearing, an angle pointer is fixedly connected with the rigid swing arm, and the angle dial and the angle pointer are used for measuring the rotation angle between the rigid swing arm and the pressure bearing; the rigid swing arm is used for changing the distance between the mounting plate and the cantilever beam; the cantilever beam is provided with a limit pin for limiting the swing of the rigid swing arm, and the mounting plate is used for mounting the inertia measurement unit to be measured. The invention can be used for verifying the product performance of the inertia measurement unit under the large dynamic condition that the angular velocity reaches more than 1000 DEG/s and the acceleration reaches more than 5 g.
Description
Technical Field
The invention relates to a large dynamic performance testing device and method for an inertia measurement unit, and belongs to the technical field of performance verification of the inertia measurement unit.
Background
An Inertial Measurement Unit (IMU) is a key sensor in an inertial navigation system, generally consists of 3 gyroscopes and 3 accelerometers, and is widely applied in various fields such as aerospace and the like. In some special cases, the inertia measurement unit product needs to measure and navigate under a large dynamic working condition, such as a working condition with an angular velocity of more than 1000 degrees/s. Therefore, the performance of the inertia measurement unit product needs to be fully verified in a ground laboratory before the product is put into use formally.
The performance of the inertial measurement unit product is generally evaluated using a rotary table. For example, patent CN201310675186.6 discloses a dynamic testing method for an inertial navigation system, in the invention, a three-axis turntable is used to perform performance verification on the inertial navigation system, but the general turntable has limited rotation capability, cannot meet the performance testing requirement of an inertial measurement unit under a large dynamic working condition, and is expensive.
In addition to the turntable, patent CN201320777425.4 discloses an inertial navigation technology simulation test system, which includes a vehicle, a shelter, an alignment simulation device, a vehicle-mounted test system, a GPS forwarding system and a power supply system, and the invention provides a real operating environment for the inertial navigation to be tested by using the advancing of the vehicle and the rotation of the vehicle-mounted turntable, but generally cannot provide a large enough dynamic environment, and the test cost of the invention is high. The patent CN201220006096.9 discloses a gyroscope testing device, which includes a fulcrum, a power arm, a pendulum, an optimal sample of a gyroscope integrated circuit, and a gyroscope integrated circuit to be tested, however, the invention designs an active simple pendulum device, which is relatively complex in design, high in development cost, and does not give applicability in a large dynamic environment.
Disclosure of Invention
The technical problem solved by the invention is as follows: the device is simple and reliable, has low cost, is simple and easy to operate, can fully verify the measurement performance and the navigation performance of the inertia measurement unit under the large dynamic working condition that the angular velocity reaches more than 1000 DEG/s and the acceleration reaches more than 5g, and provides reliable guarantee for the use of the inertia measurement unit.
The technical scheme of the invention is as follows:
a large dynamic performance testing device for an inertial measurement unit comprises: the device comprises a force bearing structure, a pressure bearing, an angle dial, an angle pointer, a limiting pin, a rigid swing arm and a mounting plate; the force bearing structure comprises a bottom plate, a support pillar and a cantilever beam; the bottom plate, the support pillar and the cantilever beam are sequentially connected, and the support pillar is used for changing the distance between the cantilever beam and the bottom plate; the mounting plate is fixedly connected with one end of the rigid swing arm, and the other end of the rigid swing arm is connected with a cantilever beam of the bearing structure through a pressure bearing; an angle dial is arranged at the connecting position of the rigid swing arm and the pressure bearing, an angle pointer is fixedly connected with the rigid swing arm, and the angle dial and the angle pointer are used for measuring the rotation angle between the rigid swing arm and the pressure bearing; the rigid swing arm is used for changing the distance between the mounting plate and the cantilever beam; the cantilever beam is provided with a limiting pin for limiting the swing of the rigid swing arm, and the limiting pin can move on a slide way of the cantilever beam; the mounting plate is used for mounting an inertia measurement unit to be measured.
A method for testing the large dynamic performance of an inertia measurement unit by using the large dynamic performance testing device of the inertia measurement unit comprises the following steps:
1) fixing an inertia measurement unit to be measured on a mounting plate, enabling the rigid swing arm to swing around the pressure bearing in a reciprocating manner in a vertical plane, wherein the swing angle value range of the swing is not more than 10 degrees, and obtaining the swing time T of the rigid swing arm swinging for N times continuously through the initial rest positionNN is a positive integer and N is not less than 10, based on the N and TNDetermining a structural characteristic parameter K of a test devicedevice；
2) In a static state, the rigid swing arm vertically droops to be positioned at an initial position, and angular velocity and acceleration data output by the inertia measurement unit to be measured are collected;
3) raising the free end of the rigid swing arm to ensure that the included angle between the rigid swing arm and the vertical surface is equal to the set initial swing angle theta0Releasing the rigid swing arm to enable the rigid swing arm to freely fall and swing around the rotating shaft, and collecting angular velocity and acceleration data output by the inertia measurement unit to be measured; theta is described0The value range of (A) is 0-180 degrees;
4) after the rigid swing arm returns to a static state, collecting angular velocity and acceleration data output by an inertia measurement unit to be measured;
5) the structural characteristic parameter K obtained according to the step 1)deviceAnd step 3) setting an initial swing angle theta0Determining the real-time angular velocity omega of the inertial measurement unit during the free fall of the rigid swing armcalculateHeshi (Chinese character of' HeshiTime acceleration acalculate；
6) The real-time angular velocity omega determined according to the step 5)calculateAnd real-time acceleration acalculateAnd step 3) acquiring angular velocity and acceleration data output by the inertial measurement unit to be measured, and judging whether the measurement performance of the inertial measurement unit to be measured meets the use requirement under the condition of large dynamic;
7) determining a navigation attitude error, a navigation position error and a navigation speed error of the inertial measurement unit to be measured according to the angular velocity and acceleration data output by the inertial measurement unit to be measured acquired in the steps 2), 3) and 4);
8) and judging whether the navigation performance of the inertial measurement unit to be measured under the large dynamic condition meets the use requirement or not according to the navigation attitude error, the navigation position error and the navigation speed error determined in the step 7).
Step 1) determining a structural characteristic parameter K of the test devicedeviceThe method specifically comprises the following steps:
step 5) determining the real-time angular velocity omega of the inertia measurement unit in the free falling process of the rigid swing armcalculateAnd real-time acceleration acalculateThe method specifically comprises the following steps:
wherein, theta is that real-time demonstration on the angle calibrated scale rigid swing arm with turned angle between the pressure bearing, g are acceleration of gravity, L be by the barycenter of the assembly that mounting panel, cantilever beam and the inertia measuring unit combination that awaits measuring formed arrives the distance of pressure bearing axis.
The step 6) is a method for judging whether the measurement performance of the inertia measurement unit to be measured meets the use requirement under the condition of large dynamic, and the method specifically comprises the following steps:
when delta omega is less than or equal to { delta omega }indexAnd delta a is less than or equal to { delta a }indexJudging that the large dynamic measurement performance of the inertia measurement unit to be measured meets the use requirement;
when delta omega>{δω}indexOr δ a>{δa}indexIf so, judging that the large dynamic measurement performance of the inertia measurement unit to be measured does not meet the use requirement;
δω＝|ωmeasure-ωcalculate|，
δa＝|ameasure-acalculate|，
wherein, ω ismeasureAnd ameasureFor the actual output angular velocity and acceleration of the inertial measurement unit to be measured, { δ ω }indexIs the angular velocity index of the inertia measurement unit to be measured, { delta a }indexThe acceleration index of the inertia measurement unit to be measured is obtained.
The step 8) is a method for judging whether the navigation performance of the inertial measurement unit to be measured meets the use requirement under the condition of large dynamic, and specifically comprises the following steps:
when { δ Φ }navigation≤{δΦ}indexAnd { δ R }navigation≤{δR}indexAnd { δ V }navigation≤{δV}indexJudging that the large dynamic navigation performance of the inertial measurement unit to be measured meets the use requirement;
when { δ Φ }navigation>{δΦ}indexOr { δ R }navigation>{δR}indexOr { δ V }navigation>{δV}indexJudging that the large dynamic navigation performance of the inertial measurement unit to be measured does not meet the use requirement;
wherein, { δ Φ }navigationTo navigate attitude error, { δ R }navigationTo navigate position error, { δ V }navigationTo navigate the velocity error, { δ Φ }indexIs a navigation attitude error index of an inertial measurement unit to be measured, { delta R }indexFor inertial measurement units under testPosition error index, { delta V }indexThe navigation speed error index of the inertial measurement unit to be measured.
Compared with the prior art, the invention has the beneficial effects that:
1) the device consists of passive components, is simple and reliable, has low manufacturing cost, strong engineering implementation and easy operation, and can fully verify the performance of the inertia measurement unit by using the testing device and a corresponding testing method;
2) the invention generates different angular velocities by adjusting the initial swing angle and the length of the swing arm, the larger the initial swing angle is, the shorter the swing length is, the larger the angular velocity is, various dynamic working conditions meeting the test conditions can be obtained, the angular velocity value range of the test working conditions is from 0 degree/s to more than 1000 degrees/s, the acceleration value range is from 0g to more than 5g, and g is the gravity acceleration;
3) the invention provides a method for theoretically calculating real-time angular velocity and acceleration, and the method is used for verifying the measurement performance of an inertia measurement unit by comparing the real-time angular velocity and the real-time acceleration measured by the inertia measurement unit, so that the limit that the measurement performance and the saturation characteristic of a plurality of devices cannot be checked under a large dynamic working condition due to insufficient measurement range is broken through;
4) the invention provides a test method for verifying the navigation performance of an inertial measurement unit, which is simple to operate, has real and effective test results, and can perform reverse verification on different navigation algorithms.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic view of the swing joint structure of the device of the present invention;
FIG. 3 is a schematic view of the swing joint structure of the device of the present invention;
FIG. 4 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
An inertia measurement unit large dynamic performance testing device, as shown in fig. 1, 2 and 3, comprises: force bearing structure 1, pressure bearing 2, angle scale 3, angle pointer 4, spacer pin 5, rigid swing arm 6, mounting panel 7. The force bearing mechanism 1 provides a firm and stable motion environment and consists of a bottom plate 11, a support column 12 and a cantilever beam 13. The base plate 11, the supporting columns 12 and the cantilever beams 13 are sequentially connected, and the distance between the cantilever beams 13 and the base plate 11 can be changed through the telescopic supporting columns 12, so that the test requirements are met. The mounting panel 7 fixed connection rigidity swing arm 6's one end, rigidity swing arm 6's the other end passes through pressure bearing 2 and connects the cantilever beam 13 of bearing structure 1. An angle dial 3 is arranged at the connecting position of the rigid swing arm 6 and the pressure bearing 2, an angle pointer 4 is fixedly connected with the rigid swing arm 6, and the angle dial 3 and the angle pointer 4 are used for measuring the rotation angle between the rigid swing arm 6 and the pressure bearing 2; the rigid swing arm 6 is used to vary the distance between the mounting plate 7 and the cantilever beam 13. And a limiting pin 5 for limiting the swing of the rigid swing arm 6 is arranged on the cantilever beam 13, and the limiting pin 5 can move on a slide way of the cantilever beam. The mounting plate 7 is used for mounting an inertia measurement unit product to be measured.
A method for testing the large dynamic performance of the inertial measurement unit by using the large dynamic performance testing device of the inertial measurement unit is shown in FIG. 4, and comprises the following steps:
1) fixing an inertia measurement unit to be measured on a mounting plate 7, enabling a rigid swing arm 6 to swing around a pressure bearing 2 in a reciprocating manner in a vertical plane, wherein the swing angle value range of the swing is not more than 10 degrees, and obtaining the swing time T of the rigid swing arm 6 continuously swinging for N times through a middle point position, namely an initial rest positionNN is a positive integer and N is not less than 10, based on the N and TNDetermining a structural characteristic parameter K of a test devicedeviceThe method specifically comprises the following steps:
2) in a static state, the rigid swing arm 6 vertically droops to be positioned at an initial position, and angular velocity and acceleration data output by the inertia measurement unit to be measured are collected;
3) the free end of the rigid swing arm 6 is lifted to ensure that the rigid swing arm 6 is connected with the vertical surfaceEqual to the set initial swing angle theta0Releasing the rigid swing arm 6, enabling the rigid swing arm 6 to freely fall and swing around the rotating shaft, and collecting angular velocity and acceleration data output by the inertia measurement unit to be measured; theta is described0The value range of (A) is 0-180 degrees;
4) when the rigid swing arm 6 swings to a recovery static state under the action of external force or freely, collecting angular velocity and acceleration data output by an inertia measurement unit to be measured;
5) the structural characteristic parameter K obtained according to the step 1)deviceAnd step 3) setting an initial swing angle theta0Determining the real-time angular velocity omega of the inertial measurement unit during the free fall of the rigid swing arm 6calculateAnd real-time acceleration acalculateThe method specifically comprises the following steps:
wherein, theta is that real-time demonstration on the angle dial 3 rigid swing arm 6 with turned angle between the pressure bearing 2, g are acceleration of gravity, L be by the barycenter of the assembly that mounting panel (7), cantilever beam (13) and the inertia measuring unit combination that awaits measuring formed arrives the distance of pressure bearing (2) axis, 6 free fall of rigid swing arm are promptly around the equivalent barycenter of the equivalent simple pendulum motion of pivot swing.
6) The real-time angular velocity omega determined according to the step 5)calculateAnd real-time acceleration acalculateAnd step 3), acquiring angular velocity and acceleration data output by the inertial measurement unit to be measured, and judging whether the measurement performance of the inertial measurement unit to be measured under the condition of large dynamic meets the use requirement or not, wherein the method specifically comprises the following steps:
when delta omega is less than or equal to { delta omega }indexAnd delta a is less than or equal to { delta a }indexJudging that the large dynamic measurement performance of the inertia measurement unit to be measured meets the use requirement;
when delta omega>{δω}indexOr δ a>{δa}indexIf so, judging that the large dynamic measurement performance of the inertia measurement unit to be measured does not meet the use requirement;
δω＝|ωmeasure-ωcalculate|，
δa＝|ameasure-acalculate|，
wherein, ω ismeasureAnd ameasureFor the actual output angular velocity and acceleration of the inertial measurement unit to be measured, { δ ω }indexIs the angular velocity index of the inertia measurement unit to be measured, { delta a }indexThe acceleration index of the inertia measurement unit to be measured is obtained.
7) Determining a navigation attitude error, a navigation position error and a navigation speed error of the inertial measurement unit to be measured according to the angular velocity and acceleration data output by the inertial measurement unit to be measured, which are acquired in the steps 2), 3) and 4), and a navigation calculation method, wherein the navigation attitude error, the navigation position error and the navigation speed error are specifically as follows:
wherein Qinitial，Rinitial，VinitialObtaining angular velocity and acceleration data output by the inertial measurement unit in the step 2) by adopting a dual-vector method for initial attitude quaternion, initial position and initial velocity of the inertial measurement unit, Qfinal，Rfinal，VfinalObtaining angular velocity and acceleration data output by the inertial measurement unit in the step 4) as an end attitude quaternion, an end position and an end speed of the inertial measurement unit by adopting a double-vector method, TnavigationFor navigation duration, F (-) is the navigation algorithm, where there is no special restriction on the algorithm, { δ Φ }navigationFor the calculated navigation attitude error, { δ R }navigationFor the calculated navigation position error, { δ V }navigationIs the calculated navigation speed error.
8) Judging whether the navigation performance of the inertial measurement unit to be measured under the condition of large dynamic meets the use requirement or not according to the navigation attitude error, the navigation position error and the navigation speed error determined in the step 7), which specifically comprises the following steps:
when { δ Φ }navigation≤{δΦ}indexAnd { δ R }navigation≤{δR}indexAnd { δ V }navigation≤{δV}indexJudging that the large dynamic navigation performance of the inertial measurement unit meets the use requirement;
when { δ Φ }navigation＞{δΦ}indexOr { δ R }navigation＞{δR}indexOr { δ V }navigation＞{δV}indexIf so, judging that the large dynamic navigation performance of the inertia measurement unit does not meet the use requirement;
wherein, { δ Φ }indexIs a navigation attitude error index of an inertial measurement unit to be measured, { delta R }indexIs a navigation position error index of an inertial measurement unit to be measured, { delta V }indexThe navigation speed error index of the inertial measurement unit to be measured.
Examples
N is 10, and T is measured by adjusting the length L of the rigid swing arm 6 to 0.15mN6s, initial swing angle theta0180 °, the characteristic parameter KdeviceWhen the first period swings to the lowest point, that is, when θ is 0 °, 109.66, the maximum angular velocity value ω is obtainedcalculateUp to 1200 deg/s, maximum acceleration acalculateTo 7.7 g.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (6)
1. The large dynamic performance testing device of the inertial measurement unit is characterized by comprising: the device comprises a bearing structure, a pressure bearing (2), an angle scale disc (3), an angle pointer (4), a limiting pin (5), a rigid swing arm (6) and a mounting plate (7);
the bearing structure comprises a bottom plate (11), a supporting column (12) and a cantilever beam (13);
the base plate (11), the supporting column (12) and the cantilever beam (13) are sequentially connected, and the supporting column (12) is used for changing the distance between the cantilever beam (13) and the base plate (11);
the mounting plate (7) is fixedly connected with one end of the rigid swing arm (6), and the other end of the rigid swing arm (6) is connected with a cantilever beam (13) of a bearing structure through a pressure bearing (2);
an angle dial (3) is arranged at the connecting position of the rigid swing arm (6) and the pressure bearing (2), an angle pointer (4) is fixedly connected with the rigid swing arm (6), and the angle dial (3) and the angle pointer (4) are used for measuring the rotating angle between the rigid swing arm (6) and the pressure bearing (2);
the rigid swing arm (6) is used for changing the distance between the mounting plate (7) and the cantilever beam (13);
the cantilever beam (13) is provided with a limiting pin (5) for limiting the swing of the rigid swing arm (6), and the limiting pin (5) can move on a slide way of the limiting pin;
the mounting plate (7) is used for mounting an inertia measuring unit to be measured.
2. A method for testing the large dynamic performance of an inertial measurement unit by using the large dynamic performance testing device of the inertial measurement unit according to claim 1, which comprises the following steps:
1) fixing an inertia measurement unit to be measured on a mounting plate (7), enabling a rigid swing arm (6) to swing around a pressure bearing (2) in a reciprocating manner in a vertical plane, wherein the swing angle value range of the swing is not more than 10 degrees, and obtaining the swing time T of the rigid swing arm (6) swinging for N times continuously through an initial rest positionNN is a positive integer and N is not less than 10, based on the N and TNDetermining a structural characteristic parameter K of a test devicedevice；
2) In a static state, the rigid swing arm (6) vertically droops to be positioned at an initial position, and angular velocity and acceleration data output by the inertia measurement unit to be measured are collected;
3) the free end of the rigid swing arm (6) is lifted, so that the included angle between the rigid swing arm (6) and the vertical surface is equal to the set initial swing angle theta0Releasing the rigid swing arm (6), enabling the rigid swing arm (6) to freely fall and swing around the rotating shaft, and collecting angular velocity and acceleration data output by the inertia measurement unit to be measured; theta is described0The value range of (A) is 0-180 degrees;
4) when the rigid swing arm (6) returns to a static state, acquiring angular velocity and acceleration data output by the inertia measurement unit to be measured;
5) the structural characteristic parameter K obtained according to the step 1)deviceAnd step 3) setting an initial swing angle theta0Determining the real-time angular velocity omega of the inertial measurement unit in the free falling process of the rigid swing arm (6)calculateAnd real-time acceleration acalculate；
6) The real-time angular velocity omega determined according to the step 5)calculateAnd real-time acceleration acalculateAnd step 3) acquiring angular velocity and acceleration data output by the inertial measurement unit to be measured, and judging whether the measurement performance of the inertial measurement unit to be measured meets the use requirement under the condition of large dynamic;
7) determining a navigation attitude error, a navigation position error and a navigation speed error of the inertial measurement unit to be measured according to the angular velocity and acceleration data output by the inertial measurement unit to be measured acquired in the steps 2), 3) and 4);
8) and judging whether the navigation performance of the inertial measurement unit to be measured under the large dynamic condition meets the use requirement or not according to the navigation attitude error, the navigation position error and the navigation speed error determined in the step 7).
3. The method for testing the large dynamic performance of the inertial measurement unit according to claim 2, wherein the step 1) is to determine the structural characteristic parameter K of the testing devicedeviceThe method specifically comprises the following steps:
4. a method for testing the large dynamic performance of an inertial measurement unit according to claim 3, wherein the step 5) determines the real-time angular velocity ω of the inertial measurement unit during the free fall of the rigid swing arm (6)calculateAnd real-time acceleration acalculateThe method specifically comprises the following steps:
wherein, theta is that real-time demonstration is gone up in angle dial (3) rigidity swing arm (6) with turned angle between pressure bearing (2), g are acceleration of gravity, L be by the barycenter of the assembly that mounting panel (7), cantilever beam (13) and the inertia measuring unit combination that awaits measuring formed arrives the distance of pressure bearing (2) axis.
5. The method for testing the large dynamic performance of the inertial measurement unit according to any one of claims 2 to 4, wherein the step 6) is a method for determining whether the measurement performance of the inertial measurement unit to be tested meets the use requirement under the large dynamic condition, and specifically comprises the following steps:
when delta omega is less than or equal to { delta omega }indexAnd delta a is less than or equal to { delta a }indexJudging that the large dynamic measurement performance of the inertia measurement unit to be measured meets the use requirement;
when delta omega>{δω}indexOr δ a>{δa}indexIf so, judging that the large dynamic measurement performance of the inertia measurement unit to be measured does not meet the use requirement;
δω＝|ωmeasure-ωcalculate|，
δa＝|ameasure-acalculate|，
wherein, ω ismeasureAnd ameasureFor the actual output angular velocity and acceleration of the inertial measurement unit to be measured, { δ ω }indexIs the angular velocity index of the inertia measurement unit to be measured, { delta a }indexThe acceleration index of the inertia measurement unit to be measured is obtained.
6. The method for testing the large dynamic performance of the inertial measurement unit according to claim 5, wherein the step 8) is a method for determining whether the navigation performance of the inertial measurement unit under test under the large dynamic condition meets the use requirement, and specifically comprises the following steps:
when { δ Φ }navigation≤{δΦ}indexAnd { δ R }navigation≤{δR}indexAnd { δ V }navigation≤{δV}indexJudging that the large dynamic navigation performance of the inertial measurement unit to be measured meets the use requirement;
when { δ Φ }navigation>{δΦ}indexOr { δ R }navigation>{δR}indexOr { δ V }navigation>{δV}indexJudging that the large dynamic navigation performance of the inertial measurement unit to be measured does not meet the use requirement;
wherein, { δ Φ }navigationTo navigate attitude error, { δ R }navigationTo navigate position error, { δ V }navigationTo navigate the velocity error, { δ Φ }indexIs a navigation attitude error index of an inertial measurement unit to be measured, { delta R }indexIs a navigation position error index of an inertial measurement unit to be measured, { delta V }indexThe navigation speed error index of the inertial measurement unit to be measured.
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