CN115655270B - Inertial measurement unit equivalent zero offset error compensation method and system - Google Patents
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Abstract
The invention relates to the technical field of inertial navigation, and discloses a method and a system for compensating an equivalent zero offset error of an inertial measurement unit, wherein the method comprises the following steps: acquiring a pitching accelerometer channel increment mean value, a rolling accelerometer channel increment mean value, a dynamic navigation resolving pitch angle and a dynamic navigation resolving roll angle at the dynamic moment of the inertial measurement unit to be compensated, calculating to obtain a pitching accelerometer channel increment mean value resolving leveling angle, and calculating to obtain a rolling accelerometer channel increment mean value resolving leveling angle; calculating to obtain a table-adding calculated pitch angle, and calculating to obtain a table-adding calculated roll angle; calculating to obtain a first difference value and calculating to obtain a second difference value; comparing the pitch angle calculated by adding the table, the roll angle calculated by adding the table, the first difference value and the second difference value, producing compensation data based on the comparison result, and inputting the compensation data into an inertial measurement unit to be compensated for error compensation; the invention solves the problem of lower error compensation accuracy in the existing error compensation method.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to an inertial unit equivalent zero offset error compensation method and system.
Background
The gyroscope and accelerometer channel outputs of the strapdown inertial measurement unit generally need to undergo a series of compensations, mainly including temperature compensation, calibration system error compensation, lever arm compensation and dynamic error compensation, wherein the dynamic error compensation further comprises cone error compensation and rowing error compensation. Under normal conditions, the zero position errors, scale factor errors and installation errors of the gyroscope and the accelerometer are basically compensated completely, but under a dynamic environment with a certain magnitude, the gyroscope and the accelerometer can generate certain equivalent zero position offset, the zero position offset generated under the dynamic condition cannot be compensated by calibration parameters, the zero position offset generated by a device cannot be compensated by a traditional dynamic error compensation method, and finally the offset is taken as the zero position error to be introduced into navigation calculation, so that larger navigation errors are generated. It can be seen that the existing error compensation method has the problem of lower error compensation accuracy.
Disclosure of Invention
The invention provides an inertial measurement unit equivalent zero offset error compensation method and system, which are used for solving the problem of lower error compensation accuracy in the existing error compensation method.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for compensating an equivalent zero offset error of an inertial measurement unit, including:
acquiring initial static data of an inertial measurement unit to be compensated, wherein the static data comprises: the pitch accelerometer channel output average value, the roll accelerometer channel output average value, the static navigation solution pitch angle and the static navigation solution roll angle;
Acquiring a pitch accelerometer channel increment mean value, a roll accelerometer channel increment mean value, a dynamic navigation resolving pitch angle and a dynamic navigation resolving roll angle of an inertial unit to be compensated at dynamic moment by taking a preset time threshold as an interval, calculating to obtain a pitch accelerometer channel increment mean value resolving average angle based on the pitch accelerometer channel increment mean value, and calculating to obtain a roll accelerometer channel increment mean value resolving average angle based on the roll accelerometer channel increment mean value;
calculating a pitch accelerometer channel mean value adjustment angle based on the pitch accelerometer channel output mean value, and calculating a roll accelerometer channel mean value adjustment angle based on the roll accelerometer channel output mean value;
Selecting a pitch accelerometer channel increment mean value resolving leveling angle and a pitch accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving pitch angle, and selecting a roll accelerometer channel increment mean value resolving leveling angle and a roll accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving roll angle;
Calculating a first difference value according to the dynamic navigation resolving pitch angle and the static navigation resolving pitch angle, and calculating a second difference value according to the dynamic navigation resolving roll angle and the static navigation resolving roll angle;
Comparing the calculated pitch angle, calculated roll angle, the first difference and the second difference, generating compensation data based on the comparison result, and inputting the compensation data into the inertial measurement unit to be compensated for error compensation
In a second aspect, an embodiment of the present application provides an inertial equivalent zero offset error compensation system, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any one of the methods of the first aspect when the computer program is executed.
The beneficial effects are that:
According to the inertial measurement unit equivalent zero offset error compensation method provided by the invention, the static data of the inertial measurement unit are obtained, the pitch accelerometer channel mean value adjustment angle, the roll accelerometer channel mean value adjustment angle, the static navigation solution pitch angle and the static navigation solution roll angle are obtained according to the static data, the pitch accelerometer channel increment mean value, the roll accelerometer channel increment mean value, the dynamic navigation solution pitch angle and the dynamic navigation solution roll angle at the dynamic moment of the inertial measurement unit are obtained at the same time, and then the added table solution pitch angle, the added table solution roll angle, the first difference value and the second difference value are obtained through calculation, so that the added table solution pitch angle, the added table solution roll angle, the first difference value and the second difference value can be compared in size, and accurate compensation data can be generated according to the comparison result; therefore, the offset error is converted into an equivalent zero position in real time and then compensated into the output of the inertial measurement unit channel, and the accuracy of error compensation is improved.
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FIG. 1 is a flow chart of a method for inertial measurement unit equivalent zero offset error compensation in accordance with a preferred embodiment of the present invention.
Detailed Description
The following description of the present invention will be made clearly and fully, and it is apparent that the embodiments described are only some, but not all, of the embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate a relative positional relationship, which changes accordingly when the absolute position of the object to be described changes.
Referring to fig. 1, an embodiment of the present application provides a method for compensating an inertial measurement unit equivalent zero offset error, including:
acquiring initial static data of an inertial measurement unit to be compensated, wherein the static data comprises: the pitch accelerometer channel output average value, the roll accelerometer channel output average value, the static navigation solution pitch angle and the static navigation solution roll angle;
Acquiring a pitch accelerometer channel increment mean value, a roll accelerometer channel increment mean value, a dynamic navigation resolving pitch angle and a dynamic navigation resolving roll angle of an inertial unit to be compensated at dynamic moment by taking a preset time threshold as an interval, calculating to obtain a pitch accelerometer channel increment mean value resolving average angle based on the pitch accelerometer channel increment mean value, and calculating to obtain a roll accelerometer channel increment mean value resolving average angle based on the roll accelerometer channel increment mean value;
calculating a pitch accelerometer channel mean value adjustment angle based on the pitch accelerometer channel output mean value, and calculating a roll accelerometer channel mean value adjustment angle based on the roll accelerometer channel output mean value;
Selecting a pitch accelerometer channel increment mean value resolving leveling angle and a pitch accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving pitch angle, and selecting a roll accelerometer channel increment mean value resolving leveling angle and a roll accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving roll angle;
Calculating a first difference value according to the dynamic navigation resolving pitch angle and the static navigation resolving pitch angle, and calculating a second difference value according to the dynamic navigation resolving roll angle and the static navigation resolving roll angle;
And comparing the magnitude of the added table calculated pitch angle, the added table calculated roll angle, the first difference value and the second difference value, producing compensation data based on a comparison result, and inputting the compensation data into an inertial measurement unit to be compensated for error compensation.
In the embodiment, the pitch accelerometer channel mean value adjustment angle, the roll accelerometer channel mean value adjustment angle, the static navigation solution pitch angle and the static navigation solution roll angle are obtained according to the static data, the pitch accelerometer channel increment mean value, the roll accelerometer channel increment mean value, the dynamic navigation solution pitch angle and the dynamic navigation solution roll angle at the dynamic moment of the inertial measurement unit are obtained at the same time, and then the adding table solution pitch angle, the adding table solution roll angle, the first difference value and the second difference value are obtained through calculation, so that the adding table solution pitch angle, the adding table solution roll angle, the first difference value and the second difference value can be compared in size, and accurate compensation data can be generated according to the comparison result; therefore, the offset error is converted into an equivalent zero position in real time and then compensated into the output of the inertial measurement unit channel, and the accuracy of error compensation is improved.
In the embodiment, a pitch accelerometer channel increment mean value resolving leveling angle of a preset time threshold before the current moment is selected, and a roll accelerometer channel increment mean value resolving leveling angle of the preset time threshold before the current moment is selected are illustrated, when the preset time threshold is set to be 0.1s, the pitch accelerometer channel increment mean value resolving leveling angle of the preset time threshold before the current moment is a roll accelerometer channel increment mean value resolving leveling angle obtained by calculating the pitch accelerometer channel increment mean value obtained by taking the current moment as a time node and 0.1s before the time node, and similarly, the roll accelerometer channel increment mean value resolving leveling angle of the preset time threshold before the current moment is a roll accelerometer channel increment mean value resolving leveling angle obtained by calculating the roll accelerometer channel increment mean value obtained by taking the current moment as a time node and 0.1s before the time node.
Optionally, the calculating the pitch accelerometer channel delta mean value based on the pitch accelerometer channel delta mean value to obtain a pitch accelerometer channel delta mean value calculated leveling angle includes:
calculating the increment mean value of the dynamic time pitching accelerometer channel according to a leveling angle calculation formula to obtain a pitching accelerometer channel increment mean value to calculate a leveling angle, wherein the leveling angle calculation formula is as follows:
wherein A represents the incremental mean value of the dynamic moment pitching accelerometer channel to solve the leveling angle, Representing the average value of the pitch accelerometer channel increment within 0.1s before the k-th moment, g is the local gravitational acceleration, and arcsin is the arcsin function.
Optionally, the calculating the roll accelerometer channel increment mean value to obtain the roll accelerometer channel increment mean value to calculate the adjustment angle based on the dynamic moment roll accelerometer channel increment mean value includes:
calculating the incremental mean value of the transverse rolling accelerometer channel according to a leveling angle calculation formula to obtain the incremental mean value of the transverse rolling accelerometer channel to calculate a leveling angle, wherein the leveling angle calculation formula is as follows:
Wherein B represents the incremental mean value of the dynamic moment rolling accelerometer channel to solve the leveling angle, Representing the average value of the channel increment of the rolling accelerometer in 0.1s before the k time, g is the local gravity acceleration, and arcsin is an arcsine function.
Optionally, the calculating the pitch accelerometer channel mean adjustment angle based on the static moment pitch accelerometer channel output mean value includes:
Calculating the output average value of the pitching accelerometer channel according to a leveling angle calculation formula to obtain a pitching accelerometer channel average value leveling angle, wherein the leveling angle calculation formula is as follows:
wherein C represents the mean value leveling angle of the pitching accelerometer channel at the static moment, And the initial static moment pitch accelerometer channel output average value is represented, g is the local gravity acceleration, and arcsin is an arcsine function.
Optionally, the calculating the average roll accelerometer channel adjustment angle based on the average roll accelerometer channel output value includes:
calculating the average value of the channel output of the roll accelerometer according to a leveling angle calculation formula to obtain the average value leveling angle of the channel of the roll accelerometer, wherein the leveling angle calculation formula is as follows:
wherein D represents the average value adjustment angle of the channel of the rolling accelerometer at the static moment, And the initial static moment is represented by the average value of the channel output of the rolling accelerometer, g is the local gravity acceleration, and arcsin is an arcsine function.
Optionally, the calculating the incremental mean value of the pitch accelerometer channel and the incremental mean value of the pitch accelerometer channel to obtain the added table calculated pitch angle by selecting the incremental mean value of the pitch accelerometer channel and the incremental mean value of the pitch accelerometer channel to obtain the added table calculated pitch angle before the current moment includes:
And performing difference calculation on the pitch accelerometer channel incremental mean value resolving leveling angle and the pitch accelerometer channel mean value resolving angle to obtain a gauge adding resolving pitch angle, wherein a difference calculation formula is as follows:
ΔβA＝A-C；
Wherein Δβ A represents the additive calculated pitch angle, a represents the pitch accelerometer channel output incremental mean calculated leveling angle, and C represents the pitch accelerometer channel mean leveling angle.
Optionally, the selecting the average value of the channel increment of the rolling accelerometer before the current moment by the preset time threshold to calculate the roll angle and the average value of the channel average value of the rolling accelerometer to obtain the table-added calculated roll angle includes:
And carrying out difference calculation on the average value calculation leveling angle of the channel increment of the roll accelerometer and the average value leveling angle of the channel increment of the roll accelerometer to obtain a table-added calculation roll angle, wherein the difference calculation formula is as follows:
ΔγA＝B-D；
wherein Δγ A represents the additive table calculated roll angle, B represents the roll accelerometer channel output incremental mean calculated leveling angle, and D represents the roll accelerometer channel mean leveling angle.
Optionally, the calculating the first difference according to the dynamic navigation solution pitch angle and the static navigation solution pitch angle includes:
And performing difference calculation on the dynamic navigation solution pitch angle and the static navigation solution pitch angle to obtain a first difference value, wherein a difference value calculation formula is as follows:
Δβ＝βk-β0；
wherein Δβ represents the first difference, β k represents the dynamic navigation solution pitch angle, and β 0 represents the static navigation solution pitch angle;
The calculating the second difference value according to the dynamic navigation solution roll angle and the static navigation solution roll angle comprises the following steps:
And carrying out difference calculation on the dynamic navigation solution roll angle and the static navigation solution roll angle to obtain a second difference value, wherein the difference value calculation formula is as follows:
Δγ＝γk-γ0；
Where Δγ represents the second difference, γ k represents the dynamic navigation solution roll angle, and γ 0 represents the static navigation solution roll angle.
Optionally, the comparing the calculated pitch angle of the added table, the calculated roll angle of the added table, the first difference value and the second difference value, and generating compensation data based on the comparison result, includes:
Comparing the calculated pitch angle of the adding table with the first difference value, if the calculated pitch angle of the adding table is larger than the first difference value, generating equivalent zero offset data of the pitch adding table, and if the calculated pitch angle of the adding table is smaller than the first difference value, generating equivalent zero offset data of a gyro converted by the calculated attitude angle of the pitch adding table;
and comparing the calculated roll angle of the added table with the second difference value, if the calculated roll angle of the added table is larger than the second difference value, generating equivalent zero deviation data of the roll added table, and if the calculated roll angle of the added table is smaller than the second difference value, generating equivalent zero deviation data of the gyroscope for converting the calculated attitude angle of the rolled added table.
In the above embodiment, taking the X-axis and the Z-axis of the inertial unit as azimuth axes as examples, the Z-axis is the pitch direction and the Y-axis is the roll direction of the inertial unit;
if delta gamma A is less than delta gamma, compensating the equivalent zero offset of the Z-direction gyroscope by subtracting Y from the equivalent zero offset of the gyroscope and calculating the transformation of the attitude angle by the table Wherein/>The output average value of the Z gyroscope channel within 0.1s before the kth moment,And (3) outputting a mean value for the Z gyroscope channel at the initial static moment, wherein t k is the kth moment time, and t 0 is the initial static moment time.
If delta beta A is less than delta beta, compensating the equivalent zero offset of the Y-direction gyroscope by subtracting Z from the equivalent zero offset of the gyroscope and calculating the transformation of the attitude angleWherein/>For the output average value of Y gyro channels within 0.1s before the kth moment,/>And (3) outputting a mean value for the channel of the Y gyroscope at the initial static moment, wherein t k is the kth moment time, and t 0 is the initial static moment time.
If delta gamma A is larger than delta gamma, compensating equivalent zero offset of Y-direction addition tableWherein/>For the Y-plus-table channel output average value within 0.1s before the kth moment,/>And adding the average value of the table channel output for the initial static time Y.
If delta beta A is larger than delta beta, compensating the equivalent zero offset of the Z-direction adding tableWherein/>For Z in 0.1s before the kth moment, adding the output average value of the table channel, and carrying out the process of/>And adding the average value of the table channel output for the initial static time Z.
The embodiment of the application also provides an inertial unit equivalent zero offset error compensation system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes any one of the steps of the inertial unit equivalent zero offset error compensation method when executing the computer program.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. The inertial measurement unit equivalent zero offset error compensation method is characterized by comprising the following steps:
acquiring initial static data of an inertial measurement unit to be compensated, wherein the static data comprises: the pitch accelerometer channel output average value, the roll accelerometer channel output average value, the static navigation solution pitch angle and the static navigation solution roll angle;
Acquiring a pitch accelerometer channel increment mean value, a roll accelerometer channel increment mean value, a dynamic navigation resolving pitch angle and a dynamic navigation resolving roll angle of an inertial unit to be compensated at dynamic moment by taking a preset time threshold as an interval, calculating to obtain a pitch accelerometer channel increment mean value resolving average angle based on the pitch accelerometer channel increment mean value, and calculating to obtain a roll accelerometer channel increment mean value resolving average angle based on the roll accelerometer channel increment mean value;
calculating a pitch accelerometer channel mean value adjustment angle based on the pitch accelerometer channel output mean value, and calculating a roll accelerometer channel mean value adjustment angle based on the roll accelerometer channel output mean value;
Selecting a pitch accelerometer channel increment mean value resolving leveling angle and a pitch accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving pitch angle, and selecting a roll accelerometer channel increment mean value resolving leveling angle and a roll accelerometer channel mean value resolving leveling angle of a preset time threshold before the current moment, calculating to obtain a gauge adding resolving roll angle;
Calculating a first difference value according to the dynamic navigation resolving pitch angle and the static navigation resolving pitch angle, and calculating a second difference value according to the dynamic navigation resolving roll angle and the static navigation resolving roll angle;
And comparing the magnitude of the added table calculated pitch angle, the added table calculated roll angle, the first difference value and the second difference value, producing compensation data based on a comparison result, and inputting the compensation data into an inertial measurement unit to be compensated for error compensation.
2. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein said calculating a pitch accelerometer channel delta mean based on said pitch accelerometer channel delta mean comprises:
Calculating the incremental mean value of the pitching accelerometer channel according to a leveling angle calculation formula to obtain a pitching accelerometer channel incremental mean value to calculate a leveling angle, wherein the leveling angle calculation formula is as follows:
wherein A represents the pitch accelerometer channel delta mean solution leveling angle, Representing the pitch accelerometer channel delta mean, g is the local gravitational acceleration and arcsin is the arcsin function.
3. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein the calculating the roll accelerometer channel delta mean based on the roll accelerometer channel delta mean calculates a roll accelerometer channel delta mean adjustment angle, comprising:
calculating the incremental mean value of the transverse rolling accelerometer channel according to a leveling angle calculation formula to obtain the incremental mean value of the transverse rolling accelerometer channel to calculate a leveling angle, wherein the leveling angle calculation formula is as follows:
wherein B represents the incremental mean value of the rolling accelerometer channel to calculate the leveling angle, Representing the average value of the channel increment of the roll accelerometer, g is the local gravitational acceleration, and arcsin is the arcsine function.
4. The inertial measurement unit equivalent zero offset error compensation method of claim 1, wherein said calculating a pitch accelerometer channel mean leveling angle based on said pitch accelerometer channel output mean comprises:
Calculating the output average value of the pitching accelerometer channel according to a leveling angle calculation formula to obtain a pitching accelerometer channel average value leveling angle, wherein the leveling angle calculation formula is as follows:
wherein C represents the pitch accelerometer channel mean leveling angle, Representing the pitch accelerometer channel output average, g is the local gravitational acceleration and arcsin is the arcsin function.
5. The inertial measurement unit equivalent zero offset error compensation method of claim 1, wherein the calculating a roll accelerometer channel mean trim angle based on the roll accelerometer channel output mean comprises:
calculating the average value of the channel output of the roll accelerometer according to a leveling angle calculation formula to obtain the average value leveling angle of the channel of the roll accelerometer, wherein the leveling angle calculation formula is as follows:
wherein D represents the roll accelerometer channel mean value flattening angle, Representing the average value of the roll accelerometer channel output, g being the local gravitational acceleration and arcsin being the arcsin function.
6. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein the step of selecting a pitch accelerometer channel incremental mean value solution pitch angle of a preset time threshold value before a current time and calculating the pitch accelerometer channel mean value pitch angle to obtain a tabulated solution pitch angle comprises:
And performing difference calculation on the pitch accelerometer channel incremental mean value resolving leveling angle and the pitch accelerometer channel mean value resolving angle to obtain a gauge adding resolving pitch angle, wherein a difference calculation formula is as follows:
ΔβA＝A-C；
Wherein Δβ A represents the additive calculated pitch angle, a represents the pitch accelerometer channel output incremental mean calculated leveling angle, and C represents the pitch accelerometer channel mean leveling angle.
7. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein the selecting the roll accelerometer channel delta mean value solution roll angle of a preset time threshold before the current moment and the roll accelerometer channel mean value solution roll angle calculation to obtain the added table solution roll angle comprises:
And carrying out difference calculation on the average value calculation leveling angle of the channel increment of the roll accelerometer and the average value leveling angle of the channel increment of the roll accelerometer to obtain a table-added calculation roll angle, wherein the difference calculation formula is as follows:
ΔγA＝B-D；
wherein Δγ A represents the additive table calculated roll angle, B represents the roll accelerometer channel output incremental mean calculated leveling angle, and D represents the roll accelerometer channel mean leveling angle.
8. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein the calculating the first difference value according to the dynamic navigation solution pitch angle and the static navigation solution pitch angle includes:
And performing difference calculation on the dynamic navigation solution pitch angle and the static navigation solution pitch angle to obtain a first difference value, wherein a difference value calculation formula is as follows:
Δβ＝βk-β0；
wherein Δβ represents the first difference, β k represents the dynamic navigation solution pitch angle, and β 0 represents the static navigation solution pitch angle;
The calculating the second difference value according to the dynamic navigation solution roll angle and the static navigation solution roll angle comprises the following steps:
And carrying out difference calculation on the dynamic navigation solution roll angle and the static navigation solution roll angle to obtain a second difference value, wherein the difference value calculation formula is as follows:
Δγ＝γk-γ0；
Where Δγ represents the second difference, γ k represents the dynamic navigation solution roll angle, and γ 0 represents the static navigation solution roll angle.
9. The inertial measurement unit equivalent zero offset error compensation method according to claim 1, wherein the comparing the calculated pitch angle, the calculated roll angle, the first difference and the second difference and producing compensation data based on the comparison result comprises:
Comparing the calculated pitch angle of the adding table with the first difference value, if the calculated pitch angle of the adding table is larger than the first difference value, generating equivalent zero offset data of the pitch adding table, and if the calculated pitch angle of the adding table is smaller than the first difference value, generating equivalent zero offset data of a gyro converted by the calculated attitude angle of the pitch adding table;
and comparing the calculated roll angle of the added table with the second difference value, if the calculated roll angle of the added table is larger than the second difference value, generating equivalent zero deviation data of the roll added table, and if the calculated roll angle of the added table is smaller than the second difference value, generating equivalent zero deviation data of the gyroscope for converting the calculated attitude angle of the rolled added table.
10. An inertial equivalent zero offset error compensation system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1-9 when the computer program is executed by the processor.
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