WO2021036085A1 - Inertial navigation system initial alignment method, apparatus, and electronic device - Google Patents

Abstract

Provided are an inertial navigation system initial alignment method, apparatus, and electronic device. The method comprises: selecting a three-axis accelerometer corresponding to the highest-accuracy acceleration measurement result among a plurality of three-axis accelerometers; selecting the three-axis magnetometer corresponding to the highest-accuracy magnetic field strength measurement result among a plurality of three-axis magnetometers; according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, obtaining attitude information corresponding to a target moment (S2300).

Description

Initial alignment method, device and electronic equipment of inertial navigation system Technical field

The present invention relates to the technical field of inertial navigation, and more specifically, to an initial alignment method of an inertial navigation system, an initial alignment device of an inertial navigation system, an electronic device and an inertial navigation system.

Background technique

Inertial navigation is an autonomous navigation method that completely relies on the equipment on the carrier to independently determine the navigation parameters of the carrier, such as the heading, position, attitude, and speed, without using any external information such as light, electricity, and magnetism. Its basic working principle is based on Newton's laws of mechanics. By measuring the acceleration and angular acceleration of the carrier in the inertial reference frame, it is integrated with time once to obtain the velocity and angular velocity of the moving carrier, and then the movement is obtained by quadratic integration. The position information of the carrier is then transformed into the navigation coordinate system to obtain the speed, yaw angle and position information in the navigation coordinate system.

After the inertial navigation system is powered on and started, the three-axis direction of the system is arbitrary, and there is usually no definite orientation. Therefore, before the system enters the navigation working state, the pointing of the system must be aligned so that the navigation system has the correct initial conditions when it is working. The initial alignment is usually performed under static conditions.

Initial alignment can generally be divided into self-alignment, transfer alignment, combined alignment and other types. However, when the above-mentioned alignment method is applied to a personal navigation device, there are problems such as higher cost, slower alignment time, and higher complexity.

Therefore, it is necessary to propose a new initial alignment scheme for the inertial navigation system.

Summary of the invention

An object of the embodiments of the present invention is to provide a new technical solution for the initial alignment of the inertial navigation system.

According to a first aspect of the present invention, there is provided an initial alignment method for an inertial navigation system, the inertial navigation system including a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, and the method includes:

Acquire the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the accuracy of the highest acceleration measurement result from the plurality of three-axis accelerometers Three-axis accelerometer;

Obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the three-axis magnetometer corresponding to The three-axis magnetometer with the highest accuracy of magnetic field strength measurement results;

According to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, the posture information corresponding to the target moment is acquired.

Optionally, the evaluating the accuracy of the acceleration measurement result according to the local gravitational acceleration includes:

Acquiring the magnitude of the gravitational acceleration corresponding to the acceleration measurement result;

The accuracy is obtained according to the error of the magnitude of the gravitational acceleration corresponding to the acceleration measurement result relative to the magnitude of the local gravitational acceleration.

Optionally, the evaluating the accuracy of the magnetic field strength measurement result according to the local magnetic field strength includes:

Acquiring the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result;

The accuracy is obtained according to the error of the magnitude of the magnetic field strength corresponding to the magnitude of the magnetic field strength measurement result relative to the magnitude of the local magnetic field strength.

Optionally, the obtaining the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer includes:

Filtering and error compensation on the collection result corresponding to the target time collected by the three-axis accelerometer to obtain the acceleration measurement result;

The obtaining the magnetic field strength measurement result corresponding to the target time measured by the three-axis magnetometer includes:

Filtering and error compensation are performed on the collection result corresponding to the target time collected by the three-axis magnetometer to obtain the magnetic field strength measurement result.

Optionally, according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, the posture corresponding to the target time is acquired Information, including

Obtaining the roll angle and the pitch angle corresponding to the target moment according to the acceleration measurement result corresponding to the selected three-axis accelerometer;

Acquire the heading angle corresponding to the target moment according to the measurement result of the magnetic field intensity corresponding to the selected three-axis magnetometer.

Optionally, the method further includes:

Taking each of the plurality of set moments as the target moment, and acquiring the posture information corresponding to each moment;

Calculate the average value of the multiple posture information corresponding to the multiple moments to obtain the final posture information.

According to the second aspect of the present invention, there is also provided an initial alignment device for an inertial navigation system. The inertial navigation system includes a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, and the device includes:

The accelerometer selection module is used to obtain the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the corresponding one of the multiple three-axis accelerometers A three-axis accelerometer with the highest accuracy of acceleration measurement results;

The magnetometer selection module is used to obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the plurality of Among the three-axis magnetometers, the three-axis magnetometer corresponding to the highest accuracy of the magnetic field strength measurement result;

The posture information acquisition module is configured to acquire the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer to obtain the information corresponding to the target time Posture information.

According to the third aspect of the present invention, there is also provided an electronic device, which includes the apparatus described in the second aspect of the present invention; or, the electronic device includes:

Memory, used to store executable commands;

The processor is configured to execute the method described in the first aspect of the present invention under the control of the executable command.

According to the fourth aspect of the present invention, there is also provided an inertial navigation system, including a plurality of three-axis accelerometers, a plurality of three-axis magnetometers, and the electronic device described in the second aspect of the present invention. The three-axis accelerometers The acceleration measurement result is sent to the electronic device, and the three-axis magnetometer sends the magnetic field strength measurement result to the electronic device.

In an embodiment of the present invention, the initial alignment method can improve the alignment accuracy, so that the alignment time and accuracy both meet the "ready to use" requirements of the personal navigation and positioning system, and the algorithm is simple and easy to implement.

Through the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, other features and advantages of the present invention will become clear.

Description of the drawings

The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the present invention, and together with the description are used to explain the principle of the present invention.

Figure 1 shows a schematic diagram of an electronic device that can be used to implement an embodiment of the present invention.

Fig. 2 is a flowchart of an initial alignment method provided by an embodiment of the present invention.

Fig. 3 is a flowchart of a specific example provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of an initial alignment device provided by an embodiment of the present invention.

Fig. 5 is a schematic diagram of an electronic device provided by an embodiment of the present invention.

detailed description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention.

The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present invention and its application or use.

The techniques, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods, and equipment should be regarded as part of the specification.

In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

<Hardware Configuration>

Figure 1 shows a schematic diagram of an electronic device that can be used to implement an embodiment of the present invention. As shown in FIG. 1, the electronic device 100 includes a processor 101, a memory 102, a communication device 103, a display device 104, a speaker 105 and a sensor 106.

The processor 101 is, for example, a central processing unit CPU, a microprocessor MCU, and the like. The memory 102 includes, for example, ROM (Read Only Memory), RAM (Random Access Memory), nonvolatile memory such as a hard disk, and the like. The communication device 103 can perform wired communication or wireless communication, for example. The display device 104 can be used to display text, graphics and other information, for example, a liquid crystal display screen. The speaker 105 can be used to emit a notification sound, for example. The sensor 106 is used to obtain signal physical quantities, and includes, for example, an accelerometer, a magnetometer, and the like.

In this embodiment, the sensor 106 includes at least multiple accelerometers and multiple magnetometers, which can be used to measure acceleration and magnetic field strength.

In the embodiments applied to this specification, the memory 102 of the electronic device 1200 is used to store instructions, which are used to control the processor 101 to operate to support the implementation of the initial alignment method according to any embodiment of the specification. Technicians can design instructions according to the scheme disclosed in this specification. How the instruction controls the processor to operate is well known in the art, so it will not be described in detail here.

Those skilled in the art should understand that although multiple devices of the electronic device 100 are shown in FIG. 1, the electronic device 100 in the embodiment of this specification may only involve some of the devices, for example, only the processor 101 and the memory are involved. 102. Sensor 106 and so on.

The electronic device 100 shown in FIG. 1 is only explanatory, and is by no means intended to limit the present invention, its application or use.

<Method Example>

This embodiment provides an initial alignment method of an inertial navigation system. The implementation subject of the method is, for example, the electronic device 100 in FIG. 1. As shown in Figure 2, the method includes the following steps S2100-S2300:

Step S2100: Obtain the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the three-axis corresponding to the highest accuracy of the acceleration measurement result among the multiple three-axis accelerometers Accelerometer.

In this embodiment, the initial alignment is performed under a stationary condition, that is, the carrier of the inertial navigation (for example, the electronic device 100) is in a stationary state during the initial alignment.

In this embodiment, the initial alignment process corresponds to a specific time period. For a certain time within the time period, if it is desired to obtain the posture information of the inertial navigation system at that time, the time is the target time.

In this embodiment, the inertial navigation system includes multiple (at least two) three-axis accelerometers and multiple (at least two) three-axis magnetometers. Among them, the number of three-axis accelerometers and the number of three-axis magnetometers may be the same or different.

In this embodiment, the acceleration corresponding to the target time is measured by each of the multiple three-axis accelerometers, and multiple acceleration measurement results corresponding to the target time are obtained.

In an embodiment of the present invention, the process of obtaining the acceleration measurement result corresponding to the target time measured by the three-axis accelerometer includes: first, filtering processing is performed on the collection result corresponding to the target time collected by the three-axis accelerometer. You can choose low-pass filter, high-pass filter, band-pass filter, band-stop filter, state-tunable filter, etc. for filtering. Noise interference can be removed by filtering. Secondly, perform error compensation on the filtered data to obtain the acceleration measurement result. For example, the temperature error of the accelerometer is estimated and compensated by methods such as total least squares method and artificial fish school algorithm, so as to obtain more accurate measurement results.

In this embodiment, the accuracy of each acceleration measurement result is evaluated based on the known local gravitational acceleration. The local gravitational acceleration can be obtained based on the local geographic location by querying the geographic location-gravitational acceleration mapping table, or can be obtained by a special sensor, or can be measured by experimental methods, such as measuring the local gravitational acceleration through a simple pendulum experiment.

In an embodiment of the present invention, the process of evaluating the accuracy of the acceleration measurement result according to the local gravitational acceleration includes: first, obtaining the magnitude of the gravitational acceleration corresponding to the acceleration measurement result. It is easy to understand that since the initial alignment is performed under static conditions, the sum of the three-axis vectors measured by the three-axis accelerometer is the local gravity acceleration vector. The magnitude of the vector sum is the magnitude of the gravitational acceleration corresponding to the acceleration measurement result. Secondly, based on the known local gravitational acceleration, the error of the magnitude of the gravitational acceleration corresponding to the acceleration measurement result relative to the magnitude of the local gravitational acceleration is calculated. The error is, for example, the absolute value of the difference between the two, or the square of the difference between the two. It is easy to understand that the smaller the error value, the more accurate the corresponding acceleration measurement result.

In another embodiment of the present invention, the accuracy of the acceleration measurement result can also be evaluated based on the vector direction of the gravitational acceleration. For example, first obtain the direction of gravitational acceleration corresponding to the acceleration measurement result. It is easy to understand that since the initial alignment is performed under static conditions, the sum of the three-axis vectors measured by the three-axis accelerometer is the local gravity acceleration vector. The direction of the vector sum is the direction of the gravitational acceleration corresponding to the acceleration measurement result. Secondly, based on the known local gravitational acceleration, the angle between the direction of gravitational acceleration corresponding to the acceleration measurement and the direction of local gravitational acceleration is calculated. It is easy to understand that the smaller the included angle, the closer the two directions are, and the higher the accuracy of the corresponding acceleration measurement results.

In this embodiment, the accuracy of the measurement results corresponding to each of the multiple three-axis accelerometers is compared, and the three-axis accelerometer corresponding to the highest accuracy is selected.

Step S2200: Obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the highest magnetic field strength measurement result from the multiple three-axis magnetometers Accurate three-axis magnetometer.

In this embodiment, the magnetic field intensity corresponding to the target time is measured by each of the multiple three-axis magnetometers, and multiple magnetic field intensity measurement results corresponding to the target time are obtained.

In an embodiment of the present invention, the process of obtaining the magnetic field intensity measurement result corresponding to the target time measured by the three-axis magnetometer includes: first filtering the acquisition result corresponding to the target time collected by the three-axis magnetometer. You can choose low-pass filter, high-pass filter, band-pass filter, band-stop filter, state-tunable filter, etc. for filtering. Noise interference can be removed by filtering. Secondly, perform error compensation on the filtered data to obtain the magnetic field strength measurement result. For example, through BP neural network, least square fitting, best ellipse fitting compensation and other methods to estimate and compensate the error of the magnetometer, so as to obtain more accurate measurement results.

In this embodiment, the accuracy of the magnetic field strength measurement result corresponding to each magnetometer is evaluated according to the known local magnetic field strength. The local magnetic field strength refers to the local geomagnetic field strength. The local magnetic field strength can be obtained based on the local geographic location by querying the geographic location-magnetic field strength mapping table, or it can be obtained by a special sensor, such as measuring the declination angle by a magnetic declination meter, and measuring the geomagnetic level by a quartz wire horizontal intensity magnetometer Intensity, the total intensity of geomagnetism is measured by the proton precession magnetometer.

In an embodiment of the present invention, the process of evaluating the accuracy of the magnetic field strength measurement result according to the local magnetic field strength includes: firstly, obtaining the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result. In the case where the magnetometer is a scalar magnetometer, the measurement result is the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result. In the case where the magnetometer is a vector magnetometer, the measurement result is a magnetic field strength vector, and the magnitude of the vector is the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result. Secondly, based on the known local magnetic field strength, the error of the magnetic field strength corresponding to the magnetic field strength measurement result relative to the local magnetic field strength is calculated. The error is, for example, the absolute value of the difference between the two, or the square of the difference between the two. It is easy to understand that the smaller the error value, the more accurate the corresponding magnetic field strength measurement result.

In another embodiment of the present invention, the accuracy of the magnetic field strength measurement result can also be evaluated based on the vector direction of the magnetic field strength. For example, first obtain the direction of the magnetic field strength corresponding to the magnetic field strength measurement result. It is easy to understand that a vector magnetometer is required in this case, and the measurement result is the magnetic field strength vector, and the direction of the vector is the direction of the magnetic field strength corresponding to the magnetic field strength measurement result. Secondly, based on the known local magnetic field strength, calculate the angle between the magnetic field strength direction corresponding to the magnetic field strength measurement result and the local magnetic field strength direction. It is easy to understand that the smaller the included angle, the closer the two directions are, and the higher the accuracy of the corresponding magnetic field strength measurement results.

In this embodiment, the accuracy of the measurement results corresponding to each of the multiple three-axis magnetometers is compared, and the three-axis magnetometer corresponding to the highest accuracy is selected.

In step S2300, according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, the posture information corresponding to the target moment is obtained.

In this embodiment, when calculating the posture information corresponding to the target moment, the accelerometer with the most accurate acceleration measurement at the target moment and the magnetometer with the most accurate measurement of the magnetic field strength at the target moment are selected, based on the measurement results of both Determine the posture information at the target moment.

In this embodiment, after the posture information is obtained, subsequent inertial navigation can be performed directly based on the posture information, that is, the initial alignment is completed, and the posture of the carrier can be further adjusted according to the posture information.

In this embodiment, the attitude information includes roll angle, pitch angle and heading angle.

In an embodiment of the present invention, according to the acceleration measurement result corresponding to the selected three-axis accelerometer, the roll angle and the pitch angle corresponding to the target moment are obtained, and according to the magnetic field intensity measurement result corresponding to the selected three-axis magnetometer, Get the heading angle corresponding to the target moment. It is easy to understand that the roll angle and pitch angle of the carrier can be obtained according to the acceleration measurement result in the specific axial component of the carrier coordinate system of the carrier, and the vector sum of the three-axis acceleration in the acceleration measurement result. According to the direction of the magnetic field strength and the local magnetic declination, the heading angle of the carrier can be obtained.

In an embodiment of the present invention, the initial alignment method can improve the alignment accuracy, so that the alignment time and accuracy both meet the "ready to use" requirements of the personal navigation and positioning system, and the algorithm is simple and easy to implement.

In an embodiment of the present invention, multiple moments in the alignment process are selected, the posture information of each moment is obtained separately, and the final posture information is obtained accordingly. The specific implementation process includes, for example: First, take each of the multiple set moments as the target moment, and obtain the posture information corresponding to each moment. The multiple set moments are moments within the alignment time period, for example, multiple moments are selected from the alignment time period according to a specific time interval, or multiple moments are selected from the alignment time period according to the sampling frequency, for example. Secondly, each of the multiple moments is taken as the target moment, and the posture information corresponding to the moment is acquired according to steps S2100-S2300. Finally, calculate the average value of multiple posture information corresponding to multiple times, and use the average value as the final posture information.

FIG. 3 shows an example of implementation of the initial alignment method provided by the embodiment. In the example shown in FIG. 3, first, the measurement results of multiple accelerometers corresponding to the target time are acquired, that is, step S101 is executed. For the measurement result of each accelerometer, the error between the magnitude of the gravitational acceleration corresponding to the measurement result and the magnitude of the local gravitational acceleration is calculated to measure the accuracy of the measurement result, that is, step S102 is executed. After that, the accelerometer with the smallest error is selected from a plurality of accelerations, and it is recorded as the accelerometer Am, that is, step S103 is executed. According to the measurement result of the accelerometer Am, the roll angle and the pitch angle of the carrier at the target time are obtained, that is, step S104 is executed. In the process of executing steps S101-S104, steps S105-S108 may be executed in parallel. Obtain the measurement results of multiple magnetometers corresponding to the target time, that is, perform step S105. For the measurement result of each magnetometer, the error between the magnetic induction intensity corresponding to the measurement result and the local magnetic induction intensity is calculated to measure the accuracy of the measurement result, that is, step S106 is executed. After that, the magnetometer with the smallest error is selected from the plurality of magnetometers and marked as the magnetometer Bm, that is, step S107 is executed. According to the measurement result of the magnetometer Bm, the heading angle of the carrier at the target time is obtained, that is, step S108 is executed. Finally, according to the above-mentioned roll angle, pitch angle and heading angle, the attitude angle of the carrier corresponding to the target moment is obtained, and the initial alignment is completed.

<Device Example>

This embodiment provides an initial alignment device. The device is, for example, the initial alignment device 400 shown in FIG. 4, and includes:

The accelerometer selection module 410 is used to obtain the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the highest acceleration measurement result from the multiple three-axis accelerometers Accurate three-axis accelerometer;

The magnetometer selection module 420 is used to obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the corresponding one of the multiple three-axis magnetometers The three-axis magnetometer with the highest accuracy of magnetic field strength measurement results;

The posture information acquisition module 430 is configured to obtain posture information corresponding to the target moment according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer.

When the accelerometer selection module 410 evaluates the accuracy of the acceleration measurement result according to the local gravitational acceleration, it is also used to: obtain the magnitude of the gravitational acceleration corresponding to the acceleration measurement result; the magnitude of the gravitational acceleration corresponding to the acceleration measurement result relative to the magnitude of the local gravitational acceleration Error, get accuracy.

In an embodiment of the present invention, when the magnetometer selection module 420 evaluates the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, it is also used to: obtain the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result; As a result, the error of the magnitude of the corresponding magnetic field strength relative to the magnitude of the local magnetic field strength is obtained, and the accuracy is obtained.

In an embodiment of the present invention, when the accelerometer selection module 410 obtains the acceleration measurement result corresponding to the target time measured by the three-axis accelerometer, it is also used for: the acquisition result corresponding to the target time collected by the three-axis accelerometer Perform filtering and error compensation to obtain acceleration measurement results. When the magnetometer selection module 420 obtains the magnetic field intensity measurement result corresponding to the target time measured by the three-axis magnetometer, it is also used to: filter and error compensate the acquisition result corresponding to the target time collected by the three-axis magnetometer , To obtain the magnetic field strength measurement results.

In an embodiment of the present invention, the attitude information acquisition module 430 acquires the attitude information corresponding to the target moment according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer. It is also used to: obtain the roll angle and pitch angle corresponding to the target moment according to the acceleration measurement result corresponding to the selected three-axis accelerometer; obtain the corresponding magnetic field intensity measurement result according to the selected three-axis magnetometer The heading angle at the target moment.

In an embodiment of the present invention, the initial alignment device 400 further includes a comprehensive posture information acquisition module, and the comprehensive posture information acquisition module is used to: take each of the multiple set moments as the target time to obtain each The posture information corresponding to the time; calculate the average value of multiple posture information corresponding to multiple times to obtain the final posture information.

<Embodiment of Electronic Equipment>

This embodiment provides an electronic device, which includes the initial alignment device in the device embodiment of the present invention. Alternatively, the electronic device is the electronic device 500 shown in FIG. 5, and includes:

The memory 510 is used to store executable commands;

The processor 520 is configured to execute the method described in the method embodiment of the present invention under the control of the execution command stored in the memory 510.

<Example of Inertial Navigation System>

This embodiment provides an embodiment of an inertial navigation system, including multiple three-axis accelerometers, multiple three-axis magnetometers, and the electronic equipment described in the device embodiments of the present invention. The three-axis accelerometer sends the acceleration measurement result to the electronic device. The device, the three-axis magnetometer sends the magnetic field strength measurement result to the electronic device, and the electronic device obtains attitude information according to the measurement result of the three-axis accelerometer and the three-axis magnetometer.

The present invention may be a system, a method and/or a computer program product. The computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present invention.

The computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon The protruding structure in the hole card or the groove, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.

The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .

The computer program instructions used to perform the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or in one or more programming languages. Source code or object code written in any combination. Programming languages include object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer) connection). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions. The computer-readable program instructions are executed to realize various aspects of the present invention.

Here, various aspects of the present invention are described with reference to flowcharts and/or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions on a computer, other programmable data processing device, or other equipment, so that a series of operation steps are executed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing apparatus, or other equipment realize the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more executables for implementing the specified logical functions. instruction. In some alternative implementations, the functions marked in the block may also occur in a different order than the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation through hardware, implementation through software, and implementation through a combination of software and hardware are all equivalent.

The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the described embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements in the market of each embodiment, or to enable other ordinary technical persons in the technical field to understand the various embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (9)

An initial alignment method for an inertial navigation system, the inertial navigation system including a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, the method including: Acquire the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the accuracy of the highest acceleration measurement result from the plurality of three-axis accelerometers Three-axis accelerometer; Obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the three-axis magnetometer corresponding to The three-axis magnetometer with the highest accuracy of magnetic field strength measurement results; According to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, the posture information corresponding to the target moment is acquired. The method according to claim 1, wherein the evaluating the accuracy of the acceleration measurement result according to the local gravitational acceleration comprises: Acquiring the magnitude of the gravitational acceleration corresponding to the acceleration measurement result; The accuracy is obtained according to the error of the magnitude of the gravitational acceleration corresponding to the acceleration measurement result relative to the magnitude of the local gravitational acceleration. The method according to claim 1, wherein the evaluating the accuracy of the magnetic field strength measurement result according to the local magnetic field strength comprises: Acquiring the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result; The accuracy is obtained according to the error of the magnitude of the magnetic field strength corresponding to the magnitude of the magnetic field strength measurement result relative to the magnitude of the local magnetic field strength. The method according to claim 1, wherein said obtaining the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer comprises: Filtering and error compensation are performed on the collection result corresponding to the target time collected by the three-axis accelerometer to obtain the acceleration measurement result; The obtaining the magnetic field strength measurement result corresponding to the target time measured by the three-axis magnetometer includes: Filtering and error compensation are performed on the collection result corresponding to the target time collected by the three-axis magnetometer to obtain the magnetic field strength measurement result. The method according to claim 1, wherein the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field intensity measurement result corresponding to the selected three-axis magnetometer are used to obtain the corresponding The posture information at the target moment, including Obtaining the roll angle and the pitch angle corresponding to the target moment according to the acceleration measurement result corresponding to the selected three-axis accelerometer; Acquire the heading angle corresponding to the target moment according to the measurement result of the magnetic field intensity corresponding to the selected three-axis magnetometer. The method according to claim 1, wherein the method further comprises: Taking each of the plurality of set moments as the target moment, and acquiring the posture information corresponding to each moment; Calculate the average value of the multiple posture information corresponding to the multiple moments to obtain the final posture information. An initial alignment device for an inertial navigation system. The inertial navigation system includes a plurality of three-axis accelerometers and a plurality of three-axis magnetometers. The device includes: The accelerometer selection module is used to obtain the acceleration measurement result corresponding to the target moment measured by the three-axis accelerometer, evaluate the accuracy of the acceleration measurement result according to the local gravitational acceleration, and select the corresponding one of the multiple three-axis accelerometers A three-axis accelerometer with the highest accuracy of acceleration measurement results; The magnetometer selection module is used to obtain the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer, evaluate the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and select the multiple Among the three-axis magnetometers, the three-axis magnetometer corresponding to the highest accuracy of the magnetic field strength measurement result; The posture information acquisition module is configured to acquire the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer to obtain the information corresponding to the target time Posture information. An electronic device, said electronic device comprising the device of claim 7; or, said electronic device comprising: Memory, used to store executable commands; The processor is configured to execute the method according to any one of claims 1-6 under the control of the executable command. An inertial navigation system, comprising a plurality of three-axis accelerometers, a plurality of three-axis magnetometers, and the electronic device according to claim 8, wherein the three-axis accelerometer sends acceleration measurement results to the electronic device, and The three-axis magnetometer sends the magnetic field strength measurement result to the electronic device.

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