CN115855116B - Error calibration process generation method and system - Google Patents
Error calibration process generation method and system Download PDFInfo
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- CN115855116B CN115855116B CN202310082015.6A CN202310082015A CN115855116B CN 115855116 B CN115855116 B CN 115855116B CN 202310082015 A CN202310082015 A CN 202310082015A CN 115855116 B CN115855116 B CN 115855116B
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Abstract
The invention relates to the field of inertial navigation, and discloses a method and a system for generating an error calibration process, which are used for improving the efficiency of error calibration on strapdown inertial navigation. The method comprises the following steps: performing error calibration on strapdown inertial navigation arranged on a mechanical arm in a target carrier to obtain an error calibration data set; performing precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set; performing association relation analysis on the error calibration data set and the parameter calibration data set to determine a data association relation; carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results; and generating error calibration processes based on the flow sequencing results, and determining a plurality of error calibration processes.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a method and a system for generating an error calibration process.
Background
Along with the continuous development of the inertial navigation technology, the assembly strapdown inertial navigation becomes standard configuration, so that the automation level and the operation precision of the unmanned engineering vehicle are improved, and the operation preparation and reaction time of the unmanned engineering vehicle are shortened. Meanwhile, the calibration and the process of the unmanned engineering vehicle configuration strapdown inertial navigation provide high requirements on rapidness, high precision and process interchangeability in the process flow.
However, in the actual working process, due to the influence of machining and installation errors, azimuth angles and attitude angles between the strapdown inertial unit and the unmanned engineering vehicle and the mechanical arm thereof are inconsistent. Often, due to progress requirements, process sequences of an automatic steering test, an omnibearing north seeking test and a horizontal positioning precision test of an automatic mechanical arm need to be exchanged, nesting relations among installation errors need to be considered under general conditions, such as whether strapdown inertial navigation and vehicle-mounted installation error calibration can be carried out before the calibration of the installation errors of a carrier mechanical arm, the installation errors between the strapdown inertial navigation and the north of coordinates cannot influence positioning precision, and the like, and the current calibration process sequence cannot be changed, so that the efficiency is lower when error calibration is carried out on the strapdown inertial navigation.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a system for generating an error calibration process, which solve the technical problem of lower efficiency when strapdown inertial navigation is used for error calibration.
The invention provides a method for generating an error calibration process, which comprises the following steps: performing error calibration on strapdown inertial navigation arranged on a mechanical arm in a target carrier to obtain an error calibration data set; performing precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set; performing association relation analysis on the error calibration data set and the parameter calibration data set to determine a data association relation; carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results; and generating error calibration processes based on the flow sequencing results, and determining a plurality of error calibration processes.
According to the error calibration process generation method provided by the invention, error calibration is carried out on the strapdown inertial navigation arranged on the mechanical arm in the target carrier to obtain an error calibration data set, a coordinate north true value is not required to be introduced in the process, the relative course change in the steering process of the mechanical arm is measured by using a double theodolite, and then the error angle between the strapdown inertial navigation and the course installation of the mechanical arm can be calibrated by the relative change of the inertial navigation, so that the precision parameter calibration is carried out on the strapdown inertial navigation to obtain a parameter calibration data set, the correlation analysis is carried out on the error calibration data set and the parameter calibration data set to determine a data correlation, the flow sequence analysis is carried out through the data correlation to obtain a plurality of flow sequencing results, the error calibration process generation is carried out on the basis of the plurality of flow sequencing results to determine a plurality of error calibration processes.
According to the invention, the step of carrying out error calibration on the strapdown inertial navigation arranged on the mechanical arm in the target carrier to obtain error calibration data set comprises the following steps: performing installation error calibration on the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data; carrying out coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data; and merging the first error calibration data and the second error calibration data into the error calibration data set.
According to the invention, the step of calibrating the installation error of the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data comprises the following steps: carrying out marking point position analysis on the mechanical arm by a two-point method to determine a marking point position information set; based on the marking point position information set, constructing a coordinate system through a preset first theodolite and a preset second theodolite to obtain a marking point coordinate system; acquiring attitude angle data through the first theodolite and the second theodolite to obtain target attitude angle information; and based on the marking point coordinate system and the marking point position information set, performing installation error calibration on the target attitude angle information to obtain first error calibration data.
According to the invention, based on the marking point coordinate system and the marking point position information set, the step of calibrating the installation error of the target attitude angle information to obtain first error calibration data comprises the following steps: performing marking point coordinate calculation on the target attitude angle information and the marking point position information set based on the marking point coordinate system to obtain a target marking point coordinate set; and carrying out installation error calibration through the target mark point coordinate set to obtain first error calibration data.
According to the invention, the step of carrying out the north true value error calibration of the coordinates on the strapdown inertial navigation on the mechanical arm by a single-standard pole method to obtain second error calibration data comprises the following steps: determining calibration points by a single-standard-pole method to obtain a first reference point and a second reference point; azimuth angles of the first reference point and the second reference point are calculated, and a reference point azimuth angle is obtained; based on a plurality of preset mechanical arm orientations, sequentially carrying out north-seeking secret bit value calculation on the mechanical arms to obtain a plurality of north-seeking secret bit data; and carrying out coordinate north true value error calibration through the north-seeking compact bit data and the reference point azimuth angle to obtain second error calibration data.
According to the invention, the step of performing the coordinate north true value error calibration through the plurality of north-seeking secret bit data and the reference point azimuth angle to obtain second error calibration data comprises the following steps: mounting error calibration is carried out on the orientation of each mechanical arm in sequence through the north-seeking close-position data, and error calibration data corresponding to the orientation of each mechanical arm are obtained; and carrying out data fusion processing on the error calibration data corresponding to the orientation of each mechanical arm based on the reference point azimuth angle to obtain second error calibration data.
According to the invention, the step of carrying out association relation analysis on the error calibration data set and the parameter calibration data set to determine the data association relation comprises the following steps: extracting attitude angle information of the error calibration data set and the parameter calibration data set to obtain attitude angle information to be matched; performing error nesting relation analysis through the attitude angle information to be matched to obtain a target nesting relation; and generating a data association relation based on the target nested relation to obtain the data association relation.
The invention also provides an error calibration process generation system, which comprises the following steps:
the error calibration module is used for performing error calibration on strapdown inertial navigation arranged on the mechanical arm in the target carrier to obtain an error calibration data set;
the parameter calibration module is used for carrying out precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set;
the relation analysis module is used for carrying out association relation analysis on the error calibration data set and the parameter calibration data set and determining a data association relation;
the sequence analysis module is used for carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results;
and the process generation module is used for generating error calibration processes based on the plurality of flow sequencing results and determining a plurality of error calibration processes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for generating an error calibration process according to an embodiment of the present invention.
FIG. 2 is a flow chart of error calibration for strapdown inertial navigation on a robotic arm mounted in a target carrier in an embodiment of the invention.
FIG. 3 is a schematic diagram of solving the side lengths in the coordinate system of the mark points in an embodiment of the invention
Is a schematic diagram of (a).
FIG. 4 is a flowchart of performing coordinate north true value error calibration on strap-down inertial navigation on a robotic arm in an embodiment of the invention.
FIG. 5 is a flowchart of performing association analysis on an error calibration data set and a parameter calibration data set according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of an error calibration process generating system according to an embodiment of the present invention.
Reference numerals:
501. an error calibration module; 502. a parameter calibration module; 503. a relationship analysis module; 504. a sequence analysis module; 505. and a process generation module.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
For ease of understanding, the following describes a specific flow of an embodiment of the present invention, referring to fig. 1, fig. 1 is a flowchart of an error calibration process generating method according to an embodiment of the present invention, as shown in fig. 1, where the flowchart includes the following steps:
s101: performing error calibration on strapdown inertial navigation arranged on a mechanical arm in a target carrier to obtain an error calibration data set;
it can be understood that the execution body of the present invention may be an error calibration process generating device, and may also be a terminal or a server, which is not limited herein. The embodiment of the invention is described by taking a server as an execution main body as an example.
It should be noted that, the error calibration data set includes, but is not limited to, an installation error between the strapdown inertial navigation and the mechanical arm and an installation error between the strapdown inertial navigation and the north true value of the coordinates, where the installation error between the strapdown inertial navigation and the mechanical arm may be a direction error, a heel error and a pitch error, and in the scheme of the present application, error calibration is performed by a two-point method and a single-marker method, so as to obtain the error calibration data set.
S102: performing precision parameter calibration on strapdown inertial navigation to obtain a parameter calibration data set;
specifically, the server starts positioning and directional navigation equipment and performs north-seeking test, and after north-seeking is completed, the north-seeking is confirmed through a preset control calibration interfaceCalibrating the initial point coordinates
The positioning and directional navigation equipment enters a calibration state, and then the target carrier is controlled to run along a relatively straight road section for about 3km and accurately stop at another standard coordinate point +.>
At this time, the positioning and orientation navigation device records the positioning coordinate value +_at the measuring point>
. And determining the calibration end point coordinate by controlling the calibration interface>
Further, the server marks the end point coordinates +.>
Measuring point positioning coordinate value +.>
And performing precision parameter calibration to obtain a parameter calibration data set, wherein the parameter calibration data set comprises a mileage coefficient, a heading installation error and a high-low angle error.
S103: carrying out association relation analysis on the error calibration data set and the parameter calibration data set, and determining a data association relation;
s104: carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results;
s105: and performing error calibration process generation based on the sequencing results of the multiple processes, and determining multiple error calibration processes.
It should be noted that, when error calibration is performed on the strapdown inertial navigation installed on the mechanical arm in the target carrier and precision parameter calibration is performed on the strapdown inertial navigation, the plurality of used attitude angles have corresponding association calculation relationships, in the embodiment of the application, the server performs association relationship analysis on the plurality of attitude angles to determine corresponding data association relationships, and further the server performs nested relationship analysis according to the data association relationships to determine corresponding data nested relationships, performs calibration flow execution sequence analysis according to the data nested relationships, determines a plurality of flow sorting results, performs error calibration process generation based on the plurality of flow sorting results, and determines a plurality of error calibration processes.
By executing the steps, error calibration is carried out on the strapdown inertial navigation arranged on the mechanical arm in the target carrier to obtain an error calibration data set, a coordinate north true value is not required to be introduced in the process, the relative course change in the steering process of the mechanical arm is measured by using a double theodolite, the course installation error angle of the strapdown inertial navigation and the mechanical arm can be calibrated by the relative change of the inertial navigation, further, precision parameter calibration is carried out on the strapdown inertial navigation to obtain a parameter calibration data set, association relation analysis is carried out on the error calibration data set and the parameter calibration data set, a data association relation is determined, flow sequence analysis is carried out through the data association relation to obtain a plurality of flow sequencing results, error calibration process generation is carried out on the basis of the plurality of flow sequencing results, and a plurality of error calibration processes are determined.
In a specific embodiment, as shown in fig. 2, the process of performing step S101 may specifically include the following steps:
s201: performing installation error calibration on strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data;
s202: carrying out coordinate north true value error calibration on strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data;
s203: and combining the first error calibration data and the second error calibration data into an error calibration data set.
Specifically, when the server performs installation error calibration on the strapdown inertial navigation on the mechanical arm through a two-point method, the server does not need to introduce a coordinate north true value, only needs to measure the relative course change in the steering process of the mechanical arm of the target carrier by using the double theodolites, performs installation error calibration on the relative change quantity output by the strapdown inertial navigation and the relative course change, can obtain first error calibration data, and can improve the efficiency of error data calibration. Furthermore, when the server performs coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm through a single-target-rod method, only two datum points, namely the coordinate value of the current position of the target carrier and the coordinate value of the target rod out of 1000 meters, are needed in the calibration process. And the installation error values in the four directions of southeast, southwest and northwest can be calibrated, meanwhile, the coordinate north true value error calibration is carried out according to the installation error values in the four directions, second error calibration data are obtained, and finally, the first error calibration data and the second error calibration data are combined into an error calibration data set.
In a specific embodiment, the process of executing step S201 may specifically include the following steps:
(1) Carrying out marking point position analysis on the mechanical arm by a two-point method to determine a marking point position information set;
(2) Based on the marked point position information set, constructing a coordinate system through a preset first theodolite and a preset second theodolite to obtain a marked point coordinate system;
(3) Acquiring attitude angle data through the first theodolite and the second theodolite to obtain target attitude angle information;
(4) And based on the marking point coordinate system and the marking point position information set, performing installation error calibration on the target attitude angle information to obtain first error calibration data.
In a specific embodiment, the process of performing installation error calibration on the target attitude angle information to obtain the first error calibration data may specifically include the following steps:
(1) Performing marking point coordinate calculation on the target attitude angle information and the marking point position information set based on the marking point coordinate system to obtain a target marking point coordinate set;
(2) And carrying out installation error calibration through the target mark point coordinate set to obtain first error calibration data.
It should be noted that, the basic principle of calibrating the installation errors of the strapdown inertial navigation and the mechanical arm by the two-point method is to load the targetThe method comprises the steps of parking a body on the ground which is basically horizontal, enabling a mechanical arm holder to rotate in azimuth, enabling the mechanical arm to rotate in height, enabling a strapdown inertial measurement unit to be installed at the root of the mechanical arm, enabling two marking points a and B to be made on the mechanical arm, determining a marking point position information set, enabling a connecting line direction to be parallel to the mechanical arm, and simultaneously obtaining position information of a first theodolite and a second theodolite, wherein when a coordinate system is built through the preset first theodolite and the preset second theodolite, building the coordinate system through the preset first theodolite and the preset second theodolite to obtain a marking point coordinate system, and enabling projection of the second theodolite B on a horizontal plane passing through the first theodolite A to be recorded as follows
Taking the point A of the position of the first theodolite as the origin, and (I)>
And establishing a mark point coordinate system by taking the X axis and taking the point A as the z axis vertically upwards.
Further, the first theodolite A is collected to measure the height angle of the second theodolite B relative to A as
The height angle of the mark point a was measured to be +.>
Azimuth angle measurement is carried out on the marked point a and the second theodolite B by the first theodolite A, and the azimuth angle between the marked point a and the second theodolite B is +.>
. Likewise, the high-low angle +.a can be obtained from the measurement of the second theodolite B>
The azimuth included angle between the mark point a and the first theodolite A is +.>
. Is provided with->
The length is 1, and the coordinates of the mark point a are obtained as follows
。
Specifically, the projection of the mark point a on the horizontal plane is set as
Then at +.>
In which two angles (++) are formed by sine theorem>
And->
) And one side ()>
) Side length +.>
Wherein the projection of the marker point a on the horizontal plane is +.>
Side length->
The information can be referred to as FIG. 3, as shown in FIG. 3, FIG. 3 is a method for solving side length +.>
Wherein the position of the origin O in the point a coordinate system.
The coordinates of the mark point a are
Similarly, the coordinates of the mark point b can be obtained
. The coordinates of the point a and the point b can be used for calculating the height angle of the mechanical arm +.>
And relative azimuth +.>
It should be noted that the relative azimuth angle is the horizontal projection line of the mechanical arm +.>
Horizontal projection line with theodolite>
An included angle between the two.
When the theodolite projects the line horizontally
Angle with true north->
In the numerical determination, the azimuth angle of the mechanical arm relative to true north can be determined from the relative azimuth angle>
Further, the northeast geographic coordinate system is selected as the navigation coordinate system and is marked as +.>
The vector is marked as +.>
Is (I) at>
Is rotated by three Euler angles, i.e. heading angle +.>
Pitch angle->
And roll angle
Can obtain +.>
Is expressed as a gesture matrix
Further, the mechanical arm coordinate system is recorded as
At the same time, the transverse rolling angle between the strapdown inertial unit and the mechanical arm is set to be free of installation error by default, and the azimuth angle installation error between the strapdown inertial unit and the mechanical arm is set to be +.>
Pitch angle installation error is +.>
And then the server calculates an installation error matrix between the strapdown inertial measurement unit and the mechanical arm, as follows:
from the following components
And->
Multiplying to obtain a gesture matrix of the mechanical arm coordinate system relative to the navigation system, wherein +.>
Is->
Transposed matrix of (a), i.e
Will be
The partial elements of (a) are expanded as follows:
wherein the method comprises the steps of
Representing a robot arm pose matrix->
Is>
Line->
Column elements. When the mechanical arm is basically horizontal, the roll angle and the pitch angle output by the strapdown inertial measurement unit are small angles, and the height angle of the mechanical arm is approximately calculated as follows:
thus, in the case of a substantially horizontal robotic arm, the pitch mounting error angle
And roll mounting error angle +>
The method comprises the following steps:
because the target carrier is basically horizontally parked, the mechanical arm rotates in the high-low direction, the small roll angle of the strapdown inertial measurement unit can be ensured, and if the pitch angle is the same
Then the approximation can be obtained by equation (1): />
Due to
And->
Are all small angles, and ∈>
Therefore there is->
And->
Further simplified approximations to equation (4) are available:
similarly, from formula (2) can be approximated
Comparison
And->
、/>
And->
It can be known that the azimuth angle of the mechanical arm is true>
And strapdown inertial measurement unit azimuth angle +.>
The difference between them is
It should be noted that, because the theodolite measures the included angle of the mechanical arm relative to the horizontal connecting line of the dual theodolites, but not the true azimuth of the mechanical arm relative to the north direction, under the condition that the north direction angle is unknown, the azimuth installation error angle cannot be obtained from one measurement, and the method must be realized by using multiple measurements, and the specific calibration steps are as follows:
firstly, a target carrier is adjusted to be horizontal, a mechanical arm is adjusted to be horizontal, and attitude angles measured by strapdown inertial navigation self-alignment are respectively
、/>
And->
Pitch installation error angle +.>
And roll mounting error angle +>
。
Then, the mechanical arm is lifted to the height angle of about 60 degrees, and the attitude angle output by the strapdown inertial measurement unit at the moment is recorded
、/>
And
（/>
very small), and the true values of the height angle and the azimuth angle of the mechanical arm are respectively +.>
And->
(relative azimuth angle is
) The following calculation was performed using the formula (7)
Measuring azimuth angle variation of mechanical arm by using theodolite before and after mechanical arm is lifted
And strapdown inertial measurement unit azimuth angle output variation +.>
The azimuth installation error angle between the mechanical arm and the strapdown inertial measurement unit can be calculated as follows:
finally obtaining the strapdown inertial navigation and mechanical arm installation error angle as
。
In a specific embodiment, as shown in fig. 4, the step S202 specifically includes the following steps:
s301: determining calibration points by a single-standard-pole method to obtain a first reference point and a second reference point;
s302: azimuth angles of the first reference point and the second reference point are calculated, and a reference point azimuth angle is obtained;
s303: based on a plurality of preset mechanical arm orientations, sequentially carrying out north-seeking secret bit value calculation on the mechanical arms to obtain a plurality of north-seeking secret bit data;
s304: and carrying out coordinate north true value error calibration through the north-seeking secret bit data and the reference point azimuth angle to obtain second error calibration data.
Specifically, when the precision parameter calibration is performed on the strapdown inertial navigation, only two reference points are needed in the calibration process, the first reference point is a standard coordinate point of the position of the target carrier, the second reference point is a standard coordinate point of a marker post located 1000m away from the position of the target carrier, in the embodiment of the application, the installation error values in the four directions of southeast, southwest and northwest can be calibrated only through the two reference points, and meanwhile, the coordinate north true value error calibration can be performed on the north-seeking close position data and the reference point azimuth according to the north-seeking value comparison of the four directions, so that second error calibration data are obtained.
It should be noted that, in a specific embodiment, the step S304 specifically includes the following steps:
(1) Mounting error calibration is carried out on the orientation of each mechanical arm in sequence through the north-seeking close-positioning data, and error calibration data corresponding to the orientation of each mechanical arm are obtained;
(2) And carrying out data fusion processing on the error calibration data corresponding to the orientation of each mechanical arm based on the azimuth angle of the datum point to obtain second error calibration data.
Specifically, the installation error calibration is sequentially carried out on the orientation of each mechanical arm through a plurality of north-seeking close-position data, wherein in the calibration process, only two standard points are needed, namely a standard coordinate point Q of a parking point and a standard coordinate point E of a marker post outside 1000m, the installation error values in four directions of southeast, northwest and northwest can be calibrated, and meanwhile, the zero offset of two horizontal gyroscopes in the strapdown inertial navigation can be corrected according to the north-seeking value comparison in the four directions.
Preparing a standard coordinate point Q and a marker post E with a distance of more than 1000 meters from the point Q in advance (the coordinates of the point E are measured in advance), wherein the north of the coordinates between the point Q and the point E is
Adjusting the target carrier and the robot arm to be in a substantially horizontal state +.>
The rotation center of the target carrier is aligned with a standard coordinate point Q, the mechanical arm points to north (+ -50 m-bit), north is searched for 3-5 times, and the average value of the north searching result is recorded as +.>
Close, and record the last north finding minus the mean as +.>
The dense position is kept, the azimuth is kept, the target carrier or the mechanical arm is rotated, the sighting telescope is used for sighting the sighting rod E, and the inertial navigation azimuth value at the moment is recorded>
The steering error of the north mechanical arm is as follows:
further, the mechanical arm is pointed to the south (+ -50 mils), and a retention value is recorded
Dense bit, north seeking for 3-5 times, recording north seeking result, solving the average value of the north seeking result for 3-5 times>
And recording the last north finding minus the mean as +.>
The dense position is kept, the azimuth is kept, the target carrier or the mechanical arm is rotated, the sighting telescope is used for sighting the sighting rod E, and the inertial navigation azimuth value at the moment is recorded>
。
The steering error of the south mechanical arm is as follows:
the same can be said, the azimuth error of the mechanical arm in the east-west two directions is:
then, the azimuth error of the mechanical arm is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
it should be noted that->
And the azimuth angle from the standard coordinate point Q to the marker post E is L, the distance from the sighting telescope to the rotation center of the mechanical arm is L, and the connecting line distance from the standard coordinate point Q to the marker post E is D. />
In the calibration process, zero offset correction can be carried out on two horizontal gyroscopes in strapdown inertial navigation, so that the inertial navigation orientation precision is further improved. It should be noted that, after the north seeking and aiming rod work in both the north and south directions is completed, the zero offset of the X-direction gyro can be corrected.
Specifically, the server calculates carrier system x-axis gyro drift as
Wherein the method comprises the steps of
L is the local latitude, ">
For the x-axis gyro drift in +.>
When correcting zero offset of the carrier system x gyroscope, subtracting +.f from the original gyroscope zero offset>
And (3) obtaining the product.
Correspondingly, the northeast and west north seeking and aiming rod work is completed, and the carrier system y-axis gyro drift is calculated as follows:
wherein the method comprises the steps of
L is the local latitude, ">
For the y-axis gyro drift in +.>
When correcting the zero offset of the carrier system y gyroscope, subtracting +.f from the zero offset of the original gyroscope>
And finally, the server performs data fusion processing on the error calibration data corresponding to the orientation of each mechanical arm to obtain second error calibration data.
In a specific embodiment, as shown in fig. 5, the step S103 specifically includes the following steps:
s401: extracting attitude angle information from the error calibration data set and the parameter calibration data set to obtain attitude angle information to be matched;
s402: performing error nesting relation analysis through the attitude angle information to be matched to obtain a target nesting relation;
s403: and generating a data association relationship based on the target nested relationship to obtain the data association relationship.
The server starts the positioning and orientation navigation equipment and performs north searching test, and after north searching is finished, the coordinate of the calibration starting point is determined through a preset control calibration interface
The positioning and directional navigation equipment enters a calibration state, and then the target carrier is controlled to run along a relatively straight road section for about 3km and accurately stop at another standard coordinate point
At this time, the positioning and orientation navigation device records the positioning coordinate value +_at the measuring point>
. And through controlling the calibration interfaceDetermining calibration endpoint coordinates +.>
Further, the server marks the end point coordinates +.>
Measuring point positioning coordinate value +.>
And performing precision parameter calibration to obtain a parameter calibration data set, wherein the parameter calibration data set comprises a mileage coefficient, a heading installation error and a high-low angle error.
It should be noted that, the basic principle of the two-point method calibration and positioning related parameters is as follows:
preassembling approximate mileage coefficients
And heading installation error->
At the starting point +.>
Coordinate correction, mileage zero clearing, dead reckoning, and driving the target carrier to the calibration end point +.>
Obtaining a position measurement value of the calibration end point +.>
。
Obtaining the true displacement vector of the target carrier
And calculating a displacement vector +.>
The mileage equivalent and azimuth installation error angle are calculated as follows:
obtaining the elevation positioning error in the driving process
And total driving range>
The pitch installation error angle is: />
Wherein, the liquid crystal display device comprises a liquid crystal display device,
the method comprises the steps of original mileage coefficient, azimuth installation error and pitching installation error.
When the flow sequence analysis is performed through the data association relationship to obtain a plurality of flow sequencing results, the following analysis is specifically performed:
let strapdown inertial navigation calculate output pose be (P, R, H), wherein P, R, H is the pose angle of the corresponding three directions of the mechanical arm, and the matrix is converted from navigation N to carrier B into
The following is shown:
the installation error of the strapdown inertial navigation and the mechanical arm after calibration is as follows
) Then the carrier-to-robot system conversion matrix +.>
The mechanical arm is a conversion matrix->
The following is shown:
wherein, the matrix is converted from a navigation system to a mechanical arm system
Thereby obtaining the attitude angle of the mechanical arm system
The installation error of the calibrated strapdown inertial navigation and the target carrier is +.>
(wherein->
Mounting error angle for azimuth->
For pitch installation error angle), from the navigation system N to the target carrier system M conversion matrix +.>
Thereby obtaining the attitude angle +.>
。
Further, the server analyzes the association relation of the plurality of attitude angles to determine a corresponding data association relation, further, the server analyzes the nesting relation according to the data association relation to determine a corresponding data nesting relation, performs calibration flow execution sequence analysis according to the data nesting relation to determine a plurality of flow sequencing results, performs error calibration process generation based on the plurality of flow sequencing results, and determines a plurality of error calibration processes.
The embodiment of the invention also provides an error calibration process generating system, as shown in fig. 6, the error calibration process generating device specifically comprises:
the error calibration module 501 is used for performing error calibration on strapdown inertial navigation installed on a mechanical arm in a target carrier to obtain an error calibration data set;
the parameter calibration module 502 is configured to perform precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set;
the relationship analysis module 503 is configured to perform association relationship analysis on the error calibration data set and the parameter calibration data set, and determine a data association relationship;
the sequence analysis module 504 is configured to perform a flow sequence analysis according to the data association relationship, so as to obtain a plurality of flow sequencing results;
the process generating module 505 is configured to perform error calibration process generation based on the plurality of flow sequencing results, and determine a plurality of error calibration processes.
Further functional description of each module is the same as that of the corresponding method embodiment, and is not repeated herein, through the cooperative cooperation of the components, error calibration is performed on the strapdown inertial navigation installed on the mechanical arm in the target carrier to obtain an error calibration data set, in the process, a north true value of coordinates is not required to be introduced, only the relative course change in the steering process of the mechanical arm is required to be measured by using a double theodolite, the course installation error angle of the strapdown inertial navigation and the mechanical arm can be calibrated by using the relative change quantity of the inertial navigation, further, precision parameter calibration is performed on the strapdown inertial navigation to obtain a parameter calibration data set, correlation analysis is performed on the error calibration data set and the parameter calibration data set, a data correlation is determined, flow sequence analysis is performed through the data correlation to obtain a plurality of flow sequencing results, error calibration process generation is performed on the basis of the plurality of flow sequencing results, and a plurality of error calibration processes are determined.
The above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the scope of the claims.
Claims (4)
1. The error calibration process generation method is characterized by comprising the following steps of:
performing error calibration on the strapdown inertial navigation installed on the mechanical arm in the target carrier to obtain an error calibration data set, wherein the step of performing error calibration on the strapdown inertial navigation installed on the mechanical arm in the target carrier to obtain the error calibration data set comprises the following steps: performing installation error calibration on the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data; carrying out coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data; combining the first error calibration data and the second error calibration data into the error calibration data set; the step of calibrating the installation error of the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data comprises the following steps: carrying out marking point position analysis on the mechanical arm by a two-point method to determine a marking point position information set; based on the marking point position information set, constructing a coordinate system through a preset first theodolite and a preset second theodolite to obtain a marking point coordinate system; acquiring attitude angle data through the first theodolite and the second theodolite to obtain target attitude angle information; performing installation error calibration on the target attitude angle information based on the mark point coordinate system and the mark point position information set to obtain first error calibration data;
the step of performing coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data comprises the following steps: determining calibration points by a single-standard-pole method to obtain a first reference point and a second reference point; azimuth angles of the first reference point and the second reference point are calculated, and a reference point azimuth angle is obtained; based on a plurality of preset mechanical arm orientations, sequentially carrying out north-seeking secret bit value calculation on the mechanical arms to obtain a plurality of north-seeking secret bit data; carrying out coordinate north true value error calibration through the plurality of north-seeking secret bit data and the reference point azimuth angle to obtain second error calibration data;
performing precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set, wherein the parameter calibration data set comprises a mileage coefficient, a heading installation error and a high-low angle error;
performing association relation analysis on the error calibration data set and the parameter calibration data set to determine a data association relation, wherein attitude angle information extraction is performed on the error calibration data set and the parameter calibration data set to obtain attitude angle information to be matched; performing error nesting relation analysis through the attitude angle information to be matched to obtain a target nesting relation; generating a data association relationship based on the target nested relationship to obtain the data association relationship;
carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results, and specifically setting strapdown inertial navigation resolving output gestures as (P, R, H), wherein P, R, H is respectively gesture angles in three directions corresponding to the mechanical arm, and a matrix is converted from a navigation system N to a carrier system B into
The following is shown:
the installation error of the strapdown inertial navigation and the mechanical arm after calibration is as follows
) ThenCarrier to robot conversion matrix>
Mechanical arm system conversion matrix->
The following is shown:
wherein, the matrix is converted from a navigation system to a mechanical arm system
Thereby obtaining the attitude angle of the mechanical arm system
The installation error of the calibrated strapdown inertial navigation and the target carrier is +.>
Wherein->
Mounting error angle for azimuth->
For pitch installation error angle, the matrix is transformed from the navigation system N to the target carrier system M>
Thereby obtaining the attitude angle +.>
；
And generating error calibration processes based on the flow sequencing results, and determining a plurality of error calibration processes.
2. The method for generating error calibration process according to claim 1, wherein the step of performing installation error calibration on the target attitude angle information based on the marker point coordinate system and the marker point position information set to obtain first error calibration data includes:
performing marking point coordinate calculation on the target attitude angle information and the marking point position information set based on the marking point coordinate system to obtain a target marking point coordinate set;
and carrying out installation error calibration through the target mark point coordinate set to obtain first error calibration data.
3. The method for generating an error calibration process according to claim 1, wherein the step of performing a coordinate north true value error calibration by using the plurality of north-seeking secret bit data and the reference point azimuth angle to obtain second error calibration data comprises:
mounting error calibration is carried out on the orientation of each mechanical arm in sequence through the north-seeking close-position data, and error calibration data corresponding to the orientation of each mechanical arm are obtained;
and carrying out data fusion processing on the error calibration data corresponding to the orientation of each mechanical arm based on the reference point azimuth angle to obtain second error calibration data.
4. An error calibration process generation system for performing the error calibration process generation method according to any one of claims 1 to 3, comprising:
the error calibration module is used for performing error calibration on the strapdown inertial navigation installed on the mechanical arm in the target carrier to obtain an error calibration data set, wherein the step of performing error calibration on the strapdown inertial navigation installed on the mechanical arm in the target carrier to obtain the error calibration data set comprises the following steps: performing installation error calibration on the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data; carrying out coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data; combining the first error calibration data and the second error calibration data into the error calibration data set, wherein the step of performing installation error calibration on the strapdown inertial navigation on the mechanical arm by a two-point method to obtain first error calibration data comprises the following steps: carrying out marking point position analysis on the mechanical arm by a two-point method to determine a marking point position information set; based on the marking point position information set, constructing a coordinate system through a preset first theodolite and a preset second theodolite to obtain a marking point coordinate system; acquiring attitude angle data through the first theodolite and the second theodolite to obtain target attitude angle information; performing installation error calibration on the target attitude angle information based on the mark point coordinate system and the mark point position information set to obtain first error calibration data;
the step of performing coordinate north true value error calibration on the strapdown inertial navigation on the mechanical arm by a single-standard-pole method to obtain second error calibration data comprises the following steps: determining calibration points by a single-standard-pole method to obtain a first reference point and a second reference point; azimuth angles of the first reference point and the second reference point are calculated, and a reference point azimuth angle is obtained; based on a plurality of preset mechanical arm orientations, sequentially carrying out north-seeking secret bit value calculation on the mechanical arms to obtain a plurality of north-seeking secret bit data; carrying out coordinate north true value error calibration through the plurality of north-seeking secret bit data and the reference point azimuth angle to obtain second error calibration data;
the parameter calibration module is used for carrying out precision parameter calibration on the strapdown inertial navigation to obtain a parameter calibration data set, wherein the parameter calibration data set comprises a mileage coefficient, a course installation error and a high-low angle error;
the relation analysis module is used for carrying out association relation analysis on the error calibration data set and the parameter calibration data set to determine a data association relation, wherein attitude angle information extraction is carried out on the error calibration data set and the parameter calibration data set to obtain attitude angle information to be matched; performing error nesting relation analysis through the attitude angle information to be matched to obtain a target nesting relation; generating a data association relationship based on the target nested relationship to obtain the data association relationship;
the sequence analysis module is used for carrying out flow sequence analysis through the data association relationship to obtain a plurality of flow sequencing results, and specifically, setting strapdown inertial navigation calculation output gestures as (P, R, H), wherein P, R, H is respectively gesture angles in three directions corresponding to the mechanical arm, and the matrix is converted from a navigation system N to a carrier system B into
The following is shown:
the installation error of the strapdown inertial navigation and the mechanical arm after calibration is as follows
) Then the carrier-to-robot system conversion matrix +.>
Mechanical arm system conversion matrix->
The following is shown:
wherein, the matrix is converted from a navigation system to a mechanical arm system
Thereby obtaining the attitude angle of the mechanical arm system
The installation error of the calibrated strapdown inertial navigation and the target carrier is +.>
Wherein->
Mounting error angle for azimuth->
For pitch installation error angle, the matrix is transformed from the navigation system N to the target carrier system M>
Thereby obtaining the attitude angle +.>
；
Performing error calibration process generation based on the flow sequencing results, and determining a plurality of error calibration processes;
and the process generation module is used for generating error calibration processes based on the plurality of flow sequencing results and determining a plurality of error calibration processes.
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