CN113049005A - GNSS position method assisted DVL error calibration method and system - Google Patents

GNSS position method assisted DVL error calibration method and system Download PDF

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CN113049005A
CN113049005A CN202110292326.6A CN202110292326A CN113049005A CN 113049005 A CN113049005 A CN 113049005A CN 202110292326 A CN202110292326 A CN 202110292326A CN 113049005 A CN113049005 A CN 113049005A
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dvl
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徐祥
陈洋豪
李凤
孙逸帆
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Suzhou University
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract

The invention relates to a method and a system for calibrating errors of a GNSS position method assisted DVL (dynamic Voltage Locus), which comprises the following steps: step S1: generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process; step S2: constructing a vector observer according to the GNSS data and the DVL data; step S3: calculating a calibration parameter according to the vector observer, judging whether the calibration time is not less than the duration time of the calibration process, if so, outputting the calibration parameter, and finishing the calibration process; if not, the process returns to step S2. According to the method and the system for assisting the DVL error calibration by the GNSS position method, the influence of the speed noise interference on the calibration result in the calibration process can be reduced and the calibration precision is improved because the DVL error calibration is assisted by the GNSS position method.

Description

GNSS position method assisted DVL error calibration method and system
Technical Field
The invention relates to the technical field of error calibration, in particular to a method and a System for assisting DVL (Global Navigation Satellite System) error calibration by a GNSS (Global Navigation Satellite System) position method.
Background
Currently, doppler log (DVL for short) measurement systems are increasingly applied to the military and civilian and industrial fields, and the autonomous navigation positioning advantage of the doppler log is the first choice of an underwater navigation positioning system. Because the DVL speed measurement system has speed measurement errors and installation error angles, the navigation and positioning accuracy of the system is limited to a certain extent. Therefore, before the DVL speed measurement navigation positioning is realized, scaling factors and installation error angle calibration are generally required to be carried out on the DVL speed measurement navigation positioning. The existing calibration method mainly adopts a speed matching method, and the method has the influence of speed measurement noise on a calibration result, so that the calibration result presents noise characteristics, and the calibration precision is reduced.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problem of high speed noise in the DVL error calibration process in the prior art, so that the method and the system for assisting the DVL error calibration by the GNSS position method with low speed noise interference are provided.
In order to solve the technical problem, the invention provides a method for assisting in calibrating a DVL error by a GNSS position method, which is characterized by comprising the following steps: the method comprises the following steps: generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process; constructing a vector observer according to the GNSS data and the DVL data; calculating a calibration parameter according to the vector observer, judging whether the calibration time is not less than the duration time of the calibration process, if so, outputting the calibration parameter, and finishing the calibration process; if not, returning to the second step.
In one embodiment of the invention, the calibration parameters comprise an installation error angle, and the installation error angle is calculated based on a gradient descent method when the calibration parameters are calculated according to the vector observer.
In an embodiment of the present invention, a method for constructing a vector observer according to the GNSS data and the DVL data includes: and constructing a system error model according to the GNSS data and the DVL data, and constructing the vector observer according to the system error model.
In an embodiment of the present invention, the system error model is a DVL velocity equation, and the DVL velocity equation is:
Figure BDA0002982978680000021
wherein
Figure BDA0002982978680000022
Represents the DVL measurement speed; ζ represents the DVL scale factor error;
Figure BDA0002982978680000023
a direction cosine matrix corresponding to the installation error angle is represented;
Figure BDA0002982978680000024
representing a carrier attitude matrix; v. ofnRepresenting a GNSS survey speed;
Figure BDA0002982978680000025
representing the change angular speed of the carrier attitude;
Figure BDA0002982978680000026
a lever arm between the DVL and the GNSS is shown.
In an embodiment of the present invention, constructing the vector observer according to the system error model includes calculating a DVL displacement according to the DVL velocity measurement equation, where calculating the DVL displacement includes:
Figure BDA0002982978680000027
wherein
Figure BDA0002982978680000028
Represents the DVL displacement at time k;
Figure BDA0002982978680000029
represents the DVL measuring speed at the k moment;
Figure BDA00029829786800000210
the DVL measuring speed at the k-1 moment is shown; Δ tDRepresents a DVL sampling interval;
Figure BDA00029829786800000211
indicating the DVL displacement at time k-1.
In an embodiment of the invention, constructing the vector observer according to the system error model further includes calculating a mapping of the DVL displacements on a carrier system according to the GNSS data, and the calculating the mapping of the DVL displacements on the carrier system includes:
Figure BDA00029829786800000212
wherein
Figure BDA00029829786800000213
Representing the mapping of DVL calculation displacement in a carrier system at the k moment;
Figure BDA00029829786800000214
representing the mapping of DVL calculation displacement in a carrier system at the k-1 moment;
Figure BDA00029829786800000215
representing the mapping of the ith GNSS measurement speed output from the time k-1 to the time k in the carrier system;
Figure BDA00029829786800000216
representing the mapping of the i-1 st GNSS measurement speed output from the time k-1 to the time k on the carrier system; Δ tsRepresents a GNSS sampling time interval; n represents the number of sample points.
In an embodiment of the present invention, the vector observer is constructed according to the system error model by mapping the DVL displacement and the DVL calculated displacement in the carrier system, and the constructed vector observer is constructed by mapping the DVL displacement and the DVL calculated displacement in the carrier system
Figure BDA00029829786800000217
Wherein
Figure BDA0002982978680000031
Represents the DVL displacement at time k; ζ represents the DVL scale factor error;
Figure BDA0002982978680000032
indicating angle of installation errorA corresponding directional cosine matrix;
Figure BDA0002982978680000033
the DVL calculates the mapping of the displacement in the carrier system at time k.
In an embodiment of the present invention, the calibration parameters include a scale factor error, and when calculating the calibration parameters according to the vector observer: transforming the vector observer, and then:
Figure BDA0002982978680000034
the module value is calculated for the two sides of the above formula:
Figure BDA0002982978680000035
where ζ represents a DVL scale factor error;
Figure BDA0002982978680000036
represents the DVL displacement at time k;
Figure BDA0002982978680000037
the DVL calculates the mapping of the displacement in the carrier system at time k.
In one embodiment of the invention, the calculation of the setting error angle based on the gradient descent method includes constructing an objective function, and calculating the setting error angle based on the constructed objective function.
Based on the same inventive concept, the invention also provides a GNSS position method assisted DVL error calibration system, which comprises an acquisition data module, wherein the acquisition data module is used for generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process; the computing module is used for constructing a vector observer according to the GNSS data and the DVL data; and the calibration module is used for calculating calibration parameters according to the vector observer.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the invention relates to a method and a system for assisting DVL error calibration by a GNSS position method, which generate corresponding GNSS data and DVL data according to a motion trail required by a calibration process; constructing a vector observer according to the GNSS data and the DVL data; and calculating a calibration parameter according to the vector observer, thereby completing the DVL error calibration. According to the invention, because the GNSS position method is used for assisting the DVL error calibration, the influence of speed noise interference on a calibration result in the calibration process can be reduced, and the calibration precision is improved.
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In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a flowchart of a GNSS location method assisted DVL error calibration method in a preferred embodiment of the present invention;
FIG. 2 is a diagram of a carrier motion trajectory during calibration;
FIG. 3 is a graph of the scale factor error calibration error of the present invention;
FIG. 4 is a first graph of the setting error angle calibration error of the present invention;
FIG. 5 is a second graph of the setting error angle calibration error of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example one
Referring to fig. 1, an embodiment of the present invention provides a method for calibrating a DVL error assisted by a GNSS positioning method, including the following steps: step S1: generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process; step S2: constructing a vector observer according to the GNSS data and the DVL data; step S3: calculating a calibration parameter according to the vector observer, judging whether the calibration time is not less than the duration time of the calibration process, if so, outputting the calibration parameter, and finishing the calibration process; if not, the process returns to step S2.
In the method for calibrating a DVL error assisted by a GNSS positioning method according to this embodiment, in step S1, corresponding GNSS data and DVL data are generated according to a motion trajectory required in a calibration process, which is beneficial to implementing correlation between GNSS position trajectory measurement and DVL measurement; in step S2, a vector observer is constructed according to the GNSS data and the DVL data, so that the influence of the velocity noise interference on the calibration result in the calibration process can be reduced; in step S3, calculating a calibration parameter according to the vector observer, and determining whether the calibration time is not less than the duration of the calibration process, if so, outputting the calibration parameter, and completing the calibration process; if not, returning to the step S2; according to the invention, because the GNSS position method is used for assisting the DVL error calibration, the influence of speed noise interference on a calibration result in the calibration process can be reduced, and the calibration precision is improved.
The method for constructing the vector observer according to the GNSS data and the DVL data comprises the following steps: and constructing a system error model according to the GNSS data and the DVL data, and constructing the vector observer according to the system error model.
How to create a vector observer from the GNSS data and DVL data is described in detail below:
the established system error model considers a scale factor error and an installation error angle, the system error model is a DVL speed measurement equation, and the DVL speed measurement equation is as follows:
Figure BDA0002982978680000051
wherein
Figure BDA0002982978680000052
Represents the DVL measurement speed; ζ represents the DVL scale factor error;
Figure BDA0002982978680000053
a direction cosine matrix corresponding to the installation error angle is represented;
Figure BDA0002982978680000054
representing a carrier attitude matrix; v. ofnRepresenting a GNSS survey speed;
Figure BDA0002982978680000055
representing the change angular speed of the carrier attitude;
Figure BDA0002982978680000056
a lever arm between the DVL and the GNSS is shown.
In the formula (1)
Figure BDA0002982978680000057
Calculated by the following formula:
Figure BDA0002982978680000058
Figure BDA0002982978680000059
representing the change angular speed of the carrier attitude;
Figure BDA00029829786800000510
representing a gyroscope measuring angular velocity; epsilonbRepresenting a gyroscope zero bias;
Figure BDA00029829786800000511
representing a carrier attitude matrix;
Figure BDA00029829786800000512
a map showing the rotational angular velocity of the earth system relative to the inertial system in the navigation system;
Figure BDA00029829786800000513
the map of the navigation system with respect to the rotational angular velocity of the earth system in the navigation system is shown.
Calculating DVL displacement according to the DVL velocity measurement equation, wherein the calculating DVL displacement comprises:
Figure BDA00029829786800000514
wherein
Figure BDA00029829786800000515
Represents the DVL displacement at time k;
Figure BDA00029829786800000516
represents the DVL measuring speed at the k moment;
Figure BDA00029829786800000517
the DVL measuring speed at the k-1 moment is shown; Δ tDRepresents a DVL sampling interval;
Figure BDA00029829786800000518
indicating the DVL displacement at time k-1.
From GNSS measurements it can be known:
Figure BDA00029829786800000519
wherein
Figure BDA00029829786800000520
Representing the mapping of DVL calculation displacement in a carrier system at the k moment;
Figure BDA00029829786800000521
representing the mapping of DVL calculation displacement in a carrier system at the k-1 moment;
Figure BDA00029829786800000522
representing the mapping of the ith GNSS measurement speed output from the time k-1 to the time k in the carrier system;
Figure BDA00029829786800000523
representing the mapping of the i-1 st GNSS measurement speed output from the time k-1 to the time k on the carrier system; Δ tsRepresents a GNSS sampling time interval; n represents the number of sample points.
Wherein
Figure BDA00029829786800000524
Calculated from the following formula:
Figure BDA00029829786800000525
in the formula (I), the compound is shown in the specification,
Figure BDA00029829786800000526
representing the mapping of the ith measuring speed output from the time k-1 to the time k on the carrier system;
Figure BDA0002982978680000061
representing the ith carrier attitude matrix calculated from the k-1 moment to the k moment;
Figure BDA0002982978680000062
the ith measurement speed representing the GNSS output from the time k-1 to the time k;
Figure BDA0002982978680000063
representing the ith carrier attitude change angular speed calculated from the time k-1 to the time k;
Figure BDA0002982978680000064
a lever arm between the DVL and the GNSS is shown.
Based on obtained DVL displacement
Figure BDA0002982978680000065
And DVL computing the mapping of displacements on the carrier system
Figure BDA0002982978680000066
The relationship between the two is constructed to obtain the vector observer
Figure BDA0002982978680000067
After transforming the vector observer:
Figure BDA0002982978680000068
the modulo values for both sides of the formula are:
Figure BDA0002982978680000069
thereby based on the obtained DVL displacement
Figure BDA00029829786800000610
And DVL computing the mapping of displacements on the carrier system
Figure BDA00029829786800000611
And calculating one of the calibration parameters, namely the scale factor error zeta. Where ζ represents a DVL scale factor error;
Figure BDA00029829786800000612
represents the DVL displacement at time k;
Figure BDA00029829786800000613
representing the mapping of DVL calculation displacement in a carrier system at the k moment; and | | represents performing a modular value calculation on the vector.
And constructing an observation vector according to the calculated scale factor error zeta:
Figure BDA00029829786800000614
wherein beta iskRepresenting an observation vector; alpha is alphakRepresents a reference vector;
Figure BDA00029829786800000615
and representing a direction cosine matrix corresponding to the installation error angle.
Observing vectors according to transformed vectors
Figure BDA00029829786800000616
And constructed observation vector
Figure BDA00029829786800000617
The transformation is as follows:
Figure BDA00029829786800000618
Figure BDA00029829786800000619
representing the estimated DVL scale factor error.
In order to realize rapid calibration, another calibration parameter, namely an installation error angle, is calculated based on a gradient descent method, and the method comprises the following steps of:
Figure BDA00029829786800000620
in the formula (6)
Figure BDA00029829786800000621
A quaternion representing the installation error angle; beta is akRepresenting an observation vector; alpha is alphakRepresents a reference vector;
Figure BDA00029829786800000622
representing quaternion multiplication.
Through the constructed objective function, the quaternion corresponding to the installation error angle can be obtained as follows:
Figure BDA00029829786800000623
in the formula (7)
Figure BDA00029829786800000624
An installation error angle quaternion representing the kth iteration;
Figure BDA00029829786800000625
representing the mounting error angle quaternion for the (k-1) th iteration; μ represents an adjustment parameter;
Figure BDA00029829786800000626
the gradient, which represents the objective function, can be calculated using the following equation:
Figure BDA00029829786800000627
in the formula (8)
Figure BDA0002982978680000071
A gradient representing an objective function;
Figure BDA0002982978680000072
representing an objective function;
Figure BDA0002982978680000073
and representing the Jacobian function corresponding to the target function.
Selecting proper adjusting parameters to obtain quaternion
Figure BDA0002982978680000074
Then, the relation between the quaternion and the cosine of the installation error angle direction can be obtained
Figure BDA0002982978680000075
Thus, another calibration parameter, namely an installation error angle, is calculated. The method for calibrating the DVL error has the advantage of quick calibration because the gradient descent method is adopted to calculate the installation error angle, so that the method for calibrating the DVL error is quick and accurate.
After the calibration parameters are determined, if the duration time of the calibration process is M, the calibration time is k, and if k is more than or equal to M, the calibration parameters are output to finish the calibration process; if k is less than M, the calibration process is not completed, and the step S2 is returned until the calibration process is finished.
The feasibility of the calibration of the invention is proved by performing simulation verification through Matlab simulation software.
The simulation hardware environment is Intel (R) core (TM) T9600 CPU 2.80GHz, 4G RAM, Windows7 operating system, and operates under the following simulation environment: the GNSS positioning error is 10m, and the data output rate is 1 Hz; the DVL speed measurement precision is 0.5% v +/-0.5 cm/s, and the data output rate is 1 Hz; the carrier attitude matrix can be obtained by outputting through an inertial navigation system; the lever arm between the GNSS and the DVL has a length of
Figure BDA0002982978680000076
The adjusting parameter mu is 0.5, and M is 600.
As can be seen from fig. 2, in order to implement GNSS position vector construction, the carrier needs to move according to a certain track. As shown in fig. 3, a calibration accuracy with a scale factor error of less than 0.03% is achieved. As shown in fig. 4 and 5, which are x-axis and z-axis installation error angle error graphs, it can be seen from the graphs that the influence of noise characteristics can be effectively reduced by using the GNSS position assisted DVL error calibration method.
Example two
Based on the same inventive concept, the present embodiment provides a system for calibrating a DVL error assisted by a GNSS positioning method, including:
the data acquisition module is used for generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process;
the computing module is used for constructing a vector observer according to the GNSS data and the DVL data;
and the calibration module is used for calculating calibration parameters according to the vector observer and outputting the calibration parameters when the calibration time is not less than the duration of the calibration process so as to finish the calibration process.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. A method for calibrating errors of a GNSS position method assisted DVL is characterized by comprising the following steps: the method comprises the following steps:
step S1: generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process;
step S2: constructing a vector observer according to the GNSS data and the DVL data;
step S3: calculating a calibration parameter according to the vector observer, judging whether the calibration time is not less than the duration time of the calibration process, if so, outputting the calibration parameter, and finishing the calibration process; if not, the process returns to step S2.
2. The method of claim 1, wherein the method for calibrating the error of the DVL assisted by GNSS positioning method comprises: the calibration parameters comprise an installation error angle, and when the calibration parameters are calculated according to the vector observer, the installation error angle is calculated based on a gradient descent method.
3. The method for calibrating errors in a DVL assisted by GNSS location methods according to claim 1 or 2, characterized in that: the method for constructing the vector observer according to the GNSS data and the DVL data comprises the following steps: and constructing a system error model according to the GNSS data and the DVL data, and constructing the vector observer according to the system error model.
4. The GNSS location assisted DVL error calibration method of claim 3, wherein: the system error model is a DVL velocity equation, and the DVL velocity equation is as follows:
Figure FDA0002982978670000011
wherein
Figure FDA0002982978670000012
Represents the DVL measurement speed; ζ represents the DVL scale factor error;
Figure FDA0002982978670000013
a direction cosine matrix corresponding to the installation error angle is represented;
Figure FDA0002982978670000014
representing a carrier attitude matrix; v. ofnRepresenting a GNSS survey speed;
Figure FDA0002982978670000015
representing the change angular speed of the carrier attitude;
Figure FDA0002982978670000016
a lever arm between the DVL and the GNSS is shown.
5. The GNSS location assisted DVL error calibration method of claim 4, wherein: constructing the vector observer according to the system error model includes calculating a DVL displacement according to the DVL velocity measurement equation, where calculating the DVL displacement includes:
Figure FDA0002982978670000021
wherein
Figure FDA0002982978670000022
Represents the DVL displacement at time k;
Figure FDA0002982978670000023
represents the DVL measuring speed at the k moment;
Figure FDA0002982978670000024
the DVL measuring speed at the k-1 moment is shown; Δ tDRepresents a DVL sampling interval;
Figure FDA0002982978670000025
indicating the DVL displacement at time k-1.
6. The method for calibrating errors in a DVL assisted by GNSS location methods according to claim 1 or 2, characterized in that: constructing the vector observer according to the system error model further includes calculating a mapping of a DVL calculated displacement in a carrier system according to the GNSS data, the calculating the mapping of the DVL displacement in the carrier system including:
Figure FDA0002982978670000026
wherein
Figure FDA0002982978670000027
DVL calculation bits representing time kMapping of the shift to a carrier system;
Figure FDA0002982978670000028
representing the mapping of DVL calculation displacement in a carrier system at the k-1 moment;
Figure FDA0002982978670000029
representing the mapping of the ith GNSS measurement speed output from the time k-1 to the time k in the carrier system;
Figure FDA00029829786700000210
representing the mapping of the i-1 st GNSS measurement speed output from the time k-1 to the time k on the carrier system; Δ tsRepresents a GNSS sampling time interval; n represents the number of sample points.
7. The method for calibrating errors in a DVL assisted by GNSS location methods according to claim 1 or 2, characterized in that: constructing the vector observer according to the system error model, namely constructing the vector observer according to the DVL displacement and the mapping of the DVL calculation displacement on a carrier system, wherein the constructed vector observer is
Figure FDA00029829786700000211
Wherein
Figure FDA00029829786700000212
Represents the DVL displacement at time k; ζ represents the DVL scale factor error;
Figure FDA00029829786700000213
a direction cosine matrix corresponding to the installation error angle is represented;
Figure FDA00029829786700000214
the DVL calculates the mapping of the displacement in the carrier system at time k.
8. The GNSS position method assisted DVL error calibration method of claim 7, whichIs characterized in that: the calibration parameters comprise scale factor errors, and when the calibration parameters are calculated according to the vector observer: transforming the vector observer, and then:
Figure FDA00029829786700000215
the module value is calculated for the two sides of the above formula:
Figure FDA00029829786700000216
where ζ represents a DVL scale factor error;
Figure FDA00029829786700000217
represents the DVL displacement at time k;
Figure FDA00029829786700000218
the DVL calculates the mapping of the displacement in the carrier system at time k.
9. The method of claim 2, wherein the method for calibrating the error of the DVL assisted by GNSS positioning method comprises: the gradient descent based calculation of the installation error angle includes constructing an objective function, and calculating the installation error angle from the constructed objective function.
10. A GNSS position method assisted DVL error calibration system is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the data acquisition module is used for generating corresponding GNSS data and DVL data according to the motion trail required by the calibration process;
the computing module is used for constructing a vector observer according to the GNSS data and the DVL data;
and the calibration module is used for calculating calibration parameters according to the vector observer.
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CN114396965A (en) * 2022-01-17 2022-04-26 广州导远电子科技有限公司 Auxiliary calibration method and device for combined navigation unit and electronic equipment

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