CN112129322A - Method for detecting and correcting installation error of strapdown inertial measurement unit and three-axis rotary table - Google Patents
Method for detecting and correcting installation error of strapdown inertial measurement unit and three-axis rotary table Download PDFInfo
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Abstract
The invention particularly relates to a method for detecting installation errors of a strapdown inertial measurement unit and a three-axis rotary table, which comprises the following steps: installing a strapdown inertial measurement unit on a three-axis rotary table; calculating a zero attitude matrix corresponding to an attitude angle output by the strapdown inertial measurement unit at the moment; then controlling a middle frame shaft, an inner frame shaft and an outer frame shaft of the three-axis turntable to rotate by a certain angle from a zero position by taking the zero position as an initial position, and respectively calculating attitude matrixes corresponding to attitude angles output by the strapdown inertial measurement unit; calculating according to the middle frame shaft attitude matrix, the inner frame shaft attitude matrix, the outer frame shaft attitude matrix and the zero position attitude matrix to obtain a projection attitude matrix; projecting a strapdown inertial measurement unit coordinate system onto a three-axis turntable coordinate system by using a projection attitude matrix, and calculating to obtain an installation error angle; correspondingly, a method for correcting installation errors of the optical fiber connector is also provided. The invention greatly simplifies the operation steps during the detection of the installation error, can greatly reduce the data amount needing to be calculated and processed, and improves the detection efficiency and the installation error correction efficiency.
Description
Technical Field
The invention relates to the technical field of adjustment and calibration of a strapdown inertial measurement unit and a rotating platform, in particular to a method for detecting and correcting installation errors of the strapdown inertial measurement unit and a three-axis rotary table.
Background
The three-axis turntable is a key device for simulating missiles or other aircrafts and ground semi-physical objects, can simulate the movement of rolling, pitching, yawing and other postures of the aircrafts in the space, and is widely applied to the fields of aviation, navigation and national defense construction. The method is commonly used as a performance test, an error calibration, a simulation experiment and a working platform of precision instruments such as an inertial instrument, an inertial navigation system and the like.
In the actual installation process, the x-axis, the y-axis and the z-axis of the coordinate system of the strapdown inertial measurement unit are difficult to be completely aligned with the inner frame shaft, the middle frame shaft and the outer frame shaft of the three-axis turntable, namely, installation errors inevitably occur between the strapdown inertial measurement unit and the three-axis turntable, and at the moment, if the three-axis turntable is used as detection equipment, additional errors can be generated by the strapdown inertial measurement unit. Therefore, the installation error of the strapdown inertial unit and the three-axis rotary table needs to be detected (calibrated) so as to compensate the installation error caused by the axis, and the installation error angle between the strapdown inertial unit and the three-axis rotary table directly reflects the installation error. In order to detect the installation error angle between the strapdown inertial unit and the three-axis turntable, a chinese patent with publication number CN101900572B discloses a rapid measurement method for the installation error of a strapdown inertial system gyroscope based on a three-axis turntable, wherein the strapdown inertial system gyroscope is installed on a base of the three-axis turntable, sensitive axes of a Y gyroscope, an X gyroscope and a Z gyroscope respectively point to an inner frame, a middle frame and an outer frame of the turntable, and the inner frame points to the east direction, the middle frame points to the north direction and the outer frame points to the sky direction; the turntable is used for adjusting the northeast direction, the angles of the inner frame, the middle frame and the outer frame are respectively adjusted, the Y gyroscope, the X gyroscope and the Z gyroscope are respectively enabled to meet the output requirements, and the first to sixth installation errors of the gyroscope are obtained.
The installation error detection method in the existing scheme separates the installation error from the gyro calibration, and the three-axis turntable is used for directly measuring the installation error, so that the influence caused by mutual coupling of various measurement parameters can be avoided. However, the applicant found in practical studies that the above prior art solutions have the following problems in application: when detecting installation error, need rotate inner frame axle, well frame axle and the outer frame axle of triaxial revolving stage many times to need rotate specific angle at every turn and just can make Y top, X top and Z top satisfy the output requirement, this makes whole testing process have the operation and calculate loaded down with trivial details, and consume the long problem of time, leads to installation error's detection efficiency very low. Therefore, the applicant designs an installation error detection method which is simple in operation and calculation and high in detection accuracy, so as to improve the detection efficiency of the installation error and take the detection accuracy of the installation error into consideration.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a method for detecting the installation error of a strapdown inertial measurement unit and a three-axis rotary table, which is simple in operation and calculation and high in detection accuracy, so that the detection efficiency of the installation error can be improved, and the detection accuracy of the installation error can be considered.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for detecting installation errors of a strapdown inertial measurement unit and a three-axis rotary table comprises the following steps:
s1: installing the strapdown inertial measurement unit on a three-axis turntable, and enabling an x axis, a y axis and a z axis of the strapdown inertial measurement unit to coincide with a middle frame shaft, an inner frame shaft and an outer frame shaft of the three-axis turntable respectively;
s2: controlling the three-axis turntable to be positioned to the zero position, and calculating a zero position attitude matrix corresponding to an attitude angle output by the strapdown inertial measurement unit at the moment
Then the middle frame shaft, the inner frame shaft and the outer frame shaft of the three-shaft turntable are controlled to rotate by an angle phi from the zero position respectively by taking the zero position as an initial positionInAngle phiInner partAnd an angle phiOuter coverAnd respectively calculating the rotation angle phi of the strapdown inertial measurement unitIn、φInner partAnd phiOuter coverMiddle frame shaft attitude matrix corresponding to rear output attitude angle
Inner frame axis attitude matrix
And outer frame axis attitude matrix
S3: according to the middle frame shaft attitude matrix
Inner frame axis attitude matrix
Outer frame shaft attitude matrix
And a zero attitude matrix
Calculating to obtain a projection attitude matrix
S4: using projection attitude matrices
Projecting a strapdown inertial measurement unit coordinate system onto a three-axis turntable coordinate system to obtain a three-axis turntable attitude angle through attitude angle projection output by the strapdown inertial measurement unit; and then, calculating according to the attitude angle of the strapdown inertial measurement unit and the attitude angle of the three-axis turntable to obtain an installation error angle between the strapdown inertial measurement unit and the three-axis turntable.
Preferably, in step S1, the coincidence of the x-axis, the y-axis, and the z-axis of the strapdown inertial measurement unit with the middle frame axis, the inner frame axis, and the outer frame axis of the three-axis turntable means: the included angle between the x axis of the strapdown inertial measurement unit and the middle frame axis of the three-axis rotary table is smaller than 1 degree, the included angle between the y axis of the strapdown inertial measurement unit and the inner frame axis of the three-axis rotary table is smaller than 1 degree, and the included angle between the z axis of the strapdown inertial measurement unit and the outer frame axis of the three-axis rotary table is smaller than 1 degree.
Preferably, in step S2, the angle phiInAngle phiInner partAnd an angle phiOuter coverAre all greater than 10.
Preferably, in step S3, the projection posture matrix is calculated
The method comprises the following steps:
s31: according to the middle frame shaft attitude matrix
And zero attitude matrix
Computing a first attitude matrix
Then the first attitude matrix is used
Converting to first attitude quaternion
Then the first attitude quaternion
Calculating the projection of the middle frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S32: according to inner frame shaft attitude matrix
And zero attitude matrix
Computing a second attitude matrix
Then the second attitude matrix
Conversion to second attitude quaternion
Then the second attitude quaternion
Calculating the projection of the inner frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S33: according to the outer frame shaft attitude matrix
And zero attitude matrix
Computing a third attitude matrix
Then the third attitude matrix
Conversion to third attitude quaternion
Then the quaternion of the third posture
Calculating the projection of the outer frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S34: projection according to the axis of the middle frame
Inner frame axis projection
And the projection of the outer frame axis
Calculating to obtain a projection attitude matrix
Preferably, in step S31, the first posture matrix
Is shown as
Quaternion of first attitude
Is shown as
Projection of middle frame axis
Is shown as
In the formula (I), the compound is shown in the specification,
represents a projection of the middle frame axis, a1、b1And c1Each representing a real number of the first attitude quaternion, i, j, and k each representing an imaginary unit.
Preferably, in step S32, the second attitude matrix
Is shown as
Quaternion of second attitude
Is shown as
Inner frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
representing the projection of the inner frame axis, a2、b2And c2Each representing a real number of the second attitude quaternion, i, j, and k each representing an imaginary unit.
Preferably, in step S33, the third attitude matrix
Is shown as
Quaternion of third attitude
Is shown as
Outer frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
represents the projection of the outer frame axis, a3、b3And c3Each represents a real number of the third attitude quaternion, and i, j, and k each represent an imaginary unit.
Preferably, in step S34, the attitude matrix is projected
Is shown as
Preferably, in step S4, before projecting the strapdown inertial measurement unit coordinate system onto the three-axis turntable coordinate system, the projection attitude matrix is first projected
Performing orthogonalization processing to obtain an orthogonal projection attitude matrix
Reusing orthogonal projection attitude matrix
And projecting the strapdown inertial measurement unit coordinate system onto the three-axis turntable coordinate system.
Preferably, in step S4, the difference between the strapdown inertial measurement unit attitude angle and the three-axis turntable attitude angle is an installation error angle between the strapdown inertial measurement unit and the three-axis turntable, and the installation error angle directly reflects the installation error.
The invention also discloses a method for correcting the installation error of the strapdown inertial measurement unit and the three-axis rotary table, which is characterized by detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table by adopting the method for detecting the installation error, and correcting the installation positions of the strapdown inertial measurement unit and the three-axis rotary table according to the installation error angle between the strapdown inertial measurement unit and the three-axis rotary table determined by detection.
Compared with the prior art, the invention has the following advantages:
1. in the invention, sufficient data can be calculated and obtained for calculating the installation error angle only by rotating the inner frame shaft, the middle frame shaft and the outer frame shaft of the three-shaft turntable once respectively (the installation error angle directly reflects the installation error), so that the operation steps are greatly simplified, the data amount in calculation processing can be greatly reduced, the operation and calculation are simpler, and the detection efficiency and the installation error correction efficiency can be improved.
2. The invention calculates the attitude angle of the strapdown inertial measurement unit and the corresponding attitude matrix thereof by taking the coordinate system of the three-axis turntable as the reference frame, so that each item of data of the strapdown inertial measurement unit corresponds to the three-axis turntable, which is favorable for ensuring the detection precision.
3. According to the invention, the attitude angle of the three-axis turntable does not need to be independently calculated, but is directly obtained through projection attitude matrix projection, so that the calculation amount and the consumed time length in the installation error detection can be greatly reduced, and the detection efficiency and the installation error correction efficiency can be improved.
4. The method can improve the correction efficiency and the correction precision of the strapdown inertial unit and the three-axis rotary table, and can improve the correction effect of the installation error.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic diagram of a method for detecting installation errors according to a first embodiment;
FIG. 2 is a schematic view illustrating installation of a strapdown inertial measurement unit and a three-axis rotary table according to a first embodiment;
FIG. 3 is a logic diagram of step S3 according to one embodiment.
Fig. 4 is a logic block diagram of the installation error correction method according to the second embodiment.
Detailed Description
The following is further detailed by the specific embodiments:
the first embodiment is as follows:
the embodiment of the invention discloses a method for detecting installation errors of a strapdown inertial measurement unit and a three-axis rotary table.
As shown in fig. 1 and 2: a method for detecting installation errors of a strapdown inertial measurement unit and a three-axis rotary table comprises the following steps:
s1: installing the strapdown inertial measurement unit on a three-axis turntable, and enabling an x axis, a y axis and a z axis of the strapdown inertial measurement unit to coincide with a middle frame shaft, an inner frame shaft and an outer frame shaft of the three-axis turntable respectively;
s2: controlling the three-axis turntable to be positioned to the zero position and calculating the posture output by the strapdown inertial measurement unit at the momentZero attitude matrix corresponding to attitude angle
Then the middle frame shaft, the inner frame shaft and the outer frame shaft of the three-shaft turntable are controlled to rotate by an angle phi from the zero position respectively by taking the zero position as an initial positionInAngle phiInner partAnd an angle phiOuter coverAnd respectively calculating the rotation angle phi of the strapdown inertial measurement unitIn、φInner partAnd phiOuter coverMiddle frame shaft attitude matrix corresponding to rear output attitude angle
Inner frame axis attitude matrix
And outer frame axis attitude matrix
S3: according to the middle frame shaft attitude matrix
Inner frame axis attitude matrix
Outer frame shaft attitude matrix
And a zero attitude matrix
Calculating to obtain a projection attitude matrix
S4: using projection attitude matrices
Projecting the coordinate system of the strapdown inertial measurement unit onto the coordinate system of the three-axis turntable to project through the attitude angle output by the strapdown inertial measurement unitObtaining a posture angle of the three-axis turntable; and then, calculating according to the attitude angle of the strapdown inertial unit and the attitude angle of the three-axis rotary table to obtain an installation error angle between the strapdown inertial unit and the three-axis rotary table, wherein the installation error angle directly reflects the installation error.
In the invention, sufficient data can be calculated and obtained for calculating the installation error angle only by rotating the inner frame shaft, the middle frame shaft and the outer frame shaft of the three-shaft turntable once respectively (the installation error angle directly reflects the installation error), so that the operation steps are greatly simplified, the data amount in calculation processing can be greatly reduced, the operation and calculation are simpler, and the detection efficiency and the installation error correction efficiency can be improved. Secondly, the attitude angle of the strapdown inertial measurement unit and the corresponding attitude matrix are calculated by taking the coordinate system of the three-axis turntable as a reference frame, so that all data of the strapdown inertial measurement unit correspond to the three-axis turntable, and the detection precision is favorably ensured. In addition, the projection attitude matrix is calculated based on a plurality of attitude angles of the strapdown inertial measurement unit and the corresponding attitude matrix thereof, and then the coordinate system of the strapdown inertial measurement unit is projected onto the coordinate system of the three-axis rotary table through the projection attitude matrix, so that the attitude angles of the three-axis rotary table are obtained, namely, the attitude angles of the three-axis rotary table are not required to be calculated independently in the invention, but are obtained directly through projection attitude matrix projection, so that the calculation amount and the consumed time during installation error detection can be greatly reduced, and the detection efficiency and the installation error correction efficiency can be improved.
In a specific implementation process, in step S1, the coincidence of the x-axis, the y-axis, and the z-axis of the strapdown inertial measurement unit and the middle frame axis, the inner frame axis, and the outer frame axis of the three-axis turntable means: the included angle between the x axis of the strapdown inertial measurement unit and the middle frame axis of the three-axis rotary table is smaller than 1 degree, the included angle between the y axis of the strapdown inertial measurement unit and the inner frame axis of the three-axis rotary table is smaller than 1 degree, and the included angle between the z axis of the strapdown inertial measurement unit and the outer frame axis of the three-axis rotary table is smaller than 1 degree.
In the invention, the included angles between the X axis, the Y axis and the Z axis of the strapdown inertial measurement unit and the middle frame axis, the inner frame axis and the outer frame axis of the three-axis turntable are less than 1 degree, which is beneficial to ensuring the detection precision of the installation error detection. When the three-axis turntable is implemented, the included angle far less than 1 degree can be ensured by controlling the flatness of the mounting table surface of the three-axis turntable and the machining precision of the mounting surface of the strapdown inertial measurement unit
In the specific implementation, in step S2, the angle phiInAngle phiInner partAnd an angle phiOuter coverAre all greater than 10.
In the actual detection process, when the rotation angle of a middle frame shaft, an inner frame shaft or an outer frame shaft of the three-shaft turntable is larger than 10 degrees, the attitude angle of the strapdown inertial measurement unit is obviously changed, so that the detection precision of the installation error detection is ensured.
In a specific implementation process, as shown in fig. 3, in step S3, the projection attitude matrix is obtained through calculation
The method comprises the following steps:
s31: according to the middle frame shaft attitude matrix
And zero attitude matrix
Computing a first attitude matrix
Then the first attitude matrix is used
Converting to first attitude quaternion
Then the first attitude quaternion
Calculating the projection of the middle frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S32: according to inner frame shaft attitude matrix
And zero attitude matrix
Computing a second attitude matrix
Then the second attitude matrix
Conversion to second attitude quaternion
Then the second attitude quaternion
Calculating the projection of the inner frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S33: according to the outer frame shaft attitude matrix
And zero attitude matrix
Computing a third attitude matrix
Then the third attitude matrix
Conversion to third attitude quaternion
Then the quaternion of the third posture
Calculating the coordinate system of the outer frame shaft of the three-axis turntable on the strapdown inertial measurement unitOuter frame axis projection
S34: projection according to the axis of the middle frame
Inner frame axis projection
And the projection of the outer frame axis
Calculating to obtain a projection attitude matrix
In the actual detection process, the middle frame axis attitude matrix, the inner frame axis attitude matrix and the outer frame axis attitude matrix are respectively converted into corresponding attitude quaternions, which is beneficial to simplifying the calculation complexity; and the attitude quaternion contains all equivalent rotation information, so that the detection precision is favorably ensured. And moreover, due to the nature of the quaternion, the calculation results of the middle frame axis projection, the inner frame axis projection and the outer frame axis projection are more accurate, and the method is more favorable for reflecting the installation error.
In the specific implementation process, in step S31, the first attitude matrix
Is shown as
Quaternion of first attitude
Is shown as
Projection of middle frame axis
Is shown as
In the formula (I), the compound is shown in the specification,
represents a projection of the middle frame axis, a1、b1And c1Each representing a real number of the first attitude quaternion, i, j, and k each representing an imaginary unit.
In the specific implementation process, in step S32, the second attitude matrix
Is shown as
Quaternion of second attitude
Is shown as
Inner frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
representing the projection of the inner frame axis, a2、b2And c2Each representing a real number of the second attitude quaternion, i, j, and k each representing an imaginary unit.
In the specific implementation process, in step S33, the third attitude matrix
Is shown as
Quaternion of third attitude
Is shown as
Outer frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
represents the projection of the outer frame axis, a3、b3And c3Each represents a real number of the third attitude quaternion, and i, j, and k each represent an imaginary unit.
In the specific implementation process, in step S34, the attitude matrix is projected
Is shown as
In the specific implementation process, in step S4, before the strapdown inertial measurement unit coordinate system is projected onto the three-axis turntable coordinate system, the projection attitude matrix is first projected
Performing orthogonalization processing to obtain an orthogonal projection attitude matrix
Reusing orthogonal projection attitude matrix
And projecting the strapdown inertial measurement unit coordinate system onto the three-axis turntable coordinate system.
In the actual detection process, the projection attitude matrix obtained by calculation may not be an orthogonal matrix, which is not beneficial to the projection of the strapdown inertial measurement unit coordinate system. Therefore, the projection attitude matrix is orthogonalized to obtain the orthogonal projection attitude matrix, and then the orthogonal projection attitude matrix is used for projection, so that the projection effect of the strapdown inertial measurement unit coordinate system is favorably ensured, and the detection precision of the installation error detection can be improved.
In a specific implementation process, in step S4, an angle difference between an attitude angle of the strapdown inertial measurement unit and an attitude angle of the three-axis turntable is an installation error angle between the strapdown inertial measurement unit and the three-axis turntable, and the installation error angle directly reflects an installation error.
In the actual detection process, the angle difference between the attitude angle of the strapdown inertial measurement unit coordinate system and the attitude angle of the three-axis turntable coordinate system is an installation error angle, and the installation error angle directly reflects the installation error.
Example two:
the embodiment discloses a method for correcting installation errors of a strapdown inertial measurement unit and a three-axis rotary table on the basis of the first embodiment.
As shown in fig. 4: a method for correcting installation errors of a strapdown inertial measurement unit and a three-axis rotary table comprises the following steps:
si: installing the strapdown inertial measurement unit on a three-axis turntable, and enabling an x axis, a y axis and a z axis of the strapdown inertial measurement unit to coincide with a middle frame shaft, an inner frame shaft and an outer frame shaft of the three-axis turntable respectively;
sii: controlling the three-axis turntable to be positioned to the zero position, and calculating a zero position attitude matrix corresponding to an attitude angle output by the strapdown inertial measurement unit at the moment
Then the middle frame shaft, the inner frame shaft and the outer frame shaft of the three-shaft turntable are controlled to rotate by an angle phi from the zero position respectively by taking the zero position as an initial positionInAngle phiInner partAnd an angle phiOuter coverAnd respectively calculating the rotation angle phi of the strapdown inertial measurement unitIn、φInner partAnd phiOuter coverMiddle frame shaft attitude matrix corresponding to rear output attitude angle
Inner frame axis attitude matrix
And outer frame axis attitude matrix
Siii: according to the middle frame shaft attitude matrix
Inner frame axis attitude matrix
Outer frame shaft attitude matrix
And a zero attitude matrix
Calculating to obtain a projection attitude matrix
Siv: using projection attitude matrices
Projecting a strapdown inertial measurement unit coordinate system onto a three-axis turntable coordinate system to obtain a three-axis turntable attitude angle through attitude angle projection output by the strapdown inertial measurement unit; then, calculating according to the attitude angle of the strapdown inertial unit and the attitude angle of the three-axis turntable to obtain an installation error angle between the strapdown inertial unit and the three-axis turntable;
sv: and correcting the installation positions of the strapdown inertial measurement unit and the three-axis rotary table according to the installation error angle between the strapdown inertial measurement unit and the three-axis rotary table determined by detection.
In the invention, sufficient data can be calculated and obtained for calculating the installation error angle only by rotating the inner frame shaft, the middle frame shaft and the outer frame shaft of the three-axis turntable once respectively (the installation error angle directly reflects the installation error), and the attitude angle of the three-axis turntable does not need to be calculated independently, but is obtained by projection attitude matrix projection directly, so that the calculation amount and the consumed time length in the installation error detection can be greatly reduced, and the detection efficiency can be improved; secondly, the attitude angle of the strapdown inertial measurement unit and the corresponding attitude matrix are calculated by taking the coordinate system of the three-axis turntable as a reference frame, so that all data of the strapdown inertial measurement unit correspond to the three-axis turntable, and the detection precision is favorably ensured. Correspondingly, the correction efficiency and the correction precision of the installation error correction method can be correspondingly improved, namely the correction efficiency and the correction precision of the strapdown inertial unit and the three-axis rotary table can be improved, and the correction effect of the installation error can be improved.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A method for detecting installation errors of a strapdown inertial measurement unit and a three-axis rotary table is characterized by comprising the following steps:
s1: installing the strapdown inertial measurement unit on a three-axis turntable, and enabling an x axis, a y axis and a z axis of the strapdown inertial measurement unit to coincide with a middle frame shaft, an inner frame shaft and an outer frame shaft of the three-axis turntable respectively;
s2: controlling the three-axis turntable to be positioned to the zero position, and calculating a zero position attitude matrix corresponding to an attitude angle output by the strapdown inertial measurement unit at the moment
Then the middle frame shaft, the inner frame shaft and the outer frame shaft of the three-shaft turntable are controlled to rotate by an angle phi from the zero position respectively by taking the zero position as an initial positionInAngle phiInner partAnd an angle phiOuter coverAnd respectively calculating the rotation angle phi of the strapdown inertial measurement unitIn、φInner partAnd phiOuter coverMiddle frame shaft attitude matrix corresponding to rear output attitude angle
Inner frame axis attitude matrix
And outer frame axis attitude matrix
S3: according to the middle frame shaft attitude matrix
Inner frame axis attitude matrix
Outer frame shaft attitude matrix
And a zero attitude matrix
Calculating to obtain a projection attitude matrix
S4: using projection attitude matrices
Projecting a strapdown inertial measurement unit coordinate system onto a three-axis turntable coordinate system to obtain a three-axis turntable attitude angle through attitude angle projection output by the strapdown inertial measurement unit; and then, calculating according to the attitude angle of the strapdown inertial measurement unit and the attitude angle of the three-axis turntable to obtain an installation error angle between the strapdown inertial measurement unit and the three-axis turntable.
2. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 1, wherein: in step S1, the coincidence of the x-axis, y-axis, and z-axis of the strapdown inertial measurement unit and the middle frame axis, inner frame axis, and outer frame axis of the three-axis turntable means: the included angle between the x axis of the strapdown inertial measurement unit and the middle frame axis of the three-axis rotary table is smaller than 1 degree, the included angle between the y axis of the strapdown inertial measurement unit and the inner frame axis of the three-axis rotary table is smaller than 1 degree, and the included angle between the z axis of the strapdown inertial measurement unit and the outer frame axis of the three-axis rotary table is smaller than 1 degree.
3. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 1, wherein: in step S2, the angle phiInAngle phiInner partAnd an angle phiOuter coverAre all greater than 10.
4. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 1, wherein: in step S3, a projection attitude matrix is calculated
The method comprises the following steps:
s31: according to the middle frame shaft attitude matrix
And zero attitude matrix
Computing a first attitude matrix
Then the first attitude matrix is used
Converting to first attitude quaternion
Then the first attitude quaternion
Calculating the projection of the middle frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S32: according to inner frame shaft attitude matrix
And zero attitude matrix
Computing a second attitude matrix
Then the second attitude matrix
Conversion to second attitude quaternion
Then the second attitude quaternion
Calculating the projection of the inner frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S33: according to the outer frame shaft attitude matrix
And zero attitude matrix
Computing a third attitude matrix
Then the third attitude matrix
Conversion to third attitude quaternion
Then the quaternion of the third posture
Calculating the projection of the outer frame axis of the three-axis turntable on the strapdown inertial measurement unit coordinate system
S34: projection according to the axis of the middle frame
Inner frame axis projection
And the projection of the outer frame axis
Calculating to obtain the projection postureState matrix
5. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 4, wherein: in step S31, a first attitude matrix
Is shown as
Quaternion of first attitude
Is shown as
Projection of middle frame axis
Is shown as
In the formula (I), the compound is shown in the specification,
represents a projection of the middle frame axis, a1、b1And c1Each representing a real number of the first attitude quaternion, i, j, and k each representing an imaginary unit.
6. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 5, wherein: in step S32, a second attitude matrix
Is shown as
Quaternion of second attitude
Is shown as
Inner frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
representing the projection of the inner frame axis, a2、b2And c2Each representing a real number of the second attitude quaternion, i, j, and k each representing an imaginary unit.
7. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 6, wherein: in step S33, the third attitude matrix
Is shown as
Quaternion of third attitude
Is shown as
Outer frame axis projection
Is shown as
In the formula (I), the compound is shown in the specification,
represents the projection of the outer frame axis, a3、b3And c3Each represents a real number of the third attitude quaternion, and i, j, and k each represent an imaginary unit.
8. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 7, wherein: in step S34, a pose matrix is projected
Is shown as
9. The method for detecting the installation error of the strapdown inertial measurement unit and the three-axis rotary table as claimed in claim 1, wherein: in step S4, before projecting the strapdown inertial measurement unit coordinate system onto the three-axis turntable coordinate system, the projection attitude matrix is first projected
Performing orthogonalization processing to obtain an orthogonal projection attitude matrix
Reusing orthogonal projection attitude matrix
And projecting the strapdown inertial measurement unit coordinate system onto the three-axis turntable coordinate system.
10. A method for correcting installation errors of a strapdown inertial unit and a three-axis rotary table is characterized in that the method for detecting the installation errors of the strapdown inertial unit and the three-axis rotary table is adopted to detect the installation errors of the strapdown inertial unit and the three-axis rotary table, and then the installation positions of the strapdown inertial unit and the three-axis rotary table are corrected according to the installation error angle between the strapdown inertial unit and the three-axis rotary table which is detected and determined.
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