CN116295512A - Calibration method and device of navigation equipment, aircraft and storage medium - Google Patents
Calibration method and device of navigation equipment, aircraft and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a calibration method and device of navigation equipment, an aircraft and a storage medium, wherein the method is applied to the aircraft, and the aircraft is provided with a master navigation equipment and at least one slave navigation equipment, and comprises the following steps: after the aircraft is electrified, when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is static, detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment, and when the difference between the initial navigation parameter values of the auxiliary navigation equipment and the main navigation equipment is larger than a first threshold value, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter values of the auxiliary navigation equipment; according to the invention, the IMU device in the slave navigation device is calibrated by taking the value measured by the IMU device of the master navigation device as the effective true value, so that the algorithm convergence time of the navigation device can be reduced, and the navigation precision and stability of the navigation device are improved.
Description
Technical Field
The present invention relates to the technical field of aircrafts, and in particular, to a calibration method and apparatus for a navigation device, an aircraft, and a storage medium.
Background
With the continuous development of inertial navigation systems, the inertial navigation systems are widely applied to aircraft equipment, the navigation precision of the inertial navigation equipment is more and more important in the application process, in the prior art, an Inertial Measurement Unit (IMU) (Inertial Measurement Unit) of the navigation equipment is generally installed into the aircraft equipment after being calibrated offline through a turntable, secondary calibration is not performed in the use process, and zero offset of a accelerometer and a gyroscope can be slowly changed or even greatly suddenly changed in the use process of the navigation equipment due to the physical characteristics of the IMU, so that the navigation precision of the navigation equipment can be reduced.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention are directed to a calibration method, apparatus, aircraft, and storage medium for a navigation device that overcomes or at least partially solves the foregoing problems.
In order to solve the above problems, an embodiment of the present invention discloses a calibration method of a navigation device, which is applied to an aircraft, wherein a master navigation device and at least one slave navigation device are provided in the aircraft, and the method includes:
powering up the aircraft, and detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is static;
And when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter value of the slave navigation device.
Optionally, the controlling the aircraft to perform uniform maneuvering to calibrate the navigation parameter value of the slave navigation device includes:
controlling the aircraft to perform uniform maneuvering in a preset direction, and detecting navigation parameter measurement values of the main navigation equipment and the auxiliary navigation equipment in the preset direction; the preset direction comprises: front, back, left, right, up, down;
determining the true value of the navigation parameter of the slave navigation equipment in the preset direction according to the navigation parameter measured value of the slave navigation equipment in the preset direction;
and ending calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is smaller than a second threshold value.
Optionally, the determining, according to the navigation parameter measurement value of the slave navigation device in the preset direction, the navigation parameter true value of the slave navigation device in the preset direction includes:
Determining a navigation parameter error coefficient matrix value of the slave navigation equipment according to the navigation parameter measured value of the slave navigation equipment in the preset direction;
and determining the true value of the navigation parameter of the slave navigation equipment in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation equipment.
Optionally, the determining the navigation parameter error coefficient matrix value of the slave navigation device includes:
calculating a navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m, wherein D is a navigation parameter measurement value of the master navigation device in the preset direction, K is a navigation parameter error coefficient matrix value, and M is a navigation parameter measurement value of the slave navigation device in the preset direction.
Optionally, the navigation parameter actual value includes an acceleration actual value and a gyroscope actual value, and the determining the navigation parameter actual value of the slave navigation device in the preset direction includes:
calculating the acceleration true value of the slave navigation device in the preset direction according to a preset formula acc=k_acc+b_acc;
calculating a gyroscope true value of the slave navigation device in the preset direction according to a preset formula GYR=K_gyr+B_gyr;
Wherein ACC represents the actual acceleration value of the slave navigation device in the preset direction, GYR represents the actual gyroscope value of the slave navigation device in the preset direction, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer; k_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and b_gyr represents the zero offset of the gyroscope.
Optionally, the calculating the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m includes:
substituting the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K×M, and calculating the navigation parameter error coefficient matrix value of the slave navigation device by a least square method.
Optionally, the method further comprises:
and storing the navigation parameter error coefficient matrix value calibrated by the slave navigation equipment into a memory of the slave navigation equipment.
The invention also discloses a calibration device of the navigation equipment, which is applied to an aircraft, wherein the aircraft is provided with a master navigation equipment and at least one slave navigation equipment, and the device comprises:
The detection module is used for powering on the aircraft, and detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is static;
and the control module is used for controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value.
Optionally, the control module includes:
the control sub-module is used for controlling the aircraft to perform uniform maneuvering in a preset direction, and detecting navigation parameter measurement values of the main navigation equipment and the auxiliary navigation equipment in the preset direction; the preset direction comprises: front, back, left, right, up, down;
a determining submodule, configured to determine a true value of a navigation parameter of the slave navigation device in the preset direction according to the measurement value of the navigation parameter of the slave navigation device in the preset direction;
and the ending submodule is used for ending calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is smaller than a second threshold value.
Optionally, the determining submodule includes:
an error coefficient matrix value determining unit, configured to determine a navigation parameter error coefficient matrix value of the slave navigation device according to a navigation parameter measurement value of the slave navigation device in the preset direction;
and the navigation parameter true value determining unit is used for determining the navigation parameter true value of the slave navigation equipment in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation equipment.
Optionally, the error coefficient matrix value determining unit includes:
the first calculating subunit is configured to calculate, according to a preset formula d=k×m, a navigation parameter error coefficient matrix value of the slave navigation device, where D is a navigation parameter measurement value of the master navigation device in the preset direction, K is a navigation parameter error coefficient matrix value, and M is a navigation parameter measurement value of the slave navigation device in the preset direction.
Optionally, the navigation parameter real value includes an acceleration real value and a gyroscope real value, and the navigation parameter real value determining unit includes:
a second calculating subunit, configured to calculate, according to a preset formula acc=k_acc×acc+b_acc, a true acceleration value of the slave navigation device in the preset direction;
A third calculation subunit, configured to calculate, according to a preset formula gyr=k_gyr+b_gyr, a gyroscope true value of the slave navigation device in the preset direction;
wherein ACC represents the actual acceleration value of the slave navigation device in the preset direction, GYR represents the actual gyroscope value of the slave navigation device in the preset direction, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer; k_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and b_gyr represents the zero offset of the gyroscope.
Optionally, the first computing subunit includes:
substituting the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K×M, and calculating the navigation parameter error coefficient matrix value of the slave navigation device by a least square method.
Optionally, the apparatus further comprises:
and the storage sub-module is used for storing the navigation parameter error coefficient matrix value calibrated by the slave navigation equipment into the memory of the slave navigation equipment.
The invention also discloses an aircraft, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, implements the steps of the on-line calibration method of a navigation device as described above.
The invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the on-line calibration method of the navigation equipment when being executed by a processor.
The embodiment of the invention has the following advantages:
after the aircraft is electrified, when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is stationary, detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment, and when the difference between the initial navigation parameter values of the auxiliary navigation equipment and the main navigation equipment is larger than a first threshold value, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter values of the auxiliary navigation equipment; according to the invention, the value measured by the IMU device of the main navigation equipment is used as an effective true value to calibrate the IMU device in the auxiliary navigation equipment, so that the algorithm convergence time of the navigation equipment can be reduced, and the navigation precision and stability of the navigation equipment are improved.
Drawings
FIG. 1 is a flow chart of steps of a calibration method of a navigation device according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of another calibration method of a navigation device according to an embodiment of the present invention;
FIG. 3 is a system flow chart of a calibration method of a navigation device according to an embodiment of the present invention;
fig. 4 is a block diagram of a calibration device of a navigation device according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In the prior art, an IMU of the navigation equipment is generally installed in the aircraft equipment after being calibrated offline through a turntable, secondary calibration is not performed in the use process, the zero offset of a accelerometer and a gyroscope of the navigation equipment can be slowly changed and even can be greatly suddenly changed in the use process due to the physical characteristics of the IMU, the self-checking and algorithm convergence time of the navigation equipment can be adversely affected, the conventional turntable offline calibration method generally needs a high-precision turntable, and calibration cannot be performed in the use process of the aircraft.
Based on the above, one of the core concepts of the embodiments of the present invention is that, by setting a master navigation device and at least one slave navigation device in an aircraft, after powering up the aircraft, when the master navigation device and the slave navigation device start to operate and the aircraft is stationary, initial navigation parameter values of the master navigation device and the slave navigation device are detected, and when a difference between the initial navigation parameter values of the slave navigation device and the master navigation device is greater than a first threshold value, the aircraft is controlled to perform uniform maneuvering to calibrate the navigation parameter values of the slave navigation device; according to the invention, the value measured by the IMU device of the main navigation equipment is used as an effective true value to calibrate the IMU device in the auxiliary navigation equipment, so that the algorithm convergence time of the navigation equipment can be reduced, and the navigation precision and stability of the navigation equipment are improved.
Referring to fig. 1, a flowchart of steps of a calibration method of a navigation device provided by an embodiment of the present invention is shown, where the method is applied to an aircraft, and a master navigation device and at least one slave navigation device are disposed in the aircraft, and the method specifically may include the following steps:
In the embodiment of the invention, the navigation equipment in the aircraft can calculate the parameter information such as the attitude, the heading, the position, the speed and the like of the aircraft, and the damage of the parameter information can bring serious potential safety hazards to the aircraft, so that a plurality of navigation equipment can be arranged in the aircraft to ensure the operation safety of the aircraft; specifically, a master navigation device and at least one slave navigation device can be arranged in the aircraft, so that when one navigation device in the aircraft has a problem, the other navigation device can be used for navigation, and the operation safety of the aircraft is ensured to the greatest extent.
The present invention may set the IMU positioning accuracy of the primary navigation device higher than the IMU positioning accuracy of the secondary navigation device, then install the device on the aircraft after initial calibration of the primary navigation device and the secondary navigation device is completed, after these settings, power up the aircraft, control the primary navigation device in the aircraft and start working from the navigation device, i.e. control the primary navigation device and start collecting navigation data from the navigation device, but at this time the aircraft is still in a stationary state, the initial navigation parameter values of the primary navigation device and the secondary navigation device may be detected, the navigation parameter values may include acceleration and gyro values, in one example, the initial acceleration of the primary navigation device may be detected as (acc_x_p, acc_y_p, acc_z_p), wherein acc_x_p represents the acceleration value measured by the primary navigation device in the x-axis direction, acc_y_p represents the acceleration value measured by the primary navigation device in the y-axis direction, acc_z_p represents the acceleration value measured by the primary navigation device in the y-axis direction, and the initial acceleration value measured by the primary navigation device in the z_p represents the z_35_p, wherein the initial acceleration value measured by the primary navigation device in the y-axis direction is the x_p represents the primary navigation device in the x-axis direction, and the initial acceleration value in the primary navigation device in the x_z_p represents the x_p is measured in the x-axis direction, and the primary navigation device in the x_z_p represents the x_p.
In the same way, the initial acceleration of the slave navigation device may be measured as (acc_x_s, acc_y_s, acc_z_s), and the initial gyro value may be measured as (gry _x_s, gry _y_s, gry _z_s), which will not be described herein.
And 102, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value.
In the embodiment of the present invention, the first threshold refers to the maximum difference value between the initial navigation parameter values of the slave navigation device and the master navigation device, and may be set according to the requirement of the user, which is not limited herein.
In one example, the difference in acceleration in the x-axis direction may be calculated: acc_x_p-acc_x_s, the difference in acceleration in the y-axis direction: acc_y_p-acc_y_s, the difference in acceleration in the z-axis direction: acc_z_p-acc_z_s, the difference in the gyroscope values in the x-axis direction: gry _x_p-gry _x_s, difference in the gyro values in the y-axis direction: gry _y_p-gry _y_s, difference in the gyroscope values in the z-axis direction: gry _z_p-gry _z_s, when the absolute value of any difference value among acc_x_p-acc_x_s, acc_y_p-acc_y_s, acc_z_p-acc_z_s, gry_x_p-gry _x_s, gry_y_p-gry _y_s, gry_z_p-gry _z_s is greater than a first threshold, it indicates that calibration is required from the navigation device, at this time, an indication information that the slave navigation device needs to perform calibration may be sent to the user, and after receiving the indication information, the user may control the aircraft to perform uniform maneuver to calibrate the navigation parameter value of the slave navigation device.
The invention can calibrate the IMU device in the slave navigation device by taking the value measured by the IMU device of the master navigation device as the effective true value, can reduce the algorithm convergence time of the navigation device and improve the navigation precision and stability of the navigation device.
Referring to fig. 2, a flowchart of steps of another calibration method of a navigation device provided by an embodiment of the present invention is shown, where the method is applied to an aircraft, and a master navigation device and at least one slave navigation device are disposed in the aircraft, and the method specifically may include the following steps:
In the embodiment of the invention, at least one slave navigation device comprises a secondary navigation device and a navigation gesture navigation device, wherein the IMU positioning precision of the master navigation device is higher than that of the secondary navigation device, the IMU positioning precision of the secondary navigation device is higher than that of the navigation gesture navigation device, and after the aircraft is electrified, when the master navigation device, the secondary navigation device and the navigation gesture navigation device start to work and the aircraft is static, initial navigation parameter values of the master navigation device, the secondary navigation device and the navigation gesture navigation device can be detected, wherein the initial navigation parameter values comprise initial acceleration and initial gyroscope values.
In the embodiment of the invention, when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value, namely, the absolute value of any difference value among the difference between the initial acceleration of the secondary navigation device and the initial acceleration of the master navigation device, the difference between the initial gyroscope value of the secondary navigation device and the initial gyroscope value of the master navigation device, the difference between the initial acceleration of the navigation gesture navigation device and the initial acceleration of the master navigation device, and the difference between the initial gyroscope value of the navigation gesture navigation device and the initial gyroscope value of the master navigation device is larger than the first threshold value, the two-stage navigation device and the navigation gesture navigation device are required to be calibrated.
After determining that the secondary navigation device and the attitude navigation device need to be calibrated, the aircraft can be controlled to perform uniform maneuvering in a preset direction, wherein the preset direction can comprise front, back, left, right, up and down, in one example, the aircraft can be controlled to fly forwards, backwards, leftwards, rightwards, upwards and downwards, and then navigation parameter measurement values of the main navigation device, the secondary navigation device and the attitude navigation device in the front, back, left, right, up and down directions can be respectively measured, wherein the acceleration measurement value acc_p of the main navigation device in the front, back, left, right, up and down directions is:
The gyro measurement gyr_p of the main navigation device in the front, rear, left, right, upper and lower directions is:
the acceleration measurement values acc_s of the secondary navigation device in the front, rear, left, right, up, and down directions are:
the gyro measurement gyr_s of the secondary navigation apparatus in the front, rear, left, right, up and down directions is:
the acceleration measurement values acc_ahrs of the navigation posture navigation device in the front, rear, left, right, up and down directions are:
the gyro measurement gyr_ahrs of the navigation attitude navigation apparatus in the front, rear, left, right, up and down directions are:
In the embodiment of the invention, because the error exists in the navigation parameter measured value of the slave navigation equipment in the preset direction, the error existing in the navigation measured value of the slave navigation equipment in the preset direction can be eliminated, and the navigation parameter true value of the slave navigation equipment in the preset direction can be obtained.
In one embodiment of the present invention, the step 203 may include the following sub-steps S21 to S22:
step S21, determining the error coefficient matrix value of the navigation parameter of the slave navigation device according to the navigation parameter measured value of the slave navigation device in the preset direction.
In the embodiment of the invention, the navigation parameter measured value of the high-precision IMU device in the main navigation can be used as the current effective navigation parameter true value, and then the navigation parameter error coefficient matrix value of the slave navigation device can be determined according to the navigation parameter measured value of the high-precision IMU device in the main navigation and the navigation parameter measured value of the slave navigation device in the preset direction.
In one embodiment of the present invention, the determining the navigation parameter error coefficient matrix value of the slave navigation device includes:
calculating a navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m, wherein D is a navigation parameter measurement value of the master navigation device in a preset direction, K is a navigation parameter error coefficient matrix value, and M is a navigation parameter measurement value of the slave navigation device in the preset direction.
In the embodiment of the present invention, the actual value of the acceleration of the slave navigation device may be calculated by the formula (1):
acc=k_acc+b_acc equation (1)
Wherein ACC is the true value of the acceleration of the slave device, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer.
The gyro true value from the navigation apparatus can be calculated by the formula (2):
GYR=K_gyr+B_gyr formula (2)
Where GYR is the true value of the gyroscope of the slave device, K_gyr represents the error coefficient matrix value of the gyroscope, GYR represents the measured value of the gyroscope, and B_gyr represents the zero offset of the gyroscope.
It should be noted that, the zero offset of the accelerometer refers to the output signal size of the accelerometer without the input of the acceleration, the zero offset of the gyroscope refers to the output signal size of the gyroscope without the input of the gyroscope value, and the b_acc in the above formula (1) and the b_gyr in the formula (2) are set by multiple zero offset measurement experiments and taking the average value of the zero offset in the multiple experiments before the factory leaves the factory.
The calculation formula (3) of the error coefficient matrix from the navigation apparatus can be derived by performing an equivalent transformation according to the formula (1) and the formula (2):
d=k×m formula (3)
Wherein D is a navigation parameter measured value of the main navigation device in a preset direction, K is a navigation parameter error coefficient matrix value of the auxiliary navigation device, and M is a navigation parameter measured value of the auxiliary navigation device in the preset direction.
In one example, when the slave navigation device includes the secondary navigation device and the navigation posture navigation device, the acceleration measurement value acc_p of the master navigation device in the front, rear, left, right, up and down directions and the acceleration measurement value acc_s of the secondary navigation device in the front, rear, left, right, up and down directions may be substituted into the formula (3), and the acceleration error coefficient matrix value k1=acc_p/acc_s of the secondary navigation device may be calculated.
Similarly, the gyroscope measurement values gyr_p of the main navigation device in the front, rear, left, right, upper and lower directions and the gyroscope measurement values gyr_s of the secondary navigation device in the front, rear, left, right, upper and lower directions may be substituted into the formula (3), and then the gyroscope error coefficient matrix value k2=gyr_p/gyr_s of the secondary navigation device may be calculated according to the formula (3).
The acceleration measurement value acc_p of the main navigation device in the front, rear, left, right, up and down directions and the acceleration measurement value acc_ahrs of the navigation device in the front, rear, left, right, up and down directions may be substituted into the formula (3), and then the acceleration error coefficient matrix value k3=acc_p/acc_ahrs of the navigation device may be calculated according to the formula (3).
The gyro measurement value gyr_p of the main navigation device in the front, rear, left, right, upper and lower directions and the gyro measurement value gyr_ahrs of the attitude navigation device in the front, rear, left, right, upper and lower directions may be substituted into the formula (3), and then the gyro error coefficient matrix value k4=gyr_p/gyr_ahrs of the attitude navigation device is calculated according to the formula (3).
In an embodiment of the present invention, the calculating the matrix value of the error coefficient of the navigation parameter of the slave navigation device according to the preset formula d=k×m includes:
Substituting the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into a preset formula D=K×M, and calculating the navigation parameter error coefficient matrix value of the slave navigation device by a least square method.
In the embodiment of the invention, the formula (3) can be expanded to obtain the formula (4):
then solving the formula (4) by a least square method, and calculating to obtain a navigation parameter error coefficient matrix value:
step S22, determining the true value of the navigation parameter of the slave navigation device in the preset direction according to the matrix value of the error coefficient of the navigation parameter of the slave navigation device.
In the embodiment of the invention, after the navigation parameter error coefficient matrix value is determined, the navigation parameter measured value of the slave navigation device after calibration can be detected, and then the navigation parameter measured value of the slave navigation device and the navigation parameter error coefficient matrix are substituted into an error coefficient formula to solve the true navigation parameter value of the slave navigation device in the preset direction.
In one embodiment of the present invention, the navigation parameter real values include an acceleration real value and a gyro real value, and the determining the navigation parameter real value in the preset direction from the navigation apparatus includes:
Calculating an acceleration true value of the slave navigation device in a preset direction according to a preset formula acc=k_acc+b_acc; calculating a gyroscope true value in a preset direction from the navigation device according to a preset formula gyr=k_gyr+b_gyr; wherein ACC represents the true value of the acceleration of the slave navigation device in the preset direction, GYR represents the true value of the gyroscope of the slave navigation device in the preset direction, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer; k_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and b_gyr represents the zero offset of the gyroscope.
Specifically, the acceleration error coefficient matrix value K1 of the secondary navigation device and the acceleration measurement values acc_s of the secondary navigation device in the front, rear, left, right, up and down directions may be substituted into the formula (1), the acceleration realism values acc_s of the secondary navigation device in the front, rear, left, right, up and down directions may be calculated,
ACC_s＝K1*acc_s+B_acc_s
the gyroscope error coefficient matrix value K2 of the secondary navigation device and the gyroscope measurement value gyr_s of the secondary navigation device in the front, back, left, right, up and down directions can be substituted into the formula (2), so as to calculate and obtain the gyroscope true value gyr_s of the secondary navigation device in the front, back, left, right, up and down directions, wherein gyr_s=k2 x gyr_s+b_gyr_s
The acceleration error coefficient matrix value K3 of the navigation device and the acceleration measurement values acc_ahrs of the navigation device in the front, rear, left, right, up and down directions can be substituted into the formula (1), the acceleration realism values acc_ahrs of the navigation device in the front, rear, left, right, up and down directions can be calculated,
ACC_ahrs＝K3*acc_ahrs+B_acc_ahrs
the gyroscope error coefficient matrix value K4 of the navigation attitude navigation equipment and the gyroscope measured value gyrahrs of the navigation attitude navigation equipment in the front, back, left, right, upper and lower directions can be substituted into the formula (2), the gyroscope true value gyrahrs of the navigation attitude navigation equipment in the front, back, left, right, upper and lower directions can be calculated,
GYR_ahrs＝K4*gyr_ahrs+B_gyr_ahrs。
and 204, ending the calibration when the difference between the true value of the navigation parameter of the navigation device in the preset direction and the measured value of the navigation parameter of the main navigation device in the preset direction is smaller than a second threshold value.
In the embodiment of the invention, when all of ACC_s-acc_p, GYR_s-gyr_p, ACC_ahrs-acc_p and GYR_ahrs-gyr_p are smaller than the second threshold value, the navigation precision calibration of the secondary navigation equipment and the navigation attitude navigation equipment is finished, and the calibration can be finished at the moment, namely the aircraft is controlled to stop at a constant speed in a preset direction.
In one embodiment of the present invention, the method further comprises:
and storing the navigation parameter error coefficient matrix value calibrated by the slave navigation equipment into a memory of the slave navigation equipment.
In the embodiment of the invention, after calibration is finished, the acceleration error coefficient matrix value K1 of the secondary navigation device and the gyroscope error coefficient matrix value K2 of the secondary navigation device can be stored in the memory of the secondary navigation device, and the acceleration error coefficient matrix value K3 of the navigation device and the gyroscope error coefficient matrix value K4 of the navigation device are stored in the memory of the navigation device, so that the secondary navigation device and the navigation device can be calibrated according to the stored error coefficient matrix values in the next operation, and convenience is provided for users, and the calibration efficiency of navigation precision is improved.
Referring to fig. 3, a system flow chart of a calibration method of a navigation device provided by the embodiment of the invention is shown, after an aircraft is powered on, when a master navigation device and a slave navigation device start to work and the aircraft is stationary, initial navigation parameter values of the master navigation device and the slave navigation device are detected, then whether a difference d1 between the initial navigation parameter values of the slave navigation device and the master navigation device is larger than a first threshold value1 is judged, and when the difference d1 between the initial navigation parameter values of the slave navigation device and the master navigation device is smaller than the first threshold value, calibration is not needed by the slave navigation device, and direct calibration is ended; when the difference d1 between the initial navigation parameter value of the slave navigation device and the master navigation device is larger than a first threshold value1, the slave navigation device is required to be calibrated, the aircraft can be controlled to perform uniform maneuver to calibrate the navigation parameter value of the slave navigation device, then the master navigation device and the navigation parameter measured value calibrated by the slave navigation device are collected, then the navigation parameter true value calibrated by the slave navigation device is calculated according to the navigation parameter measured value calibrated by the slave navigation device, then the difference d2 between the navigation parameter true value calibrated by the slave navigation device and the navigation parameter measured value calibrated by the master navigation device is calculated, when the difference d2 between the navigation parameter true value calibrated by the slave navigation device and the navigation parameter measured value calibrated by the master navigation device is smaller than a second threshold value2, the calibration is successful, when d2> the second threshold value2 is not successful, the calibration is not successful, and the calibration is required to be performed again, namely, the calibration is returned to the beginning step.
After the aircraft is electrified, when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is stationary, detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment, and when the difference between the initial navigation parameter values of the auxiliary navigation equipment and the main navigation equipment is larger than a first threshold value, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter values of the auxiliary navigation equipment; according to the invention, the value measured by the IMU device of the main navigation equipment is used as an effective true value to calibrate the IMU device in the auxiliary navigation equipment, so that the algorithm convergence time of the navigation equipment can be reduced, and the navigation precision and stability of the navigation equipment are improved.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 4, a block diagram of a calibration device of a navigation device according to an embodiment of the present invention is shown, and the calibration device is applied to an aircraft, where a master navigation device and at least one slave navigation device are disposed, and the device may specifically include the following modules:
the detection module 301 is configured to power on an aircraft, and detect initial navigation parameter values of the master navigation device and the slave navigation device when the master navigation device and the slave navigation device start to operate and the aircraft is stationary;
the control module 302 is configured to control the aircraft to perform uniform maneuver to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is greater than the first threshold.
According to the invention, the value measured by the IMU device of the main navigation equipment is used as an effective true value to calibrate the IMU device in the auxiliary navigation equipment, so that the algorithm convergence time of the navigation equipment can be reduced, and the navigation precision and stability of the navigation equipment are improved.
In one embodiment of the present invention, the control module 301 may include:
the control sub-module is used for controlling the aircraft to perform uniform maneuvering in a preset direction, and detecting navigation parameter measurement values of the main navigation equipment and the auxiliary navigation equipment in the preset direction; the preset direction comprises: front, back, left, right, up, down;
The determining submodule is used for determining the true value of the navigation parameter of the slave navigation equipment in the preset direction according to the navigation parameter measured value of the slave navigation equipment in the preset direction;
and the ending submodule is used for ending calibration when the difference between the true value of the navigation parameter of the navigation equipment in the preset direction and the measured value of the navigation parameter of the main navigation equipment in the preset direction is smaller than a second threshold value.
In an embodiment of the present invention, the determining submodule may include:
an error coefficient matrix value determining unit, configured to determine a navigation parameter error coefficient matrix value of the slave navigation device according to the navigation parameter measurement value of the slave navigation device in the preset direction;
and the navigation parameter true value determining unit is used for determining the navigation parameter true value of the slave navigation equipment in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation equipment.
In one embodiment of the present invention, the error coefficient matrix value determining unit includes:
the first calculating subunit is configured to calculate a navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m, where D is a navigation parameter measurement value of the master navigation device in a preset direction, K is a navigation parameter error coefficient matrix value, and M is a navigation parameter measurement value of the slave navigation device in the preset direction.
In an embodiment of the present invention, the navigation parameter real value includes an acceleration real value and a gyro real value, and the navigation parameter real value determining unit may include:
a second calculating subunit, configured to calculate, according to a preset formula acc=k_acc×acc+b_acc, a true acceleration value in a preset direction from the navigation device;
a third calculation subunit, configured to calculate a gyroscope true value in a preset direction from the navigation device according to a preset formula gyr=k_gyr+b_gyr;
wherein ACC represents the true value of the acceleration of the slave navigation device in the preset direction, GYR represents the true value of the gyroscope of the slave navigation device in the preset direction, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer; k_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and b_gyr represents the zero offset of the gyroscope.
In one embodiment of the present invention, the first computing subunit may include:
substituting the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into a preset formula D=K×M, and calculating the navigation parameter error coefficient matrix value of the slave navigation device by a least square method.
The invention discloses a calibration device of navigation equipment, which is characterized in that after the aircraft is electrified, a master navigation equipment and at least one slave navigation equipment are arranged in the aircraft, when the master navigation equipment and the slave navigation equipment start to work and the aircraft is static, initial navigation parameter values of the master navigation equipment and the slave navigation equipment are detected, and when the difference between the initial navigation parameter values of the slave navigation equipment and the master navigation equipment is larger than a first threshold value, the aircraft is controlled to perform uniform maneuvering so as to calibrate the navigation parameter values of the slave navigation equipment; according to the invention, the value measured by the IMU device of the main navigation equipment is used as an effective true value to calibrate the IMU device in the auxiliary navigation equipment, so that the algorithm convergence time of the navigation equipment can be reduced, and the navigation precision and stability of the navigation equipment are improved.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides an aircraft, which comprises:
the calibration method comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes all the processes of the calibration method embodiment of the navigation equipment when being executed by the processor, can achieve the same technical effects, and is not repeated here.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the calibration method embodiment of the navigation device, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The calibration method, device, equipment and storage medium of the navigation equipment provided by the invention are described in detail, and specific examples are applied to illustrate the principle and implementation of the invention, and the description of the above examples is only used for helping to understand the method and core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A method for calibrating a navigation device, characterized in that it is applied to an aircraft in which a master navigation device and at least one slave navigation device are provided, said method comprising:
powering up the aircraft, and detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is static;
and when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value, controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter value of the slave navigation device.
2. The method of claim 1, wherein the controlling the aircraft to maneuver at a constant speed to calibrate the navigation parameter values of the slave navigation device comprises:
controlling the aircraft to perform uniform maneuvering in a preset direction, and detecting navigation parameter measurement values of the main navigation equipment and the auxiliary navigation equipment in the preset direction; the preset direction comprises: front, back, left, right, up, down;
determining the true value of the navigation parameter of the slave navigation equipment in the preset direction according to the navigation parameter measured value of the slave navigation equipment in the preset direction;
And ending calibration when the difference between the true value of the navigation parameter of the slave navigation device in the preset direction and the measured value of the navigation parameter of the master navigation device in the preset direction is smaller than a second threshold value.
3. The method according to claim 2, wherein the determining the true value of the navigation parameter of the slave navigation device in the preset direction from the measurement value of the navigation parameter of the slave navigation device in the preset direction comprises:
determining a navigation parameter error coefficient matrix value of the slave navigation equipment according to the navigation parameter measured value of the slave navigation equipment in the preset direction;
and determining the true value of the navigation parameter of the slave navigation equipment in the preset direction according to the navigation parameter error coefficient matrix value of the slave navigation equipment.
4. A method according to claim 3, wherein said determining the navigation parameter error coefficient matrix values of the slave navigation device comprises:
calculating a navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m, wherein D is a navigation parameter measurement value of the master navigation device in the preset direction, K is a navigation parameter error coefficient matrix value, and M is a navigation parameter measurement value of the slave navigation device in the preset direction.
5. The method of claim 4, wherein the navigation parameter actual values comprise acceleration actual values and gyroscope actual values, and wherein the determining the navigation parameter actual values of the slave navigation device in the preset direction comprises:
calculating the acceleration true value of the slave navigation device in the preset direction according to a preset formula acc=k_acc+b_acc;
calculating a gyroscope true value of the slave navigation device in the preset direction according to a preset formula GYR=K_gyr+B_gyr;
wherein ACC represents the actual acceleration value of the slave navigation device in the preset direction, GYR represents the actual gyroscope value of the slave navigation device in the preset direction, k_acc represents the matrix value of the acceleration error coefficient, ACC represents the measured value of the acceleration, and b_acc represents the zero offset of the accelerometer; k_gyr represents the error coefficient matrix value of the gyroscope, gyr represents the measured value of the gyroscope, and b_gyr represents the zero offset of the gyroscope.
6. The method according to claim 4, wherein calculating the navigation parameter error coefficient matrix value of the slave navigation device according to a preset formula d=k×m, comprises:
substituting the navigation parameter measurement value M of the slave navigation device in the preset direction and the navigation parameter measurement value D of the master navigation device in the preset direction into the preset formula D=K×M, and calculating the navigation parameter error coefficient matrix value of the slave navigation device by a least square method.
7. The method according to claim 2, wherein the method further comprises:
and storing the navigation parameter error coefficient matrix value calibrated by the slave navigation equipment into a memory of the slave navigation equipment.
8. A calibration device for a navigation device, characterized in that it is applied to an aircraft in which a master navigation device and at least one slave navigation device are arranged, said device comprising:
the detection module is used for powering on the aircraft, and detecting initial navigation parameter values of the main navigation equipment and the auxiliary navigation equipment when the main navigation equipment and the auxiliary navigation equipment start to work and the aircraft is static;
and the control module is used for controlling the aircraft to perform uniform maneuvering so as to calibrate the navigation parameter value of the slave navigation device when the difference between the initial navigation parameter value of the slave navigation device and the initial navigation parameter value of the master navigation device is larger than a first threshold value.
9. An aircraft, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, carries out the steps of the method for online calibration of a navigation device according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method for online calibration of a navigation device according to any one of claims 1-7.
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| CN202211684772.2A CN116295512A (en) | 2022-12-27 | 2022-12-27 | Calibration method and device of navigation equipment, aircraft and storage medium |
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| CN202211684772.2A CN116295512A (en) | 2022-12-27 | 2022-12-27 | Calibration method and device of navigation equipment, aircraft and storage medium |
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