CN102589545B - Zero-position self-calibrating voltage frequency conversion device of inertial measurement unit - Google Patents
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Abstract
The invention discloses a zero-position self-calibrating voltage frequency conversion device of an inertial measurement unit, belonging to the technical field of inertial navigation. According to the zero-position self-calibrating voltage frequency conversion device, three independent sampling channels corresponding to three output phases of the inertial measurement unit are formed by three switches and three voltage frequency conversion circuits; a sampling channel which is shared by three outputs of the inertial measurement unit is formed by the other three switches and the other voltage frequency conversion circuit; in six sampling periods, a sampling module of a navigation computer is internally arranged to carry out different kinds of opening and closing control on the six switches at different sampling periods, so that the three independent sampling channels respectively carry out the zero-position self-calibration of respective channels in sequence under the matching of the shared sampling channel. According to the zero-position self-calibrating voltage frequency conversion device of the inertial measurement unit, not only can output signals of the inertial measurement unit be discontinuously sampled, but also the recalibration of a zero position of a voltage frequency conversion channel does not need to be carried out when the environment is changed, so that the zero-position self-calibrating voltage frequency conversion device has the characteristics of wide use range, good stability, and high sampling position and reliability.
Description
Technical field
The invention belongs to inertial navigation technology field, relate generally to a kind of Inertial Measurement Unit electric voltage frequency conversion equipment, relate in particular to a kind of with the self-alignment electric voltage frequency conversion equipment of zero-bit.
Background technology
Inertial navigation system is rely on to measure the information such as the acceleration of carrier (aircraft, ships, rocket etc.) itself and instantaneous course that angular velocity calculates carrier, attitude, speed, position.Because its independence is strong, the advantage such as good concealment, antijamming capability be strong, become a kind of main navigate mode being widely used in many fields such as aviation, navigation, space flight.
Inertial Measurement Unit is the important component part of inertial navigation system, and it is generally connected on carrier, is mainly used in responding to the transient change amount of carrier acceleration and angular velocity.The output of Inertial Measurement Unit San road gyro signal output He San road accelerometer is sent into navigational computer by two sampling apparatuses, and navigational computer just can obtain the information such as attitude, speed, position of carrier according to navigation algorithm.Therefore the quality of sampling apparatus can badly influence the performance of inertial navigation system.
In inertial navigation system, the most frequently used sampling cartridge is equipped with analog-digital commutator and electric voltage frequency conversion equipment.The value that Inertial Measurement Unit records is successive value, from Shannon's sampling theorem, by analog-digital commutator, successive value is converted to the loss that discrete value will inevitably cause information, can impact the precision of inertial navigation system, and electric voltage frequency conversion equipment is by the continuous integration of output data being obtained to the output information of Inertial Measurement Unit, overcome the shortcoming of analog-digital commutator drop-out.Yet the environment for use of inertial navigation system is very complicated, and the relative zero-bit of general electric voltage frequency conversion equipment can change along with the variation of environment, in the situation that environmental change is larger, just need to again demarcate zero-bit, this has just badly influenced reliability and the range of application of electric voltage frequency conversion equipment.
Summary of the invention
The technical problem to be solved in the present invention is that the shortcoming that need to again demarcate zero-bit when larger variation occurs environment for general electric voltage frequency conversion equipment, for Inertial Measurement Unit provides a kind of with the self-alignment electric voltage frequency conversion equipment of zero-bit.
For solving the problems of the technologies described above, zero-bit self calibration electric voltage frequency conversion equipment provided by the invention comprises first to fourth voltage frequency conversioning circuit, the first to the 6th switch and inserts the sampling module of navigational computer, one end of first, second switch is all connected with the X passage output terminal of Inertial Measurement Unit, three, one end of the 4th switch is all connected with the Y channel output end of Inertial Measurement Unit, and the 5th, one end of the 6th switch is all connected with the Z channel output end of Inertial Measurement Unit; The first, the 3rd with the other end of the 5th switch and the input end of first, second, and third voltage frequency conversioning circuit is corresponding is one by one connected and forms respectively sampling channel X, sampling channel Y and sampling channel Z; The second, the 4th is all connected and forms sampling channel A with the input end of the 4th voltage frequency conversioning circuit with the other end of the 6th switch; The first control end to the 6th switch is all connected with the control port of navigational computer; The output terminal of first to fourth voltage frequency conversioning circuit is all connected with the signals collecting port of navigational computer;
The function of described sampling module is: when entering for the first sampling period, controlling the first to the 6th switch is off-state, adds up the internal signal that in this cycle, described sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect, when entering for the second sampling period, control the first, the 3rd and the 5th switch and become closure state from off-state, calculate the mean value of described sampling channel X, sampling channel Y, sampling channel Z and sampling channel A internal signal in the last sampling period and using calculated value as the zero value of passage separately, after each external signal that in this sampling period, described sampling channel X, sampling channel Y, sampling channel Z collect being deducted respectively to the zero value of passage separately, send in real time in navigation calculation module, add up this cycle described in the internal signal that collects of sampling channel A, when entering for the 3rd sampling period, control the first switch and become off-state from closure state, second switch becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel X collects after first signal, after sampled signal in sampling channel Y and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 4th sampling period, control the first switch and become closure state from off-state, second switch becomes off-state from closure state, calculate the average of a upper periodic sampling passage X internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel Y and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel X is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 5th sampling period, control the 3rd switch and become off-state from closure state, the 4th switch becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel Y collects after first signal, after sampled signal in sampling channel X and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 6th sampling period, control the 3rd switch and become closure state from off-state, the 4th switch becomes off-state from closure state, calculate the average of a upper periodic sampling passage Y internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel X and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel Y is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 7th sampling period, control the 5th switch and become off-state from closure state, the 6th switch becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel Z collects after first signal, after sampled signal in sampling channel X and sampling channel Y being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 8th sampling period, control the 5th switch and become closure state from off-state, the 6th switch becomes off-state from closure state, calculate the average of a upper periodic sampling passage Z internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel X and sampling channel Y being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel Z is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, repeatedly repeat the operation in eight cycles of period 3 to the, until power-off.
The present invention has formed three the independent sample passages corresponding with three outputs of Inertial Measurement Unit by three switches and three voltage frequency conversioning circuits, by another three switches and another voltage frequency conversioning circuit, three shared sampling channels of output of Inertial Measurement Unit have been formed, in six sampling periods, by inserting the sampling module of navigational computer, in the different sampling periods, six switches are carried out to different disconnections and Closed control, make three independent sample passages respectively sharing under the cooperation of sampling channel, carry out successively the zero-bit self calibration of passage separately.The present invention has overcome general electric voltage frequency conversion equipment needs the shortcoming of again demarcating in the situation that external environment changes, it can carry out continuous self calibration real-time sampling to Inertial Measurement Unit signal in the situation that external environment changes, and has that usable range is wide, good stability, sampling precision and a high feature of reliability.
Accompanying drawing explanation
Fig. 1 is composition and the annexation schematic diagram of zero-bit self calibration electric voltage frequency conversion equipment of the present invention.
Fig. 2 is the control signal schematic diagram that in the present invention, sampling module sends to each switch.
Fig. 3 is the workflow diagram of inserting sampling module in navigational computer.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail.
Shown in Fig. 1, the preferred embodiment of electric voltage frequency conversion equipment of the present invention is used for gathering the gyro signal output of inertance element San road.This device comprises the first to the 6th K switch 1～K6, first to fourth voltage frequency conversioning circuit and inserts the sampling module of navigational computer.First to the 6th K switch 1～K6 all selects MAX314ESE switch, and first to fourth voltage frequency conversioning circuit is all selected ADVFC32.One end of first, second K switch 1, K2 is all connected with the X passage output terminal of Inertial Measurement Unit, three, one end of the 4th K switch 3, K4 is all connected with the Y channel output end of Inertial Measurement Unit, and one end of the 5th, the 6th K switch 5, K6 is all connected with the Z channel output end of Inertial Measurement Unit; The first, the 3rd with the other end of the 5th K switch 1, K3, K5 and the input end of first, second, and third voltage frequency conversioning circuit is corresponding is one by one connected and forms respectively independently sampling channel X, sampling channel Y and sampling channel Z; The second, the 4th is all connected with the input end of the 4th voltage frequency conversioning circuit and forms the shared sampling channel A of three passages of Inertial Measurement Unit with the other end of the 6th K switch 2, K4, K6; The first control end to the 6th K switch 1～K6 is all connected with the control port of navigational computer; The output terminal of first to fourth voltage frequency conversioning circuit is all connected with the signals collecting port of navigational computer.
Sampling module completes following operation steps according to Fig. 2 to the workflow of the control sequential of switch and Fig. 3:
The first step, when timer t starts timing, the control end of to first to the 6th K switch 1～K6 sends open command, adds up the internal signal that in this cycle, sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect.Timer with the sampling period for call time every, the length in sampling period is made as T in the present invention.
Second step, when T is arrived in the timing of timer t, to first, the the 3rd and the 5th K switch 1, K3, the control end of K5 sends close command, calculating sampling passage X, sampling channel Y, sampling channel Z and sampling channel A are at the internal signal mean value in last sampling period and as the zero value of passage separately, by sampling channel X in the current sampling period, sampling channel Y, the external signal that sampling channel Z collects is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively, add up the internal signal that this cycle sampling channel A collects.
The 3rd step, when 2T is arrived in the timing of timer t, to the control end transmission open command of the first K switch 1, to the control end transmission close command of second switch K2; Calculate the average of a upper periodic sampling passage A internal signal and upgrade the zero value of this passage with it, add up the internal signal that sampling channel X collects after first signal in this cycle, the sampled signal in sampling channel Y and sampling channel Z is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements X passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta X1 of sampling channel X and the signal delta A1 sum of sampling channel A again, signal delta X1 is zero value poor of first signal of collecting within this cycle of sampling channel X and sampling channel X, and signal delta A1 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A; Second portion is that all sampled signals that sampling channel A collects after first signal within this cycle make with the zero value of sampling channel A the one group of signal obtaining after difference operation respectively.
In each data procedures of exporting at sampling channel, electric voltage frequency conversion is what the continuous integration of input signal was realized.When sampling module is when the first K switch 1 sends open command and send close command to second switch K2, the X passage output of Inertial Measurement Unit is from sampling channel X access sampling channel A, owing in first signal sampling process of second period, the switching between sampling channel having occurred, thereby Inertial Measurement Unit X passage is isolated and become two parts at first signal of second sampling period output, therefore, certain passage output signal of Inertial Measurement Unit is when sampling channel switches, that signal of switching instant need to be processed according to the signal sum of two passages.
The 4th step, when 3T is arrived in the timing of timer t, to the control end transmission close command of the first K switch 1, to the control end transmission open command of second switch K2; Calculate the internal signal average that in the last cycle, sampling channel X gathers and upgrade the zero value of this passage with it, add up the internal signal that sampling channel A collects after first signal in this cycle, the sampled signal in sampling channel Y and sampling channel Z is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements X passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta A2 of sampling channel A and the signal delta X2 sum of sampling channel X again, signal delta A2 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A, and signal delta X2 is zero value poor of first signal of collecting within this cycle of sampling channel X and sampling channel X; Second portion is that all sampled signals that sampling channel X collects after first signal within this cycle make with the zero value of sampling channel X the one group of signal obtaining after difference operation respectively.
The 5th step, when 4T is arrived in the timing of timer t, to the control end transmission open command of the 3rd K switch 3, to the control end transmission close command of the 4th K switch 4; Calculate the average of a upper periodic sampling passage A internal signal and upgrade the zero value of this passage with it, add up the internal signal that sampling channel Y collects after first signal in this cycle, the sampled signal in sampling channel X and sampling channel Z is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements Y passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta Y1 of sampling channel Y and the signal delta A3 sum of sampling channel A again, signal delta Y1 is zero value poor of first signal of collecting within this cycle of sampling channel Y and sampling channel X, and signal delta A3 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A; Second portion is that all sampled signals that sampling channel A collects after first signal within this cycle make with the zero value of sampling channel A the one group of signal obtaining after difference operation respectively.
The 6th step, when 5T is arrived in the timing of timer t, to the control end transmission close command of the 3rd K switch 3, to the control end transmission open command of the 4th K switch 4; Calculate the internal signal average that in the last cycle, sampling channel Y gathers and upgrade the zero value of this passage with it, add up the internal signal that sampling channel A collects after first signal in this cycle, the sampled signal in sampling channel X and sampling channel Z is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements Y passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta A4 of sampling channel A and the signal delta Y2 sum of sampling channel Y again, signal delta A4 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A, and signal delta Y2 is zero value poor of first signal of collecting within this cycle of sampling channel Y and sampling channel Y; Second portion is that all sampled signals that sampling channel Y collects after first signal within this cycle make with the zero value of sampling channel X the one group of signal obtaining after difference operation respectively.
The 7th step, when 6T is arrived in the timing of timer, to the control end transmission open command of the 5th K switch 5, to the control end transmission close command of the 6th K switch 6; Calculate the average of a upper periodic sampling passage A internal signal and upgrade the zero value of this passage with it, add up the internal signal that sampling channel Z collects after first signal in this cycle, the sampled signal in sampling channel X and sampling channel Y is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements Z passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta Z1 of sampling channel Z and the signal delta A5 sum of sampling channel A again, signal delta Z1 is zero value poor of first signal of collecting within this cycle of sampling channel Z and sampling channel Z, and signal delta A5 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A; Second portion is that all sampled signals that sampling channel A collects after first signal within this cycle make with the zero value of sampling channel A the one group of signal obtaining after difference operation respectively.
The 8th step, when 7T is arrived in the timing of timer t, to the control end transmission close command of the 5th K switch 5, to the control end transmission open command of the 6th K switch 6; Calculate the internal signal average that in the last cycle, sampling channel Z gathers and upgrade the zero value of this passage with it, add up the internal signal that sampling channel A collects after first signal in this cycle, the sampled signal in sampling channel X and sampling channel Y is done to send in real time in the navigation calculation module of navigational computer after difference operation with the zero value of passage separately respectively; The output signal of navigation elements Z passage is divided into two parts and in succession sends in the navigation calculation module of navigational computer, wherein: first consists of the signal delta A6 of sampling channel A and the signal delta Z2 sum of sampling channel Z again, signal delta A6 is zero value poor of first signal of collecting within this cycle of sampling channel A and sampling channel A, and signal delta Z2 is zero value poor of first signal of collecting within this cycle of sampling channel X and sampling channel Z; Second portion is that all sampled signals that sampling channel Z collects after first signal within this cycle make with the zero value of sampling channel Z the one group of signal obtaining after difference operation respectively.
The 9th step, when 8T is arrived in timer t timing, giving timer assignment is 2T, rebound the 3rd step, repeats the 3rd step to the eight steps, until power-off.
Claims (1)
1. the zero-bit self calibration electric voltage frequency conversion equipment of an Inertial Measurement Unit, comprise that first to tertiary voltage freq converting circuit, it is characterized in that: also comprise the 4th voltage frequency conversioning circuit, the first to the 6th switch (K1～K6) and insert the sampling module of navigational computer, the first switch (K1), one end of second switch (K2) is all connected with the X passage output terminal of Inertial Measurement Unit, the 3rd switch (K3), one end of the 4th switch (K4) is all connected with the Y channel output end of Inertial Measurement Unit, the 5th switch (K5), one end of the 6th switch (K6) is all connected with the Z channel output end of Inertial Measurement Unit, the first switch (K1), the 3rd switch (K3) and the 5th other end of switch (K5) and the input end of first, second, and third voltage frequency conversioning circuit are corresponding to be one by one connected and to form respectively sampling channel X, sampling channel Y and sampling channel Z, the other end of second switch (K2), the 4th switch (K4) and the 6th switch (K6) is all connected and forms sampling channel A with the input end of the 4th voltage frequency conversioning circuit, the control end of the first to the 6th switch (K1～K6) is all connected with the control port of navigational computer, the output terminal of first to fourth voltage frequency conversioning circuit is all connected with the signals collecting port of navigational computer,
The function of described sampling module is: when entering for the first sampling period, controlling the first to the 6th switch (K1～K6) is off-state, adds up the internal signal that in this cycle, described sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect, when entering for the second sampling period, control the first switch (K1), the 3rd switch (K3) and the 5th switch (K5) become closure state from off-state, calculate described sampling channel X, sampling channel Y, the mean value of sampling channel Z and sampling channel A internal signal in the last sampling period using mean value as the zero value of passage separately, by described sampling channel X in this sampling period, sampling channel Y, each external signal that sampling channel Z collects is sent in navigation calculation module after deducting respectively the zero value of passage separately in real time, the internal signal that described in adding up this cycle, sampling channel A collects, when entering for the 3rd sampling period, control the first switch (K1) and become off-state from closure state, second switch (K2) becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel X collects after first signal, after sampled signal in sampling channel Y and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 4th sampling period, control the first switch (K1) and become closure state from off-state, second switch (K2) becomes off-state from closure state, calculate the average of a upper periodic sampling passage X internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel Y and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel X is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 5th sampling period, control the 3rd switch (K3) and become off-state from closure state, the 4th switch (K4) becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel Y collects after first signal, after sampled signal in sampling channel X and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 6th sampling period, control the 3rd switch (K3) and become closure state from off-state, the 4th switch (K4) becomes off-state from closure state, calculate the average of a upper periodic sampling passage Y internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel X and sampling channel Z being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel Y is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 7th sampling period, control the 5th switch (K5) and become off-state from closure state, the 6th switch (K6) becomes closure state from off-state, calculate the average of a upper periodic sampling passage A internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel Z collects after first signal, after sampled signal in sampling channel X and sampling channel Y being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel A is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, when entering for the 8th sampling period, control the 5th switch (K5) and become closure state from off-state, the 6th switch (K6) becomes off-state from closure state, calculate the average of a upper periodic sampling passage Z internal signal and be worth with this zero value of upgrading this passage, add up the internal signal that in this cycle, described sampling channel A collects after first signal, after sampled signal in sampling channel X and sampling channel Y being deducted respectively to the zero value of passage separately, send in real time in described navigation calculation module, first signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted the zero value of passage separately and after suing for peace, is sent into described navigation calculation module again, all sampled signals that sampling channel Z is collected after first signal of this cycle are sent into described navigation calculation module after deducting respectively self passage zero value successively, repeatedly repeat the operation in eight cycles of period 3 to the, until power-off.
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