CN113670334B - Initial alignment method and device for aerocar - Google Patents
Initial alignment method and device for aerocar Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The embodiment of the invention provides an initial alignment method and device for a flying automobile, wherein the method comprises the following steps: acquiring geomagnetic information of the aerocar, and acquiring an initial attitude matrix according to the geomagnetic information of the aerocar; controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain heading information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuvering action; and adjusting the initial gesture matrix according to the course information of the flying automobile to obtain an aligned target gesture matrix so as to realize initial alignment of an inertial navigation system in the flying automobile. The initial alignment technology of the strapdown inertial navigation system of the aerocar can be realized by adopting the magnetic sensor and adopting the magnetic sensor auxiliary double-antenna GNSS system, and the heading information of the aerocar can be rapidly obtained by means of geomagnetic information, so that the initial alignment speed of the strapdown inertial navigation system is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an initial alignment method of a flying automobile and an initial alignment device of the flying automobile.
Background
An inertial navigation system (INS, inertial Navigation System) is an autonomous navigation system for determining the position, direction and speed of a vehicle in an inertial space, also referred to simply as inertial navigation, which requires an initial reference to be established before entering a navigation operating state, such as controlling the platform rotation such that the platform coordinate system coincides with the navigation coordinate system, a process of establishing an initial reference known as initial alignment of the inertial navigation system. The inertial navigation system can be a strapdown inertial navigation system, and the accuracy of initial alignment directly influences the working accuracy of the strapdown inertial navigation system.
For the initial alignment technology of the inertial navigation system, most of the prior art adopts inertial devices such as an accelerometer and a gyroscope or a dual-antenna GNSS (Global Navigation Satellite System, global satellite navigation positioning system) to estimate and then accurately adjust, so as to complete the initial alignment of the strapdown inertial navigation system. However, the above technique of performing initial alignment using an accelerometer and a gyroscope is not applicable to some low-precision gyroscopes that cannot measure the rotational angular velocity of the earth, and has a problem of long initial alignment time for some high-precision gyroscopes.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention have been developed to provide a method of initial alignment of a flying vehicle and a corresponding apparatus for initial alignment of a flying vehicle that overcome or at least partially solve the foregoing problems.
The embodiment of the invention discloses an initial alignment method of a flying car, which comprises the following steps:
acquiring geomagnetic information of the aerocar, and acquiring an initial attitude matrix according to the geomagnetic information of the aerocar;
controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain heading information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuvering action;
and adjusting the initial gesture matrix according to the course information of the flying automobile to obtain an aligned target gesture matrix so as to realize initial alignment of an inertial navigation system in the flying automobile.
Optionally, the geomagnetic information is generated based on sensing geomagnetic field intensity at which the flying car is located; the obtaining an initial attitude matrix according to the geomagnetic information of the flying automobile comprises the following steps:
the geomagnetic field vector direction of the aerocar is determined by sensing the geomagnetic field intensity of the aerocar;
Acquiring a gravity acceleration component of the aerocar based on an aerocar coordinate system, and acquiring attitude information of the aerocar according to a geomagnetic field vector direction of the aerocar and the gravity acceleration component;
and transforming the attitude information of the flying automobile to obtain an initial attitude matrix.
Optionally, the attitude information of the aerocar includes heading angle information, pitch angle information and roll angle information of the aerocar; the obtaining the attitude information of the aerocar according to the geomagnetic field vector direction and the gravity acceleration component of the aerocar comprises the following steps:
determining magnetic azimuth angle information of the aerocar based on an aerocar coordinate system based on the geomagnetic field vector direction of the aerocar, and obtaining heading angle information based on a geographic coordinate system according to the magnetic azimuth angle;
and determining pitch angle information and roll angle information of the aerocar based on an earth coordinate system by adopting the gravity acceleration component.
Optionally, the obtaining course angle information based on the geographic coordinate system according to the magnetic azimuth angle information includes:
acquiring current position information of the aerocar based on the geomagnetic field vector direction of the aerocar, and determining magnetic declination information of the current position by adopting the current position information of the aerocar;
And calculating the course angle information of the flying car by adopting the magnetic deflection angle information and the magnetic azimuth angle information.
Optionally, the controlling the aerocar to perform a maneuver corresponding to a preset driving scene to obtain heading information of the aerocar includes:
and controlling the aerocar to run on the ground at a constant speed, collecting differential positioning information of the aerocar in the running process and sensor data of the aerocar in the running process, and obtaining course information of the aerocar on the ground by adopting the differential positioning information and the sensor data.
Optionally, the controlling the aerocar to perform a maneuver corresponding to a preset driving scene to obtain heading information of the aerocar includes:
and controlling the flying automobile to fly in the air according to a preset shape, obtaining sensor data of the flying automobile in the flying process, and obtaining the heading information of the flying automobile in the air by adopting the sensor data.
Optionally, the adjusting the initial gesture matrix according to the heading information of the flying automobile to obtain an aligned target gesture matrix includes:
acquiring sensor data of the aerocar in the driving process or the flying process from the course information; the sensor data comprises sensor data of a current position posture and sensor data of a historical position posture;
Obtaining a misalignment angle of the flying automobile based on the sensor data of the current position and the sensor data of the historical position and the attitude;
and adjusting the initial attitude matrix by adopting the misalignment angle of the flying automobile to obtain an aligned target attitude matrix.
The embodiment of the invention also discloses an initial alignment device of the aerocar, which comprises:
the initial attitude matrix acquisition module is used for acquiring geomagnetic information of the flying car and acquiring an initial attitude matrix according to the geomagnetic information of the flying car;
the course information acquisition module is used for controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain course information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuvering action;
the gesture matrix adjustment module is used for adjusting the initial gesture matrix according to the course information of the flying automobile to obtain an aligned target gesture matrix so as to realize initial alignment of an inertial navigation system in the flying automobile.
Optionally, the geomagnetic information is generated based on sensing geomagnetic field intensity at which the flying car is located; the initial gesture matrix acquisition module includes:
The geomagnetic field vector direction determining submodule is used for determining the geomagnetic field vector direction of the aerocar by sensing the geomagnetic field intensity of the aerocar;
the attitude information acquisition sub-module is used for acquiring a gravity acceleration component of the aerocar based on an aerocar coordinate system and acquiring the attitude information of the aerocar according to the geomagnetic field vector direction of the aerocar and the gravity acceleration component;
and the initial gesture matrix generation sub-module is used for transforming the gesture information of the flying automobile to obtain an initial gesture matrix.
Optionally, the attitude information of the aerocar includes heading angle information, pitch angle information and roll angle information of the aerocar; the attitude information acquisition submodule comprises:
the heading angle information acquisition unit is used for determining magnetic azimuth angle information of the aerocar based on an aerocar coordinate system based on the geomagnetic field vector direction of the aerocar, and obtaining heading angle information based on a geographic coordinate system according to the magnetic azimuth angle;
and the pitch angle information acquisition unit is used for determining pitch angle information and roll angle information of the aerocar based on an earth coordinate system by adopting the gravity acceleration component.
Optionally, the course angle information acquisition unit includes:
the magnetic declination information determining subunit is used for acquiring the current position information of the aerocar based on the geomagnetic field vector direction of the aerocar and determining the magnetic declination information of the current position by adopting the current position information of the aerocar;
and the course angle information calculation unit is used for calculating the course angle information of the aerocar by adopting the magnetic deflection angle information and the magnetic azimuth angle information.
Optionally, the heading information acquisition module includes:
the sensor data acquisition sub-module is used for controlling the aerocar to run on the ground at a constant speed and acquiring differential positioning information of the aerocar in the running process and sensor data of the aerocar in the running process;
and the first course information acquisition sub-module is used for acquiring course information of the aerocar on the ground by adopting the differential positioning information and the sensor data.
Optionally, the heading information acquisition module includes:
the second course information acquisition sub-module is used for controlling the aerocar to fly in the air according to the preset shape to obtain sensor data of the aerocar in the flight process, and the course information of the aerocar in the air is obtained by adopting the sensor data.
Optionally, the gesture matrix adjustment module includes:
the sensor data acquisition sub-module is used for acquiring sensor data of the aerocar in the driving process or the flying process from the course information; the sensor data comprises sensor data of a current position posture and sensor data of a historical position posture;
the misalignment angle determining sub-module is used for obtaining the misalignment angle of the aerocar based on the sensor data of the current position and the sensor data of the historical position and the attitude;
and the gesture matrix adjustment sub-module is used for adjusting the initial gesture matrix by adopting the misalignment angle of the flying automobile to obtain an aligned target gesture matrix.
The embodiment of the invention also discloses a flying automobile, which comprises: the initial alignment device of the flying car, a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the initial alignment method of any flying car when being executed by the processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the initial alignment method of any aerocar when being executed by a processor.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the initial posture matrix of the aerocar is obtained based on the geomagnetic information of the aerocar, and the heading information of the aerocar is obtained when the aerocar is controlled to perform the maneuver corresponding to the preset driving scene, so that the heading information determined by the real-time posture change measured in the maneuver process can be adopted to adjust the initial posture matrix obtained based on the geomagnetic information to obtain the aligned target posture matrix, and the initial alignment of the inertial navigation system in the aerocar is realized. The initial alignment technology of the strapdown inertial navigation system of the aerocar is realized by adopting a magnetic sensor and adopting a magnetic sensor auxiliary double-antenna GNSS system, and the heading information of the aerocar can be rapidly obtained by means of geomagnetic information, so that the initial alignment speed of the strapdown inertial navigation system is improved; under the condition that the GNSS system fails, the flying car can be roughly aligned by means of geomagnetic information, and on the basis of completing the rough alignment of the flying car, the precise alignment of the flying car can be realized by setting different maneuvering scenes of the ground and the air of the flying car.
Drawings
FIG. 1 is a flow chart of steps of an embodiment of an initial alignment method of a flying vehicle of the present invention;
FIG. 2 is a flow chart of the steps of another embodiment of the initial alignment method of the present invention for a flying vehicle;
FIG. 3 is a flow chart of the steps of yet another embodiment of the initial alignment method of a flying vehicle of the present invention;
FIG. 4 is a schematic illustration of an implementation of a method of initial alignment of a flying vehicle in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an embodiment of an initial alignment device of a flying car of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Initial alignment of the strapdown inertial navigation system includes alignment on the stationary base and transfer alignment on the moving base. Wherein the carrier is stationary during static base alignment and the moving base alignment is accomplished with the carrier in motion.
For initial alignment of an inertial navigation system, inertial devices such as an accelerometer and a gyroscope directly mounted on a motion carrier or a dual-antenna GNSS system are adopted to estimate and obtain a gesture matrix at present, so that initial coarse alignment is realized; and then accurately estimating the misalignment angle of a navigation calculation coordinate system (namely a carrier coordinate system) and a real navigation coordinate system (namely a geographic coordinate system) of the carrier by utilizing a Kalman filtering technology through error analysis of the system, so as to obtain an accurate initial posture matrix, realize initial accurate alignment and finish initial alignment of the strapdown inertial navigation system.
However, the above technique of performing initial alignment using an accelerometer and a gyroscope is not applicable to low-precision gyroscopes that cannot measure the rotational angular velocity of the earth, and has a problem of long initial alignment time for high-precision gyroscopes; and for a dual-antenna GNSS system, the GNSS system fails under the condition of no GNSS signal or poor GNSS signal, and the initial alignment of the strapdown inertial navigation system cannot be completed.
One of the core ideas of the embodiment of the invention is to provide a method for realizing coarse alignment of a static base by means of geomagnetic information and an accelerometer, and then fusing and setting maneuvering actions of a flying car with a dual-antenna GNSS system to finish initial fine alignment of a strapdown inertial navigation system; under the condition that a GNSS system fails, the flying car can be roughly aligned by means of geomagnetic information, and on the basis of completing the rough alignment of the flying car, the precise alignment of the flying car can be realized by setting different maneuvering scenes of the ground and the air of the flying car; after geomagnetic information is used as an auxiliary to realize the static base alignment of the aerocar, the aerocar can be subjected to dynamic reference alignment by setting the maneuvering action of the aerocar and corresponding driving scenes and fusing the double-antenna CNSS system, so that the initial fine alignment of the strapdown inertial navigation system is completed.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of an initial alignment method for a flying vehicle according to the present invention may specifically include the steps of:
step 101, acquiring geomagnetic information of a flying car, and acquiring an initial attitude matrix according to the geomagnetic information of the flying car;
after the on-board system of the aerocar is powered on and started, before entering the automatic driving navigation working state, the alignment of the direction of the automatic driving navigation platform is required, and the alignment can comprise coordinate system alignment, initial state measurement, setting and the like. The equipment is powered on and started each time and can work normally through an alignment process, wherein the accuracy of initial alignment can be directly related to the working accuracy of the whole navigation system of the flying car, and the alignment time is also an important index of the navigation system of the flying car.
The initial alignment of the inertial navigation system includes alignment on the stationary base and transfer alignment on the moving base, and in embodiments of the present invention, for alignment on the stationary base of the inertial navigation system in a flying vehicle may appear to complete a coarse alignment with the flying vehicle at rest.
Specifically, the rough alignment of the flying car navigation system can be achieved by acquiring geomagnetic information of the flying car. The flying car may have a magnetic sensor, and at this time, physical parameters such as current, position, direction, etc. may be measured by the magnetic sensor with the induced magnetic field intensity, that is, the acquired geomagnetic information may be generated based on the induced geomagnetic field intensity where the flying car is located, which may include current position information (such as longitude, latitude, altitude, etc.), geomagnetic field vector direction, etc. of the flying car.
In one embodiment of the present invention, in the process of aligning the coordinate system of the aerocar (which is a carrier coordinate system and can change along with the change of the attitude of the aerocar) with the geographic coordinate system (fixed), the attitude matrix needs to be calculated in real time, so that the acceleration information of the aerocar measured by the navigation accelerometer along the axial direction of the carrier coordinate system (i.e. the aerocar coordinate system) is converted into the geographic navigation coordinate system through the attitude matrix, and then the navigation calculation is performed to realize the alignment, at this time, an initial attitude matrix can be obtained according to the geomagnetic information of the aerocar, and the obtained initial attitude matrix is a rough attitude matrix, so that the initial rough alignment of the inertial navigation system in the aerocar is completed when the aerocar is in a static state.
In practical application, the initial gesture matrix is mainly generated by transforming gesture information of the flying car, and the gesture information of the flying car can be determined by the acquired geomagnetic information.
Specifically, the geomagnetic field intensity of the aerocar is sensed through the magnetic sensor, the geomagnetic field vector direction of the aerocar is determined, the gravity acceleration component of the aerocar based on the aerocar coordinate system is obtained, the attitude information of the aerocar is obtained according to the geomagnetic field vector direction of the aerocar and the gravity acceleration component, and then the initial attitude matrix is obtained by adopting the attitude information of the aerocar to transform.
It should be noted that geomagnetic information can be generated based on geomagnetic field intensity of the induction aerocar, at the moment, the earth rotation angular velocity is not required to be measured through a gyroscope, the current longitude and latitude and the current altitude of the aerocar are not required to be measured through a dual-antenna GNSS system, the current position information, the direction and the like of the aerocar can be directly obtained through a magnetic sensor, namely, the initial alignment technology of the aerocar strapdown inertial navigation system is achieved through the magnetic sensor, the heading information of the aerocar can be rapidly obtained through the magnetic sensor, so that the initial alignment speed of the strapdown inertial navigation system is improved, and even under the condition that the GNSS fails, the initial attitude of the aerocar can still be obtained through the magnetic sensor and the accelerometer, and the initial coarse alignment of the strapdown inertial navigation system is achieved.
102, controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain heading information of the aerocar;
in practical applications, after initial coarse alignment (i.e., alignment under static reference) of the inertial navigation system in the car is completed in a state where the car is stationary, transfer alignment on the motion base can be performed on the inertial navigation system in the car to complete fine alignment in a state where the car is traveling.
Specifically, the fine alignment performed when the aerocar is in a traveling state is required to be performed when the aerocar is in a moving state, and at the moment, the aerocar can be controlled to perform a maneuver corresponding to a preset driving scene, so as to obtain heading information of the aerocar determined by real-time attitude change measured in the maneuver process, and the aerocar is precisely aligned through the obtained heading information.
Wherein for a flying car, the preset driving scene can comprise both the aspects of driving on the ground and flying in the air, and then the maneuvering action corresponding to the preset driving scene can comprise the related driving behavior when driving on the ground and the related flying behavior when flying in the air. The embodiments of the present invention are not limited in this regard as to specific driving behavior and flight behavior.
And step 103, adjusting the initial gesture matrix according to the heading information of the flying automobile to obtain an aligned target gesture matrix.
In one embodiment of the invention, the heading information of the aerocar can be obtained from sensor data of the aerocar when the real-time attitude is changed, and the initial attitude matrix of the aerocar can be adjusted by adopting the heading information so as to realize the initial alignment of the inertial navigation system in the aerocar.
The initial posture matrix obtained only utilizes external information of the flying car, namely information provided by an inertia measurement assembly to roughly determine the posture matrix, for example, a parking position of the flying car can be provided with an interference magnetic field, a magnetic sensor is easily influenced by nearby ferromagnetic substances, the initial posture matrix obtained by measurement and transformation of the magnetic sensor before the flying car runs or before the flying car is only a rough value capable of meeting the requirement of rough alignment performance, an error exists between the initial posture matrix obtained and the posture matrix with higher accuracy, the error corresponds to a misalignment angle between a flying car coordinate system and a geographic coordinate system, a component exists in the horizontal direction of the geographic coordinate system after the specific force of the accelerometer is converted by the strapdown matrix, at the moment, the horizontal misalignment angle can be continuously evaluated, and particularly, the correction angular speed is generated by processing the measurement values of the sensors such as the accelerometer, the magnetic sensor and the gyroscope so as to be used for updating calculation of the posture matrix, and the obtained misalignment angle is driven to be reduced to zero as much as possible.
In practical application, the adjustment of the initial posture matrix is performed by determining a misalignment angle and adopting the misalignment angle, namely sensor data of the aerocar in the driving process or the flying process can be obtained in the navigation information, the contained sensor data can comprise sensor data of the current position posture and sensor data of the historical position posture, and at the moment, the misalignment angle of the aerocar can be obtained based on the sensor data of the current position posture and the sensor data of the historical position posture, so that the initial posture matrix is adjusted by adopting the misalignment angle of the aerocar, and the aligned target posture matrix is obtained.
In the embodiment of the invention, the initial posture matrix of the aerocar can be obtained based on the geomagnetic information of the aerocar, and the heading information of the aerocar is obtained when the aerocar is controlled to perform the maneuvering action corresponding to the preset driving scene, so that the heading information determined by the real-time posture change measured in the maneuvering action process can be adopted to adjust the initial posture matrix obtained based on the geomagnetic information to obtain the aligned target posture matrix, and the initial alignment of the inertial navigation system in the aerocar is realized. The initial alignment technology of the strapdown inertial navigation system of the aerocar is realized by adopting a magnetic sensor and adopting a magnetic sensor auxiliary double-antenna GNSS system, and the heading information of the aerocar can be rapidly obtained by means of geomagnetic information, so that the initial alignment speed of the strapdown inertial navigation system is improved; under the condition that the GNSS system fails, the flying car can be roughly aligned by means of geomagnetic information, and on the basis of completing the rough alignment of the flying car, the precise alignment of the flying car can be realized by setting different maneuvering scenes of the ground and the air of the flying car.
Referring to fig. 2, there is shown a flow chart of steps of another embodiment of an initial alignment method of a flying car of the present invention focusing on initial alignment of the flying car while traveling on the ground, which may specifically include the steps of:
Step 201, when the flying car is in a static state, acquiring geomagnetic information of the flying car, and acquiring an initial attitude matrix according to the geomagnetic information of the flying car;
in one embodiment of the invention, when the inertial navigation system in the aerocar is aligned on the static base, the initial attitude matrix of the coarse alignment can be obtained based on geomagnetic information of the aerocar in a scene that the aerocar is located in an underground garage or a GNSS signal is invalid, so that the accurate alignment of the inertial navigation system can be realized on the basis of the initial attitude matrix of the coarse alignment.
In practical application, the attitude information of the aerocar can be used for representing the conversion relation between the aerocar coordinate system and the geographic coordinate system, and then the initial attitude matrix for performing coarse alignment can be obtained based on the attitude information of the aerocar. The attitude information of the aerocar may include heading angle information, pitch angle information and roll angle information of the aerocar.
For the determination of attitude angle information, i.e. heading angle information of the aerocar, geomagnetic information which can be acquired by the magnetic sensor is generated based on the geomagnetic field intensity at which the induced aerocar is located, and can include current position information (such as longitude, latitude, altitude and the like) of the aerocar, geomagnetic field vector direction and the like, at the moment, magnetic azimuth angle information of the aerocar based on an aerocar coordinate system can be determined based on the geomagnetic field vector direction of the aerocar, and heading angle information based on a geographic coordinate system can be obtained according to the magnetic azimuth angle.
In a specific implementation, when the course angle information of the aerocar is determined, the current position information (including longitude, latitude and altitude) of the aerocar can be obtained based on the geomagnetic field vector direction of the aerocar, then the magnetic bias angle information of the current position is determined by adopting the current position information of the aerocar, and then the course angle information of the aerocar is obtained by adopting the magnetic bias angle information and the magnetic azimuth angle information through calculation.
In practical application, the geomagnetic field vector direction can be measured through a magnetic sensor, at the moment, magnetic azimuth information can be directly obtained through the sensor, and then the geomagnetic declination distribution map is queried according to the current position information of the aerocar to obtain local declination information, so that the current geographic azimuth (namely true azimuth, also called heading angle) of the aerocar can be obtained according to the magnetic azimuth information and the local declination information, namely heading angle = declination + magnetic azimuth.
The pitch angle information refers to an included angle between a machine body axis and a ground plane (horizontal plane), the roll angle information can refer to an included angle between a plane of symmetry of the aircraft and a vertical plane passing through a longitudinal axis of the aircraft body, for determining two attitude angle information of the pitch angle information and the roll angle information, the aerocar can be provided with an acceleration sensor, at the moment, the acceleration sensor can be used for measuring the force born by the carrier relative to the inertia control, a gravity acceleration component (namely a local gravity adding component) of the aerocar based on a coordinate system of the aerocar is obtained, and the accelerometer is used for determining the pitch angle information and the roll angle information of the aerocar based on the earth coordinate system by adopting the gravity acceleration component.
Step 202, controlling the aerocar to run on the ground at a constant speed, and obtaining the heading information of the aerocar on the ground so as to adjust an initial attitude matrix according to the heading information.
In one embodiment of the invention, the precise alignment of the inertial navigation system is realized on the basis of the initial gesture matrix of coarse alignment, which can be expressed as the transfer alignment on the mobile base of the inertial navigation system in the aerocar, namely, the precise alignment of the inertial navigation system is realized when the aerocar is in a running state.
Wherein for a flying car, the preset driving scene can comprise both the aspects of driving on the ground and flying in the air, and then the maneuvering action corresponding to the preset driving scene can comprise the related driving behavior when driving on the ground and the related flying behavior when flying in the air.
When the flying car is traveling on the ground, the maneuver corresponding to the driving scenario may include a uniform speed driving maneuver on the ground. Specifically, under the condition that the navigation positioning of the aerocar is effective, the aerocar is controlled to run on the ground at a constant speed, and differential positioning information of the aerocar in the running process and sensor data of the aerocar in the running process can be acquired at the moment so as to obtain the heading information of the aerocar on the ground by adopting the differential positioning information and the sensor data.
The differential positioning information can comprise positioning, speed and orientation information of the flying car, and the differential positioning of the flying car refers to the process of comparing with the actual coordinate value of a known control point on the ground to calculate and obtain the correction quantity of the mobile station in the measuring area, so that the measured value of the mobile station is corrected to obtain a more accurate measured value. In practical application, under the condition of good GNSS signal quality, the aerocar can acquire high-precision positioning, speed and orientation information by combining differential information of a ground reference station through a dual-antenna GNSS system and adopting a Real-time kinematic (RTK) technology, and the combined navigation system acquires accurate aerocar heading information by estimating through a Kalman technology.
In one embodiment of the invention, after the course information of the aerocar on the ground is obtained, the sensor data of the aerocar in different position postures in the obtained course information can be adopted to determine the misalignment angle so as to adjust the initial posture matrix by adopting the misalignment angle, and the aligned target posture matrix which can be used for aligning the aerocar coordinate system and the geographic coordinate system is obtained, so that the initial alignment of the inertial navigation system in the aerocar is completed.
In practical application, a kalman filter is generally adopted to realize adjustment of an attitude matrix, the kalman filter plays a role in data fusion, and the current state can be estimated only by inputting a current measured value (a plurality of sensor data) and an estimated value of the last period, namely, the misalignment angle of the flying car can be obtained based on the sensor data of the current position and the sensor data of the historical position and the attitude, so as to adjust an initial attitude matrix.
In the embodiment of the invention, the method for realizing the initial fine alignment of the strapdown inertial navigation system by realizing the coarse alignment of the static base by means of geomagnetic information and an accelerometer and then fusing the static base with a dual-antenna GNSS system to set the maneuvering action of the aerocar is provided, and the initial fine alignment of the strapdown inertial navigation system is realized by adopting a magnetic sensor to assist the dual-antenna GNSS system by adopting a magnetic sensor, so that the heading information of the aerocar can be quickly obtained by means of geomagnetic information, and the initial alignment speed of the strapdown inertial navigation system is improved; under the condition that a GNSS system fails, the flying car can be roughly aligned by means of geomagnetic information, and on the basis of completing the rough alignment of the flying car, the precise alignment of the flying car can be realized by setting different maneuvering scenes of the ground and the air of the flying car; after geomagnetic information is used as an auxiliary to realize the static base alignment of the aerocar, the aerocar can be subjected to dynamic reference alignment by setting the maneuvering action of the aerocar and corresponding driving scenes and fusing the double-antenna CNSS system, so that the initial fine alignment of the strapdown inertial navigation system is completed.
Referring to fig. 3, a flowchart illustrating steps of yet another embodiment of a method for initial alignment of a flying car of the present invention, focusing on initial alignment of the flying car while in air, may specifically include the steps of:
step 301, when a flying car is in a static state, acquiring geomagnetic information of the flying car, and acquiring an initial attitude matrix according to the geomagnetic information of the flying car;
in one embodiment of the invention, when the inertial navigation system in the aerocar is aligned on the static base, the initial attitude matrix of the coarse alignment can be obtained based on geomagnetic information of the aerocar in a scene that the aerocar is located in an underground garage or a GNSS signal is invalid, so that the accurate alignment of the inertial navigation system can be realized on the basis of the initial attitude matrix of the coarse alignment.
In practical application, the attitude information of the aerocar can be used for representing the conversion relation between the aerocar coordinate system and the geographic coordinate system, and then the initial attitude matrix for performing coarse alignment can be obtained based on the attitude information of the aerocar. The attitude information of the aerocar may include heading angle information, pitch angle information and roll angle information of the aerocar.
For the determination of attitude angle information, i.e. heading angle information of the aerocar, geomagnetic information which can be acquired by the magnetic sensor is generated based on the geomagnetic field intensity at which the induced aerocar is located, and can include current position information (such as longitude, latitude, altitude and the like) of the aerocar, geomagnetic field vector direction and the like, at the moment, magnetic azimuth angle information of the aerocar based on an aerocar coordinate system can be determined based on the geomagnetic field vector direction of the aerocar, and heading angle information based on a geographic coordinate system can be obtained according to the magnetic azimuth angle.
For the determination of the pitch angle information and the roll angle information, the flying car can be provided with an acceleration sensor, the force exerted by the carrier relative to the inertia control can be measured through the acceleration sensor, the gravity acceleration component (namely the local gravity acceleration component) of the flying car based on the flying car coordinate system can be obtained, and the pitch angle information and the roll angle information of the flying car based on the earth coordinate system can be determined by the accelerometer through the gravity acceleration component.
Step 302, controlling the flying car to fly in the air according to the preset shape, and obtaining the heading information of the flying car in the air so as to adjust the initial attitude matrix according to the heading information.
In one embodiment of the invention, the precise alignment of the inertial navigation system is realized on the basis of the initial gesture matrix of coarse alignment, which can be expressed as the transfer alignment on the mobile base of the inertial navigation system in the aerocar, namely, the precise alignment of the inertial navigation system is realized when the aerocar is in a running state.
Wherein for a flying car, the preset driving scene can comprise both the aspects of driving on the ground and flying in the air, and then the maneuvering action corresponding to the preset driving scene can comprise the related driving behavior when driving on the ground and the related flying behavior when flying in the air.
When the flying car is flying in the air, the maneuver corresponding to the driving scene may include a flying maneuver of a preset shape in the air. Specifically, under the condition that the navigation positioning of the aerocar is effective, the aerocar is controlled to fly in the air according to the preset shape, and at the moment, sensor data of the aerocar in the flight process can be obtained, so that the heading information of the aerocar in the air can be obtained by adopting the sensor data.
In practical application, the flying automobile flies into the air, and better GNSS signal quality can be obtained. Because no barrier shielding around the GNSS system is not excessively interfered, the GNSS system can obtain a positioning and speed measuring result with higher precision, and more accurate initial alignment is realized.
The flight actions of the preset shape performed by the aerocar in the air can be referred to as S-shaped maneuvering flight, the attitude information changes in real time in the flight process, and the errors of all the sensors can be analyzed and evaluated according to the collected sensor data, so that the alignment precision is improved, and the working precision of a navigation system is further improved.
It should be noted that, the flying action of the preset shape performed by the aerocar in the air can also adopt circular maneuver, acceleration maneuver or in-situ steering maneuver, and the motion parameters of the aerocar in the maneuver driving process can also be selected according to different scenes. The embodiments of the present invention are not limited in this regard.
In the embodiment of the invention, the method for realizing the initial fine alignment of the strapdown inertial navigation system by realizing the coarse alignment of the static base by means of geomagnetic information and an accelerometer and then fusing the static base with a dual-antenna GNSS system to set the maneuvering action of the aerocar is provided, and the initial fine alignment of the strapdown inertial navigation system is realized by adopting a magnetic sensor to assist the dual-antenna GNSS system by adopting a magnetic sensor, so that the heading information of the aerocar can be quickly obtained by means of geomagnetic information, and the initial alignment speed of the strapdown inertial navigation system is improved; under the condition that a GNSS system fails, the flying car can be roughly aligned by means of geomagnetic information, and on the basis of completing the rough alignment of the flying car, the precise alignment of the flying car can be realized by setting different maneuvering scenes of the ground and the air of the flying car; after geomagnetic information is used as an auxiliary to realize the static base alignment of the aerocar, the aerocar can be subjected to dynamic reference alignment by setting the maneuvering action of the aerocar and corresponding driving scenes and fusing the double-antenna CNSS system, so that the initial fine alignment of the strapdown inertial navigation system is completed.
In order to facilitate a person skilled in the art to further understand the initial alignment method of a flying car according to the embodiment of the present invention, the following description is given with reference to a schematic implementation process of the initial alignment method of a flying car:
in the embodiment of the invention, the coarse alignment of the static base is realized by means of geomagnetic information and an accelerometer, and then the coarse alignment is fused with a dual-antenna GNSS system to set the maneuvering action of the aerocar, so that the initial fine alignment of the strapdown inertial navigation system is completed. As shown in fig. 4, the initial alignment of the inertial navigation system in the car may include a process of completing the initial coarse alignment in a stopped state of the car and a process of completing the fine alignment in a traveling state of the car.
(1) The process of completing the initial coarse alignment in the stopped state of the flying car is embodied by transforming the initial pose matrix based on the pose information. The method can be applied to a scene that the flying car is in an underground garage or GNSS signals are invalid, at the moment, the geomagnetic field vector direction can be measured through a magnetic sensor, the magnetic azimuth angle can be directly obtained through the magnetic sensor, the current course angle information of the flying car is obtained based on the local magnetic declination, the pitch angle information and the roll angle information of the flying car are obtained through calculation based on the local gravity acceleration component output by an accelerometer, and finally the initial attitude matrix can be obtained through transformation of the three attitude angle information, so that coarse alignment is completed.
(2) The fine alignment process is performed under the running state of the aerocar, and is specifically implemented by adjusting an initial gesture matrix based on heading information obtained by maneuvering different driving scenes of the aerocar. Specifically, the flying car can be driven to a place where the satellite signals are normally received by the dual-antenna GNSS system, and initial fine alignment can be selected in the ground driving process or in the air flying process based on the maneuvering characteristics of the flying car and in combination with the current place situation of the flying car.
In a preferred embodiment, after controlling the aerocar to finish the maneuver under different driving scenes, the initial posture matrix may be adjusted, that is, the data of the dual-antenna GNSS system, the magnetic sensor and the accelerometer may be data fused by using a kalman filter technique to obtain a misalignment angle, and the initial posture matrix may be corrected by using the misalignment angle to calculate an accurate posture matrix, so as to finish the initial fine alignment of the aerocar when the obtained heading information is valid.
The method comprises the steps of a) carrying out initial fine alignment on the flying car in the ground running process, and acquiring differential positioning information of the flying car in the running process and sensor data estimation of the flying car in the running process to obtain accurate flying car heading information. Specifically, the flying car can be controlled to travel on the ground at a constant speed, for example, the flying car is controlled to travel on the ground at a constant speed of 25km/h for 100m, at this time, the position and the posture before the traveling can be recorded, and in the traveling process of the flying car, the errors of various sensors can be estimated and corrected; when the flying car stops after running for 200m, a state equation containing misalignment angle errors can be established based on the result of the rough alignment, information obtained by GNSS is used as measurement quantity, and then the Kalman filtering technology is adopted to estimate the misalignment angle so as to calculate the relation from a carrier coordinate system (namely the flying car coordinate system) to a navigation coordinate system (namely the geographic coordinate system) and correct an initial posture matrix obtained by the rough alignment, so that the fine alignment is completed, and the initial alignment of the flying car strapdown inertial navigation system is realized.
b) The initial fine alignment of the flying car in the air flight process can be the fine alignment of the S-shaped maneuver of the flying car in the flight state, namely the S-shaped maneuver of the flying car in the air can be controlled, the attitude information of the flying car in the flight process can be changed in real time, and the errors of all sensors can be analyzed and evaluated according to the acquired sensor data at the moment, so that the alignment precision is improved, and the working precision of a navigation system is further improved.
Specifically, when the aerocar flies in the air, the flying mode of the aerocar can be switched to a manual control mode, a pilot can drive the aerocar to fly at a speed of 5m/S, the aerocar is controlled to fly in an S-shaped maneuver, at the moment, the initial position gesture of the aerocar before flying can be recorded, and the initial data output by each sensor is recorded in real time in the flying process of the aerocar, so that after the aerocar is in flight, the precise alignment resolving program designed by the aerocar system is called to calculate the estimated misalignment angle so as to calculate the relation from a carrier coordinate system (namely the aerocar coordinate system) to a navigation coordinate system (namely a geographic coordinate system), and the precise gesture matrix is obtained by adjusting the initial gesture matrix obtained by rough alignment, thereby finishing the precise alignment of the whole strapdown inertial navigation system.
It should be noted that, after the flying car is controlled to fly to the sky after traveling on the ground, the navigation system may be further subjected to secondary fine alignment in the air after performing the initial fine alignment based on the ground according to actual needs, which is not limited in the embodiment of the present invention.
In the embodiment of the invention, the geomagnetism is adopted as an aid to improve the initial alignment speed and alignment precision of the aerocar, and the fine alignment of the aerocar is finished by setting different maneuvering scenes of the ground and the air of the aerocar, namely, the technique of adopting a magnetic sensor to aid a double-antenna GNSS system to realize the initial alignment of the strapdown inertial navigation system of the aerocar can be adopted, and the heading information of the aerocar can be rapidly acquired by virtue of the magnetic sensor, so that the initial alignment speed of the strapdown inertial navigation system is improved; the technology can be applied to more scenes, and even under the condition of GNSS failure, the initial attitude of the flying car can be obtained through the magnetic sensor and the accelerometer, so that the initial coarse alignment of the strapdown inertial navigation system is realized; and the technique can improve the accuracy of the initial alignment. The data of the magnetic sensor can be fused with the accelerometer and the double-antenna GNSS system to realize higher-precision initial alignment.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 5, there is shown a block diagram of an embodiment of an initial alignment device for a flying vehicle of the present invention, which may include the following modules:
the initial posture matrix acquisition module 501 is configured to acquire geomagnetic information of the flying car, and obtain an initial posture matrix according to the geomagnetic information of the flying car;
the course information obtaining module 502 is configured to control the aerocar to perform a maneuver corresponding to a preset driving scene, so as to obtain course information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuvering action;
And the gesture matrix adjustment module 503 is configured to adjust the initial gesture matrix according to heading information of the aerocar, so as to obtain an aligned target gesture matrix, so as to implement initial alignment of the inertial navigation system in the aerocar.
In one embodiment of the present invention, the geomagnetic information is generated based on sensing a geomagnetic field strength at which the flying car is located; the initial pose matrix acquisition module 501 may include the following sub-modules:
the geomagnetic field vector direction determining submodule is used for determining the geomagnetic field vector direction of the aerocar by sensing the geomagnetic field intensity of the aerocar;
the attitude information acquisition sub-module is used for acquiring a gravity acceleration component of the aerocar based on an aerocar coordinate system and acquiring the attitude information of the aerocar according to the geomagnetic field vector direction of the aerocar and the gravity acceleration component;
and the initial gesture matrix generation sub-module is used for transforming the gesture information of the flying automobile to obtain an initial gesture matrix.
In one embodiment of the invention, the attitude information of the flying car comprises course angle information, pitch angle information and roll angle information of the flying car; the gesture information acquisition sub-module may include the following units:
The heading angle information acquisition unit is used for determining magnetic azimuth angle information of the aerocar based on an aerocar coordinate system based on the geomagnetic field vector direction of the aerocar, and obtaining heading angle information based on a geographic coordinate system according to the magnetic azimuth angle;
and the pitch angle information acquisition unit is used for determining pitch angle information and roll angle information of the aerocar based on an earth coordinate system by adopting the gravity acceleration component.
In one embodiment of the present invention, the heading angle information acquisition unit may include the following sub-units:
the magnetic declination information determining subunit is used for acquiring the current position information of the aerocar based on the geomagnetic field vector direction of the aerocar and determining the magnetic declination information of the current position by adopting the current position information of the aerocar;
and the course angle information calculation unit is used for calculating the course angle information of the aerocar by adopting the magnetic deflection angle information and the magnetic azimuth angle information.
In one embodiment of the invention, the heading information acquisition module 502 may include the following sub-modules:
the sensor data acquisition sub-module is used for controlling the aerocar to run on the ground at a constant speed and acquiring differential positioning information of the aerocar in the running process and sensor data of the aerocar in the running process;
And the first course information acquisition sub-module is used for acquiring course information of the aerocar on the ground by adopting the differential positioning information and the sensor data.
In one embodiment of the invention, the heading information acquisition module 502 may include the following sub-modules:
the second course information acquisition sub-module is used for controlling the aerocar to fly in the air according to the preset shape to obtain sensor data of the aerocar in the flight process, and the course information of the aerocar in the air is obtained by adopting the sensor data.
In one embodiment of the present invention, the gesture matrix adjustment module 503 may include the following sub-modules:
the sensor data acquisition sub-module is used for acquiring sensor data of the aerocar in the driving process or the flying process from the course information; the sensor data comprises sensor data of a current position posture and sensor data of a historical position posture;
the misalignment angle determining sub-module is used for obtaining the misalignment angle of the aerocar based on the sensor data of the current position and the sensor data of the historical position and the attitude;
and the gesture matrix adjustment sub-module is used for adjusting the initial gesture matrix by adopting the misalignment angle of the flying automobile to obtain an aligned target gesture matrix.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides a flying automobile, which comprises:
the method comprises the initial alignment device of the aerocar, a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes all the processes of the initial alignment method embodiment of the aerocar when being executed by the processor, can achieve the same technical effect, and is not repeated here for avoiding repetition.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the initial alignment method embodiment of the aerocar and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above description of the initial alignment method of the aerocar and the initial alignment device of the aerocar provided by the invention applies specific examples to illustrate the principles and embodiments of the invention, and the above examples are only used to help understand the method and core ideas of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A method of initial alignment of a flying vehicle, the method comprising:
acquiring geomagnetic information of the aerocar, and acquiring an initial attitude matrix according to the geomagnetic information of the aerocar;
controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain heading information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuver, wherein the maneuver comprises maneuver which runs on the ground at a constant speed and flies in the air according to a preset shape;
and adjusting the initial gesture matrix according to the course information of the flying automobile to obtain an aligned target gesture matrix so as to realize initial alignment of an inertial navigation system in the flying automobile.
2. The method of claim 1, wherein the geomagnetic information is generated based on sensing a geomagnetic field strength at which the flying automobile is located; the obtaining an initial attitude matrix according to the geomagnetic information of the flying automobile comprises the following steps:
the geomagnetic field vector direction of the aerocar is determined by sensing the geomagnetic field intensity of the aerocar;
Acquiring a gravity acceleration component of the aerocar based on an aerocar coordinate system, and acquiring attitude information of the aerocar according to a geomagnetic field vector direction of the aerocar and the gravity acceleration component;
and transforming the attitude information of the flying automobile to obtain an initial attitude matrix.
3. The method of claim 2, wherein the attitude information of the flying car includes heading angle information, pitch angle information, and roll angle information of the flying car; the obtaining the attitude information of the aerocar according to the geomagnetic field vector direction and the gravity acceleration component of the aerocar comprises the following steps:
determining magnetic azimuth angle information of the aerocar based on an aerocar coordinate system based on the geomagnetic field vector direction of the aerocar, and obtaining heading angle information based on a geographic coordinate system according to the magnetic azimuth angle;
and determining pitch angle information and roll angle information of the aerocar based on an earth coordinate system by adopting the gravity acceleration component.
4. A method according to claim 3, wherein said deriving heading angle information based on a geographic coordinate system from said magnetic azimuth angle information comprises:
Acquiring current position information of the aerocar based on the geomagnetic field vector direction of the aerocar, and determining magnetic declination information of the current position by adopting the current position information of the aerocar;
and calculating the course angle information of the flying car by adopting the magnetic deflection angle information and the magnetic azimuth angle information.
5. The method of claim 1, wherein the controlling the flying car to perform a maneuver corresponding to a preset driving scenario to obtain heading information of the flying car comprises:
and controlling the aerocar to run on the ground at a constant speed, collecting differential positioning information of the aerocar in the running process and sensor data of the aerocar in the running process, and obtaining course information of the aerocar on the ground by adopting the differential positioning information and the sensor data.
6. The method of claim 1, wherein the controlling the flying car to perform a maneuver corresponding to a preset driving scenario to obtain heading information of the flying car comprises:
and controlling the flying automobile to fly in the air according to a preset shape, obtaining sensor data of the flying automobile in the flying process, and obtaining the heading information of the flying automobile in the air by adopting the sensor data.
7. The method of claim 1, wherein adjusting the initial pose matrix according to heading information of the flying vehicle to obtain an aligned target pose matrix comprises:
acquiring sensor data of the aerocar in the driving process or the flying process from the course information; the sensor data comprises sensor data of a current position posture and sensor data of a historical position posture;
obtaining a misalignment angle of the flying automobile based on the sensor data of the current position and the sensor data of the historical position and the attitude;
and adjusting the initial attitude matrix by adopting the misalignment angle of the flying automobile to obtain an aligned target attitude matrix.
8. An initial alignment device for a flying vehicle, the device comprising:
the initial attitude matrix acquisition module is used for acquiring geomagnetic information of the flying car and acquiring an initial attitude matrix according to the geomagnetic information of the flying car;
the course information acquisition module is used for controlling the aerocar to perform a maneuvering action corresponding to a preset driving scene to obtain course information of the aerocar; the course information of the flying automobile is determined by real-time attitude change measured in the process of maneuver, wherein the maneuver comprises maneuver which runs on the ground at a constant speed and flies in the air according to a preset shape;
The gesture matrix adjustment module is used for adjusting the initial gesture matrix according to the course information of the flying automobile to obtain an aligned target gesture matrix so as to realize initial alignment of an inertial navigation system in the flying automobile.
9. A flying vehicle, comprising: the initial alignment device of a flying car as claimed in claim 8, a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the steps of the initial alignment method of a flying car as claimed in any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the initial alignment method of a flying car according to any one of claims 1-7.
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| CN113928074B (en) * | 2021-11-26 | 2023-06-02 | 广东汇天航空航天科技有限公司 | Suspension system, aerocar, method and device for controlling aerocar |
| CN114545970A (en) * | 2022-02-23 | 2022-05-27 | 广东汇天航空航天科技有限公司 | Flight assisting method and device for aerocar, aerocar and medium |
| CN115507847A (en) * | 2022-11-07 | 2022-12-23 | 北京晨晶电子有限公司 | Multi-mode inertial navigation system and navigation information acquisition method |
| CN115755206A (en) * | 2022-11-09 | 2023-03-07 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Digital leveling compensation system and method for land gravimeter |
| CN117848324A (en) * | 2023-12-29 | 2024-04-09 | 河北美泰电子科技有限公司 | Wearable MEMS inertial sensor calibration method and device |
| CN117968681B (en) * | 2024-03-29 | 2024-07-05 | 北京大学 | Positioning method, positioning device, medium-crossing aircraft and storage medium |
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