CN110705002A - Compensation system and method for simulation test - Google Patents
Compensation system and method for simulation test Download PDFInfo
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Abstract
The invention provides a compensation system and a compensation method for a simulation test, which comprise an inertial navigation system, a simulation rotary table and a compensation unit, wherein the compensation unit comprises an inertial navigation system attitude quaternion determining module, a simulation rotary table excitation attitude quaternion determining module, an installation error angle quaternion determining module and a compensation quaternion determining module. The invention carries out feedback compensation on the turntable driving excitation instruction in the simulation system, so that the measurement value of the inertial navigation system is closer to the simulation required value, thereby effectively reducing the excitation error of the inertial navigation system caused by the installation error of the inertial navigation system and ensuring the authenticity and reliability of the simulation test.
Description
Technical Field
The invention relates to a compensation system and method for a simulation test, and belongs to the technical field of semi-physical simulation.
Background
In the design, performance test and verification process of an aircraft control system, in order to improve efficiency and reliability, save time and cost and reduce test risk, a semi-physical simulation mode is usually adopted to replace a real environment actual measurement mode. An inertial navigation system or a combined navigation system based on an inertial navigation system is capable of providing the aircraft with attitude information important in flight control, and thus becomes an indispensable part of the system. In the semi-physical simulation test process, the inertial navigation system is carried on the simulation turntable, and the simulation turntable generates angle or angular velocity excitation to drive the inertial navigation system to realize specific attitude change, so that the state of the aircraft in the real flight process is simulated.
The premise of ensuring the authenticity of the semi-physical simulation is that correct environment and driving excitation can be provided for equipment to be tested, and under the condition that the inertial navigation system is tested, the key factor that the sensitive axis of the inertial navigation system and the three axes of the geographic coordinate system are coaxial is the credible measurement result of the inertial navigation system. However, in the process that the simulation turntable drives the inertial navigation system to move, due to the influence of the installation error angle of the simulation turntable and the installation error angle between the inertial navigation system and the simulation turntable, the attitude information calculated by the inertial navigation system not only contains effective flight attitude information, but also contains error information, and the error information accompanies the whole test process.
The installation deviation of the simulation turntable can be limited to an arc-second level through external auxiliary facilities in the process of fixing the simulation turntable and a foundation, but due to the limitation of a tool and a simulation turntable frame, the installation deviation between the inertial navigation system and the simulation turntable is usually difficult to calibrate, and generally, only the tool is utilized for carrying out certain limitation. The installation deviation of the simulation turntable can be limited to an angular second level through external auxiliary facilities in the process of fixing the simulation turntable and a foundation, the inertial navigation system and the simulation turntable are generally fixed through a structural tool, one side of the inertial navigation system is matched and connected with an inner frame of the turntable, and the other side of the inertial navigation system is matched and connected with the inertial navigation system. Taking the example that the position precision of the connecting and mounting through hole is 1mm, and the mounting diagonal distance of the inertial navigation system is 300mm, the mounting angle error is reduced to about 12 ", and the actual mounting error is not less than the value, and is usually more than 0.1 °.
In practical use, the installation deviation between the inertial navigation system and the simulation turntable is the part which has the greatest influence on the simulation result of the system, and the error is gradually enlarged through integral accumulation, so that the navigation precision of the system is damaged, the control precision of the system is reduced, and even the final precision of the simulation system is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a compensation system and a compensation method for a simulation test, which can perform accurate feedback compensation on the simulation test and ensure the authenticity and reliability of the simulation test.
The technical solution of the invention is as follows: a compensation system for simulation test comprises an inertial navigation system, a simulation rotary table and a compensation unit, wherein the compensation unit comprises an inertial navigation system attitude quaternion determining module, a simulation rotary table excitation attitude quaternion determining module, an installation error angle quaternion determining module and a compensation quaternion determining module;
the simulation turntable outputs simulation turntable driving excitation (the driving excitation comprises an excitation pitch angle, an excitation course angle and an excitation rolling angle);
after the inertial navigation system is initially aligned, actually measuring to obtain an attitude angle (including a pitch angle, a course angle and a rolling angle) of the inertial navigation system corresponding to the driving excitation of the simulation turntable;
the inertial navigation system attitude quaternion determining module determines the inertial navigation system attitude quaternion according to an attitude angle of the inertial navigation system obtained by actual measurement of the inertial navigation system;
the simulation turntable excitation attitude quaternion determining module determines the simulation turntable excitation attitude quaternion according to the simulation turntable driving excitation output by the simulation turntable;
the installation error angle quaternion determining module determines an installation error angle quaternion according to the simulation turntable excitation attitude quaternion and the inertial navigation system attitude quaternion;
and the compensation quaternion determining module determines a compensation quaternion according to the installation error angle quaternion and compensates the driving excitation of the simulation turntable by using the compensation quaternion.
The installation error angle quaternion determination module utilizes a formula
Determining an installation error angle quaternion qINSTALLWherein q isROTATEFor simulating the excitation attitude quaternion, qINSAnd the attitude quaternion of the inertial navigation system.
The installation error angle quaternion determination module utilizes a formulaDetermining an installation error angle quaternion qINSTALLWherein q isROTATEFor simulating the excitation attitude quaternion, qINSThe quaternion of inertial navigation system attitude is added with the quaternion q of installation error angleINSTALLAnd converting the installation error angle into an installation error angle in an Euler angle form, filtering the installation error angle to obtain a filtered installation error angle, converting the filtered installation error angle into an installation error angle quaternion, and sending the installation error angle quaternion into a compensation quaternion determining module for determining a compensation quaternion.
The filtering adopts median filtering, and the median filtering is respectively carried out on the installation error angles to obtain filtered medians of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft; comparing the filtered median values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft with the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft before filtering, and determining the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtered median values; respectively taking the determined installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtering median as references, and determining the deviation between the other two installation error angles of the rolling shaft and the filtering median of the shaft when one installation error angle of the shaft is positioned at the filtering median position; judging the obtained data, and determining the position with the minimum deviation between the other two axis installation error angles and the axis filtering median when one axis installation error angle is the filtering median position; and obtaining numerical values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft corresponding to the position according to the obtained minimum deviation position, and taking the numerical values as the installation error angles after filtering.
A compensation method of a simulation test is realized by the following steps:
firstly, unifying simulation test data;
secondly, the simulation rotary table outputs simulation rotary table driving excitation in real time;
thirdly, after the inertial navigation system is initially aligned, actually measuring to obtain an attitude angle of the inertial navigation system corresponding to the driving excitation of the simulation turntable;
and a fourth step of determining an error compensation,
a4.1, determining the excitation attitude quaternion q of the simulation rotary table by utilizing the attitude angles of the simulation rotary table drive excitation and inertial navigation system obtained in the second step and the third stepROTATEAnd inertial navigation system attitude quaternion qINS；
A4.2, using the formula
Determining an installation error angle quaternion qINSTALL；
A4.3, using the formula
Determining a compensation quaternion;
and fifthly, compensating the driving excitation of the simulation turntable by using the error compensation determined in the fourth step.
The fourth step is realized by the steps of,
b4.1, determining the excitation attitude quaternion q of the simulation rotary table by utilizing the attitude angles of the simulation rotary table drive excitation and inertial navigation system obtained in the second step and the third stepROTATEAnd inertial navigation system attitude quaternion qINS；
B4.2, using the formula
Determining an installation error angle quaternion qINSTALL；
B4.3, installation error angle quaternion qINSTALLConverting the installation error angle into an Euler angle form, and filtering the installation error angle to obtain a filtered installation error angle;
b4.4, converting the filtered installation error angle into an installation error angle quaternion q'INSTALL；
B4.5, using the formula
A compensation quaternion is determined.
The step B4.3 of filtering adopts median filtering and is realized by the following steps,
b4.3.1, performing median filtering on the installation error angles respectively to obtain filtered median values of the installation error angles of the rolling axis, the pitching axis and the yawing axis;
b4.3.2, comparing the filtered median values of the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle with the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle before filtering, and determining the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle which are consistent with the filtered median values;
b4.3.3, determining the deviation between the other two shaft installation error angles and the shaft filtering median when one shaft installation error angle is located at the filtering median position by taking the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle position which are determined in the step B4.3.2 and are consistent with the filtering median as the reference;
b4.3.4, determining the position with the minimum deviation between the other two axis installation error angles and the axis filter median when one axis installation error angle is the filter median position according to the data obtained in the step B4.3.3;
b4.3.5, obtaining the numerical values of the roll axis installation error angle, the pitch axis installation error angle and the yaw axis installation error angle corresponding to the minimum deviation position obtained in step B4.3.4 as the filtered installation error angle.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention carries out feedback compensation on the driving excitation instruction of the turntable in the simulation system, so that the measurement value of the inertial navigation system is closer to the simulation required value, thereby effectively reducing the excitation error of the inertial navigation system caused by the installation error of the inertial navigation system and ensuring the authenticity and reliability of the simulation test;
(2) the method effectively reduces the difficulty degree of the calibration of the installation error angle, saves the time cost of the test preparation process, and improves the flexibility of the simulation system under the condition of reinstallation of the inertial navigation system;
(3) the method utilizes quaternion to compensate the installation error, the error is accurately compensated, the problem of singular points of the Euler matrix when the Euler angle and the Euler matrix are adopted to carry out attitude calculation and transfer matrix calculation in the prior art is solved, and the operation is simpler;
(4) the quaternion separation is carried out by adopting a special median filtering mode, so that the physical significance of the median filtering of the installation error angle is realized, the noise of inertial navigation is eliminated, and the accuracy of error compensation is further improved;
(5) the invention completes verification on a certain model, and the installation error after compensation does not exceed 5 arc seconds at most;
(6) the invention provides a good test basis for the performance verification of the cooperative control system based on the cooperative simulation system, and is also suitable for other weapon equipment semi-physical simulation tests with an inertial navigation system.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a flow chart of the present invention;
FIG. 3 illustrates an uncompensated front attitude angle deviation and deviation analysis in accordance with an embodiment of the present invention;
FIG. 4 is a diagram illustrating the result of the angular separation of installation errors in accordance with the exemplary embodiment of the present invention;
FIG. 5 is a graph comparing the axial deviations before and after correction (compensation) according to the embodiment of the present invention;
FIG. 6 is a graph of the residual error distribution after modification (compensation) according to an embodiment of the present invention;
FIG. 7 is a diagram showing a comparison of the attitude of the axes before and after correction (compensation) according to the embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the following examples and accompanying drawings.
The invention provides a compensation system for a simulation test, which comprises an inertial navigation system, a simulation rotary table and a compensation unit, as shown in figure 1. The compensation unit comprises an inertial navigation system attitude quaternion determining module, a simulation rotary table excitation attitude quaternion determining module, an installation error angle quaternion determining module and a compensation quaternion determining module.
And the simulation turntable outputs the simulation turntable driving excitation (the driving excitation comprises an excitation pitch angle, an excitation course angle and an excitation rolling angle). In a semi-physical simulation test, a simulation turntable completely tracks a driving excitation instruction in real time, simulation integrated control equipment calculates and obtains real values of a pitch angle, a course angle and a rolling angle according to a theoretical projectile body model, the real values are transmitted to the simulation turntable through optical fibers, the simulation turntable is an angular position tracking system and can rotate to required values after obtaining a driving signal, namely the excitation pitch angle, the course angle and the rolling angle.
After the inertial navigation system is initially aligned, the attitude angle (including a pitch angle, a course angle and a rolling angle) of the inertial navigation system is obtained through actual measurement, and the attitude angle corresponds to the driving excitation of the simulation turntable. The initial alignment of the inertial navigation system is a technique known in the art, and after the initial alignment of the inertial navigation system, an attitude angle is output, and generally, the output of the inertial navigation system is collected for a period of time in the art, and a stable value is obtained after mathematical statistics.
The inertial navigation system attitude quaternion determining module determines the attitude quaternion q of the inertial navigation system according to the attitude of the inertial navigation system measured by the inertial navigation systemINS。
Attitude quaternion for inertial navigation system
Wherein, thetaINSActually measuring pitch angle psi for inertial navigation systemINSActually measuring course angle gamma for inertial navigation systemINSAnd measuring the roll angle for the inertial navigation system.
The simulation rotary table excitation attitude quaternion determining module determines the simulation rotary table excitation attitude quaternion q according to the simulation rotary table drive excitation output by the simulation rotary tableROTATE。
Simulation turntable excitation attitude quaternion
Wherein, thetaROTATEDriving excitation pitch angle psi for simulating turntable outputROTATEDriving excitation course angle, gamma, for simulating turntable outputROTATEAnd exciting the rolling angle for simulating the driving of the turntable output.
The installation error angle quaternion determination module determines the quaternion according to a formula
Determining an installation error angle quaternion qINSTALL. The compensation quaternion determining module determines the quaternion according to the formula
And determining a compensation quaternion and using the compensation quaternion to simulate the driving excitation of the rotary table for compensation.
The quaternion q is represented by a4 x 1 dimensional vector, ρ is the vector portion of the quaternion, q0Is a quaternion scalar part and comprises a scalar part and 3 vector parts. And satisfies the following conditions:
q＝[ρTq0]＝[q1q2q3q0]T
ex,ey,ezis the base vector of three axes; phi is the angle change.
Multiplication between quaternions may utilizeIt is shown that,the operation mode satisfies the following conditions:
I3×33 × 3 dimensional unit array; [],{},[×]Both represent the operation method.
The invention can carry out quaternion separation and filtering processing in the quaternion determination process. To facilitate data analysis and calculation, the installation error angle quaternion is converted to euler angle form by:
the formula includes a rolling installation error angle, a pitching installation error angle and a course installation error angle, subscript 0123 means, 0 is a scalar, and 123 is a vector.
Installation error angle quaternion determination module using formulaDetermining an installation error angle quaternion qINSTALLThen, the quaternion q of the installation error angle is calculatedINSTALLAnd converting the installation error angle into an installation error angle in an Euler angle form, filtering the installation error angle to obtain a filtered installation error angle, converting the filtered installation error angle into an installation error angle quaternion, and sending the installation error angle quaternion into a compensation quaternion determining module for determining a compensation quaternion.
Filtering adopts median filtering, and median filtering is respectively carried out on the installation error angles to obtain filtered medians of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft; comparing the filtered median values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft with the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft before filtering, and determining the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtered median values; respectively taking the determined installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtering median as references, and determining the deviation between the other two installation error angles of the rolling shaft and the filtering median of the shaft when one installation error angle of the shaft is positioned at the filtering median position; judging the obtained data, and determining the position with the minimum deviation between the other two axis installation error angles and the axis filtering median when one axis installation error angle is the filtering median position; and obtaining numerical values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft corresponding to the position according to the obtained minimum deviation position, and taking the numerical values as the installation error angles after filtering.
The present invention provides for the use of median filtering, which is well known in the art. In order to adopt a special median filtering method, the median of each attitude angle is not simply selected, but the correspondence between the attitude angles is considered, 2 norms are utilized for distance calculation, and the 3 attitude angle median results and the norm minimum (closest distance) of the whole measurement result are selected as the final selection result.
At the obtained multiple groups of attitude angles
Calculating a pose median in each pose dimension to formThree different attitude vectors are formed for different attitude angular positions:
wherein,
is the median value in the nx1 dimensional gamma sequence; wherein the corresponding position of the value is i;
Respectively calculating:
||Φn-Φm|||m＝i，j，k
selecting min (| | phi)n-ΦmI) corresponding to phimThe attitude is the separated installation error angle.
Obtaining an installation error angle after median filtering
On the basis of establishing an installation error quaternion state transfer model, the invention adopts a data driving mode, utilizes an inertial navigation system measured value and a simulation system solution value to separate installation error angle quaternion, then utilizes a window median filtering mode to determine a compensation error angle quaternion, and finally utilizes the compensation quaternion to correct the driving excitation of a simulation turntable.
Further, the present invention provides a compensation method of simulation test as shown in fig. 2, which is implemented by the following steps:
1. and (5) unifying simulation test data.
In the simulation process, the excitation attitude of the simulation turntable and the inertial navigation measurement data are recorded, and due to certain differences between the inertial navigation system and the driving excitation instruction of the simulation turntable, such as starting time, sampling control period and the like, the differences can hinder the calculation of the angular separation of the installation errors. In order to ensure the uniformity among the calculated data, the invention firstly translates the calculation zero point of the inertial navigation system to be consistent with the driving excitation command by judging the combined navigation command word. And then, carrying out linear programming by using a known base point by adopting piecewise linear interpolation, and unifying the sampling interval of the driving excitation command and the inertial navigation system. Wherein piecewise linear interpolation follows:
wherein x is0、x1For data-to-be-inserted neighboring time nodes, f (x)0)、f(x1) And (4) setting an interpolation time node for the adjacent node value of the data to be interpolated, wherein x is the set interpolation time node, and rho (x) is the interpolation node value.
The unified simulation test data is a technique known in the art, and a person skilled in the art can adopt the preferred scheme provided by the invention according to needs, and can also adopt a conventional means in the art according to actual needs.
2. And the simulation rotary table outputs the simulation rotary table driving excitation in real time.
3. And after the inertial navigation system is initially aligned, actually measuring to obtain the attitude angle of the inertial navigation system.
4. An error compensation is determined.
(1) Determining the attitude quaternion q of the inertial navigation system by utilizing the attitude angle of the inertial navigation system obtained in the steps 2 and 3 and the driving excitation of the simulation turntableINSAnd simulation turntable excitation attitude quaternion qROTATE。
(2) Using formulas
Determining an installation error angle quaternion qINSTALL。
(3) Using formulas
Determining a compensation quaternion qBCH。
5. And compensating the driving excitation of the simulation turntable by using the error compensation determined in the step.
Further, step 4 of the present invention employs median filtering to separate the installation error angle, which is specifically realized by the following steps,
(1) posture of the inertial navigation system obtained by the steps 2 and 3Attitude angle and simulation turntable driving excitation are adopted to determine attitude quaternion q of inertial navigation systemINSAnd simulation turntable excitation attitude quaternion qROTATE。
(2) Using formulas
Determining an installation error angle quaternion qINSTALL.
(3) Installation error angle quaternion qINSTALLAnd converting the angle into an installation error angle in an Euler angle form, and filtering the installation error angle to obtain a filtered installation error angle.
The filtering in the step adopts median filtering and is realized by the following steps:
(31) respectively carrying out median filtering on the installation error angles to obtain filtered median values of the installation error angles of the rolling shaft, the pitching shaft and the yawing shaft;
(32) comparing the filtered median values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft with the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft before filtering, and determining the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtered median values;
(33) respectively taking the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are determined in the step (32) and are consistent with the filtering median value as references, and determining the deviation between the other two installation error angles and the filtering median value of the shaft when one installation error angle of the shafts is positioned at the position of the filtering median value;
(34) judging the data obtained in the step (33), and determining the position with the minimum deviation between the other two axis installation error angles and the axis filtering median when one axis installation error angle is the filtering median position;
(35) and (4) obtaining numerical values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft corresponding to the position according to the minimum deviation position obtained in the step (34) and taking the numerical values as the installation error angles after filtering.
(4) Converting the filtered installation error angle into an installation error angle quaternion q'INSTALL。
(5) Using formulasA compensation quaternion is determined.
Examples
In this example, the attitude angle deviation and deviation analysis before uncompensation are shown in fig. 3, and the compensation process is shown in 3-7 by adopting the method.
As shown in fig. 3a, b and c, a curve 1 is an actual measurement curve of the inertial navigation attitude angle, a curve 2 is an excitation signal sent by the simulator to the simulation turntable, it can be seen that a certain error exists between the actual measurement angle and the excitation signal, the pitch angle is analyzed as shown in fig. 3d, the other two axes have the same principle, the actual measurement angle and the excitation signal have a certain deviation, and the error data is shown in fig. 3 d.
As shown in fig. 4a, b, and c, a curve 1 is a triaxial mounting angle, and a curve 2 is a triaxial mounting angle after median filtering, it can be seen that after median filtering is performed on each of the triaxial shafts, one of the axes is located at a position corresponding to the median mounting angle, and mounting angles of the other two axes are not located at the median. Therefore, the triaxial mounting angle after median filtering needs to be selected through 2 norms to obtain a final compensation value. As shown in fig. 4a, b, c, the mounting error angular position at the median is determined, respectively, to calculate the median point. And respectively taking the calculation median point of the three axes as a reference, calculating the difference between the installation error angle of the other two axes and the median value of the axis, determining the selected median point with the minimum deviation, taking the corresponding three-axis installation error angle numerical value as the filtered installation error angle, and performing quaternion conversion on the installation error angle to obtain the installation error angle quaternion.
The invention adopts a special median filtering mode to separate quaternion, realizes the physical significance of the median filtering of the installation error angle, eliminates the noise of inertial navigation and further improves the precision of error compensation.
As shown in fig. 5, 6 and 7, the deviation, residual error and attitude contrast map of each axis before and after correction by the present invention all have residual errors less than 5 arc seconds after correction.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (7)
1. A compensation system of simulation test is characterized in that: the system comprises an inertial navigation system, a simulation rotary table and a compensation unit, wherein the compensation unit comprises an inertial navigation system attitude quaternion determining module, a simulation rotary table excitation attitude quaternion determining module, an installation error angle quaternion determining module and a compensation quaternion determining module;
the simulation turntable outputs simulation turntable driving excitation;
after the inertial navigation system is initially aligned, an attitude angle of the inertial navigation system corresponding to the driving excitation of the simulation turntable is obtained through actual measurement;
the inertial navigation system attitude quaternion determining module determines the inertial navigation system attitude quaternion according to an attitude angle of the inertial navigation system obtained by actual measurement of the inertial navigation system;
the simulation turntable excitation attitude quaternion determining module determines the simulation turntable excitation attitude quaternion according to the simulation turntable driving excitation output by the simulation turntable;
the installation error angle quaternion determining module determines an installation error angle quaternion according to the simulation turntable excitation attitude quaternion and the inertial navigation system attitude quaternion;
and the compensation quaternion determining module determines a compensation quaternion according to the installation error angle quaternion and compensates the driving excitation of the simulation turntable by using the compensation quaternion.
2. The compensation system of claim 1, wherein: the installation error angle quaternion determination module utilizes a formula
Determining an installation error angle quaternion qINSTALLWherein q isROTATEFor simulating the excitation attitude quaternion, qINSAnd the attitude quaternion of the inertial navigation system.
3. The compensation system of claim 1, wherein: the installation error angle quaternion determination module utilizes a formula
Determining an installation error angle quaternion qINSTALLWherein q isROTATEFor simulating the excitation attitude quaternion, qINSThe quaternion of inertial navigation system attitude is added with the quaternion q of installation error angleINSTALLAnd converting the installation error angle into an installation error angle in an Euler angle form, filtering the installation error angle to obtain a filtered installation error angle, converting the filtered installation error angle into an installation error angle quaternion, and sending the installation error angle quaternion into a compensation quaternion determining module for determining a compensation quaternion.
4. The compensation system of claim 3, wherein: the filtering adopts median filtering, and the median filtering is respectively carried out on the installation error angles to obtain filtered medians of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft; comparing the filtered median values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft with the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft before filtering, and determining the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtered median values; respectively taking the determined installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle position of the yawing shaft which are consistent with the filtering median as references, and determining the deviation between the other two installation error angles of the rolling shaft and the filtering median of the shaft when one installation error angle of the shaft is positioned at the filtering median position; judging the obtained data, and determining the position with the minimum deviation between the other two axis installation error angles and the axis filtering median when one axis installation error angle is the filtering median position; and obtaining numerical values of the installation error angle of the rolling shaft, the installation error angle of the pitching shaft and the installation error angle of the yawing shaft corresponding to the position according to the obtained minimum deviation position, and taking the numerical values as the installation error angles after filtering.
5. A compensation method for simulation test is characterized by comprising the following steps:
firstly, unifying simulation test data;
secondly, the simulation rotary table outputs simulation rotary table driving excitation in real time;
thirdly, after the inertial navigation system is initially aligned, actually measuring to obtain an attitude angle of the inertial navigation system corresponding to the driving excitation of the simulation turntable;
and a fourth step of determining an error compensation,
a4.1, determining the excitation attitude quaternion q of the simulation rotary table by utilizing the attitude angles of the simulation rotary table drive excitation and inertial navigation system obtained in the second step and the third stepROTATEAnd inertial navigation system attitude quaternion qINS；
A4.2, using the formula
Determining an installation error angle quaternion qINSTALL；
A4.3, using the formula
Determining a compensation quaternion;
and fifthly, compensating the driving excitation of the simulation turntable by using the error compensation determined in the fourth step.
6. The compensation method of the simulation test according to claim 5, wherein: the fourth step is realized by the steps of,
b4.1, determining the excitation attitude quaternion q of the simulation rotary table by utilizing the attitude angles of the simulation rotary table drive excitation and inertial navigation system obtained in the second step and the third stepROTATEAnd inertial navigation system attitude quaternion qINS；
B4.2, using the formula
Determining an installation error angle quaternion qINSTALL；
B4.3, installation error angle quaternion qINSTALLConverting the installation error angle into an Euler angle form, and filtering the installation error angle to obtain a filtered installation error angle;
b4.4, converting the filtered installation error angle into an installation error angle quaternion qI′NSTALL；
B4.5, using the formulaA compensation quaternion is determined.
7. The compensation method of the simulation test according to claim 6, wherein: the step B4.3 of filtering adopts median filtering and is realized by the following steps,
b4.3.1, performing median filtering on the installation error angles respectively to obtain filtered median values of the installation error angles of the rolling axis, the pitching axis and the yawing axis;
b4.3.2, comparing the filtered median values of the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle with the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle before filtering, and determining the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle which are consistent with the filtered median values;
b4.3.3, determining the deviation between the other two shaft installation error angles and the shaft filtering median when one shaft installation error angle is located at the filtering median position by taking the rolling shaft installation error angle, the pitching shaft installation error angle and the yawing shaft installation error angle position which are determined in the step B4.3.2 and are consistent with the filtering median as the reference;
b4.3.4, determining the position with the minimum deviation between the other two axis installation error angles and the axis filter median when one axis installation error angle is the filter median position according to the data obtained in the step B4.3.3;
b4.3.5, obtaining the numerical values of the roll axis installation error angle, the pitch axis installation error angle and the yaw axis installation error angle corresponding to the minimum deviation position obtained in step B4.3.4 as the filtered installation error angle.
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