CN100554884C - Method for standardization of optimum 8 positions of flexure gyroscope - Google Patents

Abstract

The invention discloses a kind of method for standardization of optimum 8 positions of flexure gyroscope, is that flexure gyroscope is installed on the three shaft position rate tables, and flexure gyroscope links to each other with data acquisition equipment, and data acquisition equipment links to each other with computing machine; The present invention discloses specific orientation in the demarcation of optimum 8 positions, to optimum 8 positions coefficient of deviation and the flexible gyroscope static error compensation model G that obtains ₀The measured value compensation of carrying out has improved the output of flexure gyroscope effectively.The coefficient of deviation that in inertial navigation test center flexible gyroscope test process, adopts traditional 8 positions method and optimum 8 positions method to obtain respectively, the coefficient of deviation that utilizes two kinds of methods to obtain is objective respectively to the evaluation result after the gyro output compensation of other three positions, space, by gyro to measure value residual sum of square as seen, the more traditional 8 positions method of the result after the coefficient of deviation that utilizes the optimum 8 positions of flexure gyroscope test design method to find the solution compensates has improved 4～8 times.

Description

Method for standardization of optimum 8 positions of flexure gyroscope

Technical field

The present invention relates to a kind of scaling method that the flexure gyroscope position is carried out optimum 8 positions.The test position that explication goes out flexure gyroscope is the important tests process in flexure gyroscope test and the modeling field, is the important means that further improves the flexure gyroscope measuring accuracy.

Background technology

Flexure gyroscope is a kind of gyroscope of double freedom, because of its advantage at aspects such as precision, volume, cost and reliabilities is widely used in the various Navigation, Guidance and Control system.Yet in actual applications, exist in the angular velocity measurement value of flexure gyroscope because the drift error that various disturbance torque produces, these drift errors generally are made up of static drift error, dynamic deviation sum of errors Random Drift Error, wherein the major part that is the flexible gyroscope drift error by the kinetic static drift error of line also is flexible inertial navigation system main error.Therefore, design flexure gyroscope position test method is set up rational flexible gyroscope static error model and is compensated, and can improve the measuring accuracy of flexible gyroscope and the navigation accuracy of flexible inertial navigation system significantly.

At present, the coefficient of deviation of finding the solution in the flexible gyroscope static error model has two kinds of methods: 1) adopt traditional 8 positions test method of stipulating in IEEE Std813-1988 or the national military standard; 2) adopt 24 position test methods.But, 1., traditional 8 positions test method can not obtain once the coefficient of deviation in the flexible gyroscope static error model exactly there is following problem in above-mentioned two kinds of methods:, make with estimating that the coefficient of deviation that obtains carries out raising significantly of gyro to measure precision behind the flexible gyroscope static error compensation; 2., the once coefficient of deviation in the flexible gyroscope static error model estimated of 24 position test methods is compared its precision with traditional 8 positions test method and is improved, but estimated result is not an optimum once coefficient of deviation, and the operation time in the process of the test is long, the computing workload is bigger, and experimentation cost is higher.

Summary of the invention

In order to obtain the optimum coefficient of deviation in the flexible gyroscope static error model time saving and energy saving and exactly, the present invention proposes a kind of method for standardization of optimum 8 positions that is applicable to flexure gyroscope, the experiment of flexible gyroscope position is carried out in position according to the optimum quadrature 8 positions tabulation that proposes in the invention, can obtain the optimum coefficient of deviation in the flexible gyroscope static error model; The coefficient of deviation that adopts standardization of optimum 8 positions to obtain can reduce workload in the process of the test effectively, reduces experimentation cost; Adopt optimum coefficient of deviation to compensate and improved the gyro test precision.

A kind of method for standardization of optimum 8 positions of flexure gyroscope of the present invention is flexure gyroscope to be installed on the three shaft position rate tables, and flexure gyroscope links to each other with data acquisition equipment, and data acquisition equipment links to each other with computing machine; Position measurement software is installed in the described computing machine; It is characterized in that having following demarcation execution in step:

The first step: demarcate the optimum 8 positions orientation

First orientation: the X measurement axis sensing of flexure gyroscope " my god ", the Y measurement axis of flexure gyroscope is pointed to " west ", and the Z axis of rotation of flexure gyroscope points to " north ";

Second orientation: the X measurement axis sensing of flexure gyroscope " ", the Y measurement axis of flexure gyroscope is pointed to " north ", and the Z axis of rotation of flexure gyroscope points to " east ";

The third party position: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " my god ", the Z axis of rotation of flexure gyroscope points to " east ";

The position, four directions: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " ", the Z axis of rotation of flexure gyroscope points to " west ";

The 5th orientation: the X measurement axis of flexure gyroscope is pointed to " east ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " ";

The 6th orientation: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " east ", the Z axis of rotation sensing of flexure gyroscope " my god ";

The 7th orientation: the X measurement axis of flexure gyroscope is pointed to " west ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " my god ";

Eight directional: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " west ", the Z axis of rotation sensing of flexure gyroscope " ";

Second step: obtain coefficient of deviation

(A) data under traditional 8 positions are carried out flexible gyroscope static error model G ₁Resolve to obtain traditional 8 positions coefficient of deviation based on least square method;

(B) data under the optimum 8 positions are carried out flexible gyroscope static error model G ₁Resolve to obtain the optimum 8 positions coefficient of deviation based on least square method;

Described flexible gyroscope static error model

$G_1=\left[\begin{array}{c}{i}_x\\ i_y\end{array}\right]=\left[\begin{array}{c}{U}_0\\ V_0\end{array}\right]+\left[\begin{array}{cc}{U}_1& U_2\\ V_1& V_2\end{array}\right]\left[\begin{array}{c}{\text{\ω}}_Y\\ {\mathrm{\ω}}_X\end{array}\right]+\left[\begin{array}{cc}{U}_3& U_4\\ V_3& V_4\end{array}\right]\left[\begin{array}{c}{a}_X\\ a_Y\end{array}\right]+\left[\begin{array}{c}{U}_5\\ V_5\end{array}\right]a_Z,$

Wherein, $U_1=\frac{\cos (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$ $U_2=\frac{\sin (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$

$V_1=\frac{-\sin \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$ $V_2=\frac{\cos \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$

U ₀＝U ₁×D(X) _F+U ₂×D(Y) _F，V ₀＝V ₁×D(X) _F+V ₂×D(Y) _F，

U ₃＝U ₁×D(X) _X+U ₂×D(Y) _X，U ₄＝U ₁×D(X) _Y+U ₂×D(Y) _Y，

V ₃＝V ₁×D(X) _X+V ₂×D(Y) _X，V ₄＝V ₁×D(X) _Y+V ₂×D(Y) _Y，

U ₅＝U ₁×D(X) _Z+U ₂×D(Y) _Z，V ₅＝V ₁×D(X) _Z+V ₂×D(Y) _Z；

The 3rd step: the measured value to the optimum 8 positions orientation compensates

Utilize flexible gyroscope static error compensation model G ₀The flexure gyroscope outputting measurement value is compensated the measured value that obtains after the compensation with the optimum 8 positions coefficient of deviation;

Described flexible gyroscope static error compensation model is

$G_0=\left\{\begin{array}{c}D\left(X\right)=D{\left(X\right)}_F+D{\left(X\right)}_X{a}_X+D{\left(X\right)}_Y{a}_Y+D{\left(X\right)}_Z{a}_z\\ D\left(Y\right)={D\left(Y\right)}_F+D{\left(Y\right)}_X{a}_X+D{\left(Y\right)}_Y{a}_Y+D{\left(Y\right)}_Z{a}_z\end{array}\right\}.$

The advantage of method for standardization of optimum 8 positions of flexure gyroscope of the present invention is: the once coefficient of deviation in the flexible gyroscope static error model that (1) optimum 8 positions of flexure gyroscope test design method obtains, and the high 4-8 of precision that compares with the coefficient of deviation that traditional 8 positions test method of stipulating in IEEEStd 813-1988 or the national military standard obtains is doubly; (2) the optimum 8 positions of flexure gyroscope test design method is compared time saving and energy savingly with 24 traditional position gyro method of testings, greatly reduces experimentation cost; (3) the optimum 8 positions of flexure gyroscope test design method can estimate accurately influences the flexible gyroscope accuracy factors, be the once coefficient of deviation in the flexible gyroscope static error model, the optimum coefficient of deviation that utilizes the optimum 8 positions test design method to obtain carries out the precision of flexible gyroscope to be improved 3～5 times after the flexible gyroscope error compensation; (4) the optimum 8 positions of flexure gyroscope test design method also is applicable to demarcate and finds the solution an once coefficient of deviation of other type gyro static error model, has stronger versatility.

Description of drawings

Fig. 1 is the structural representation of finding the solution flexible gyroscope static error experimental provision.

Fig. 2 is each orientation sketch of optimum 8 positions of the present invention.

Embodiment

The present invention is described in further detail below in conjunction with drawings and Examples.

Referring to shown in Figure 1, flexure gyroscope is installed on the three shaft position rate tables, and flexure gyroscope links to each other with data acquisition equipment, and data acquisition equipment links to each other with computing machine, and flexible gyroscope static error model system is found the solution in having connected and composed of above-mentioned device.Computing machine is based on the device of PC, store operating system software (as windows XP) in the internal storage, and being applicable to " the position measurement software " that is used to obtain measurement data under the flexure gyroscope diverse location environment, this position measurement software is mainly used in traditional 8 positions that (data acquisition equipment) collected, the position data of optimum 8 positions saves as ^*.dat form is with calling once more of handled easily person.Position data includes the X-axis umber of pulse i of flexure gyroscope _x, Y-axis umber of pulse i _yIn the present invention, the position measurement software essence of installing in the computing machine is a kind of conventional switching software that data are preserved form, this software is ubiquity comparatively in the market, as the word2007 version being converted to a kind of software that word2003 version or low copyright can be used, as the height copyright unloading in the drawing etc.

Obtaining of position data is after finding the solution flexible gyroscope static error model system and carrying out initialization, at first carry out the steady state test of flexure gyroscope, if the steady state test of flexure gyroscope normal (be gyro to measure value residual sum of square less than 100 pulses square), then rotate three shaft position rate tables according to traditional 8 positions, optimum 8 positions respectively, the outputting measurement value of flexure gyroscope is undertaken exporting to after the data acquisition by data acquisition equipment and preserves in the computing machine and call once more on each position.After the flexure gyroscope outputting measurement value collection under all positions is finished, traditional 8 positions, all data of optimum 8 positions of collecting are carried out flexible gyroscope static error model G ₁Resolve to obtain traditional 8 positions coefficient of deviation and optimum 8 positions coefficient of deviation based on least square method; Utilize (A) compensation model G then ₀With traditional 8 positions coefficient of deviation, (B) compensation model G ₀Respectively the flexure gyroscope outputting measurement value is compensated the measured value that obtains after the compensation with the optimum 8 positions coefficient of deviation.

In the present invention, flexible gyroscope static error model G ₁For:

$G_1=\left[\begin{array}{c}{i}_x\\ i_y\end{array}\right]=\left[\begin{array}{c}{U}_0\\ V_0\end{array}\right]+\left[\begin{array}{cc}{U}_1& U_2\\ V_1& V_2\end{array}\right]\left[\begin{array}{c}{\text{\ω}}_Y\\ {\mathrm{\ω}}_X\end{array}\right]+\left[\begin{array}{cc}{U}_3& U_4\\ V_3& V_4\end{array}\right]\left[\begin{array}{c}{a}_X\\ a_Y\end{array}\right]+\left[\begin{array}{c}{U}_5\\ V_5\end{array}\right]a_Z,$

Wherein, $U_1=\frac{\cos (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$ $U_2=\frac{\sin (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$

$V_1=\frac{-\sin \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$ $V_2=\frac{\cos \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$

U ₀＝U ₁×D(X) _F+U ₂×D(Y) _F，V ₀＝V ₁×D(X) _F+V ₂×D(Y) _F，

U ₃＝U ₁×D(X) _X+U ₂×D(Y) _X，U ₄＝U ₁×D(X) _Y+U ₂×D(Y) _Y，

V ₃＝V ₁×D(X) _X+V ₂×D(Y) _X，V ₄＝V ₁×D(X) _Y+V ₂×D(Y) _Y，

U ₅＝U ₁×D(X) _Z+U ₂×D(Y) _Z，V ₅＝V ₁×D(X) _Z+V ₂×D(Y) _Z。

In the formula: i _xThe pairing umber of pulse of torquer electric current of expression flexure gyroscope X measurement axis,

i _yThe pairing umber of pulse of torquer electric current of expression flexure gyroscope Y measurement axis,

ω _XThe component of expression rotational-angular velocity of the earth on flexure gyroscope X measurement axis,

ω _YThe component of expression rotational-angular velocity of the earth on flexure gyroscope Y measurement axis,

a _XComponent of acceleration on the expression flexure gyroscope X measurement axis,

a _YComponent of acceleration on the expression flexure gyroscope Y measurement axis,

a _ZComponent of acceleration on the expression flexure gyroscope Z axis of rotation,

(SF) _XThe torquer calibration factor of expression flexure gyroscope X measurement axis,

(SF) _YThe torquer calibration factor of expression flexure gyroscope Y measurement axis,

ε represents the angle between the housing X-axis of the torquer X-axis of flexure gyroscope and flexure gyroscope,

ξ represents the angle between the housing Y-axis of the torquer Y-axis of flexure gyroscope and flexure gyroscope.

In the present invention, flexible gyroscope static error compensation model G ₀For:

$G_0=\left\{\begin{array}{c}D\left(X\right)=D{\left(X\right)}_F+D{\left(X\right)}_X{a}_X+D{\left(X\right)}_Y{a}_Y+D{\left(X\right)}_Z{a}_z\\ D\left(Y\right)={D\left(Y\right)}_F+D{\left(Y\right)}_X{a}_X+D{\left(Y\right)}_Y{a}_Y+D{\left(Y\right)}_Z{a}_z\end{array}\right\}$

, in the formula, the drift value of D (X) expression flexure gyroscope X measurement axis,

The drift value of D (Y) expression flexure gyroscope Y measurement axis,

D (X) _FRepresent flexure gyroscope around X measurement axis and the irrelevant coefficient of deviation of acceleration,

D (Y) _FRepresent flexure gyroscope around Y measurement axis and the irrelevant coefficient of deviation of acceleration,

D (X) _XFlexure gyroscope is around the X measurement axis coefficient of deviation relevant with the acceleration first power in the expression X measurement axis,

D (X) _YFlexure gyroscope is around the Y measurement axis coefficient of deviation relevant with the acceleration first power in the expression X measurement axis,

D (X) _ZFlexure gyroscope is around the Z axis of rotation coefficient of deviation relevant with the acceleration first power in the expression X measurement axis,

D (Y) _XFlexure gyroscope is around the X measurement axis coefficient of deviation relevant with the acceleration first power in the expression Y measurement axis,

D (Y) _YFlexure gyroscope is around the Y measurement axis coefficient of deviation relevant with the acceleration first power in the expression Y measurement axis,

D (Y) _ZFlexure gyroscope is around the Z axis of rotation coefficient of deviation relevant with the acceleration first power in the expression Y measurement axis,

a _XComponent of acceleration on the expression flexure gyroscope X measurement axis,

a _YComponent of acceleration on the expression flexure gyroscope Y measurement axis,

a _ZComponent of acceleration on the expression flexure gyroscope Z axis of rotation.

In the present invention, for optimum 8 positions, be meant that testing eight uniformly dispersed good locus choosing 24 kinds of different gyro coordinate system orientations from quadrature position is orientated as the testing site, all directions sketch of optimum 8 positions sees also shown in Figure 2.

In the present invention, for the optimum coefficient of deviation in the flexible gyroscope static error model, be meant that the flexible gyroscope static error model coefficient of deviation that is obtained by flexible gyroscope optimum 8 positions experimental test data is near the coefficient of deviation true value, after the optimum coefficient of deviation that is obtained by demarcation carries out the flexible gyroscope static error compensation, can further improve the measuring accuracy of flexible gyroscope.

In the present invention, to the demarcation (each orientation is as shown in Figure 2) as described below in the optimum 8 positions orientation of flexure gyroscope:

First orientation: the X measurement axis sensing of flexure gyroscope " my god ", the Y measurement axis of flexure gyroscope is pointed to " west ", and the Z axis of rotation of flexure gyroscope points to " north ".

Second orientation: the X measurement axis sensing of flexure gyroscope " ", the Y measurement axis of flexure gyroscope is pointed to " north ", and the Z axis of rotation of flexure gyroscope points to " east ".

The third party position: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " my god ", the Z axis of rotation of flexure gyroscope points to " east ".

The position, four directions: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " ", the Z axis of rotation of flexure gyroscope points to " west ".

The 5th orientation: the X measurement axis of flexure gyroscope is pointed to " east ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " ".

The 6th orientation: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " east ", the Z axis of rotation sensing of flexure gyroscope " my god ".

The 7th orientation: the X measurement axis of flexure gyroscope is pointed to " west ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " my god ".

Eight directional: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " west ", the Z axis of rotation sensing of flexure gyroscope " ".

Described optimum 8 positions satisfies the 8 positions space distribution of table 1, and wherein, X, Y, Z are respectively the measurement axis (X measurement axis, Y measurement axis) and the axis of rotation of flexure gyroscope; ω _IeBe the spin velocity of the earth with respect to inertial space, ω _NBe rotational-angular velocity of the earth ω under the diverse location _IeAt the angular velocity component (being called for short north orientation angular velocity) of the north orientation of flexure gyroscope, ω _UBe rotational-angular velocity of the earth ω under the diverse location _IeIn the sky of flexure gyroscope to angular velocity component (be called for short day to angular velocity), Ω is the earth rotation angle, φ is a local latitude, g is the suffered acceleration of gravity of unit mass object, orientation is down for just.Wherein, north orientation angular velocity omega _NSatisfy ω with earth rotation angle Ω, local latitude φ _N=Ω cos φ; It is to angular velocity omega _USatisfy ω with earth rotation angle Ω, local latitude φ _U=Ω sin φ.

Include X measurement axis, Y measurement axis in the described flexible gyroscope steady state test process, described X measurement axis, Y measurement axis are pointed to east respectively and are (n 〉=6) repeated experiments n time, and each time remaining 10min includes in each process of the test:

The number N of X measurement axis and Y measurement axis sampled point _i(i=1～n);

N in the i time test of X measurement axis and Y measurement axis _i(the single sampled point X of individual sampled point of i=1～n) _Ik, Y _Ik(i=1～n, k=1～N _i);

X measurement axis and Y measurement axis N _i(the mean value D (X) of individual sampled point of i=1～n) _0i, D (Y) _0i

X measurement axis and Y measurement axis N _iN (the mean value D (X) of individual sampled point of i=1～n), D (Y);

The repetitive error quadratic sum SS of X measurement axis and Y measurement axis _EDX0, SS _EDY0, and X measurement axis N _i(the mean value of individual sampled point of i=1～n) ${D\left(X\right)}_{0i}=\frac{1}{N_i}\underset{k=1}{\overset{N_i}{\mathrm{\Σ}}}{X}_{\mathrm{ik}},i=1~n,$ Y measurement axis N _i(the mean value of individual sampled point of i=1～n) ${D\left(Y\right)}_{0i}=\frac{1}{N_i}\underset{k=1}{\overset{N_i}{\mathrm{\Σ}}}{Y}_{\mathrm{ik}},i=1~n.$

X measurement axis N _iN (the mean value of individual sampled point of i=1～n) $\stackrel{\‾}{D}\left(X\right)=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}D{\left(X\right)}_{0i},i=1~n,$

Y measurement axis N _iN (the mean value of individual sampled point of i=1～n) $\stackrel{\‾}{D}\left(Y\right)=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}D{\left(Y\right)}_{0i},i=1~n,$

The repetitive error quadratic sum SS of X measurement axis _EDX0=∑ (D (X) _0i-D (X)) ², i=1～n,

The repetitive error quadratic sum SS of Y measurement axis _EDY0=∑ (D (Y) _0i-D (Y)) ², i=1～n.

Optimum 8 positions of flexure gyroscope test design method of the present invention includes following treatment step:

The first step: three shaft position rate tables, flexure gyroscope, data acquisition equipment and computing machine are connected according to Fig. 1 mode, and it is correct to detect the assurance connection by test unit;

Second step: the X measurement axis of adjusting flexure gyroscope is pointed to " east ", switches on after 3 minutes, is n time continuously and repeats steady state test, and data acquisition equipment is preserved the test data of gathering with steady state test .dat form;

The 3rd step: the Y measurement axis of adjusting flexure gyroscope is pointed to " east ", switches on after 3 minutes, is n time continuously and repeats steady state test, and data acquisition equipment is preserved the test data of gathering with steady state test .dat form;

The 4th step: the data that computing machine reading of data collecting device is gathered, and, obtain the repetitive error quadratic sum SS of flexure gyroscope X measurement axis by steady state test test data handling procedure _EDX0Repetitive error quadratic sum SS with the Y measurement axis _EDY0

If arbitrary repetitive error square then stops test greater than 100 pulses square.If diaxon repetitive error quadratic sum all less than 100 pulses square, is then proceeded the following steps test.

The 5th step: rotate three shaft position rate tables according to the position in the table 1 and come image data, and eliminate wild value, utilize the impulsive measurement value i that eliminates wild value then by the test data handling procedure in the computing machine _X, i _YWith known ω _X, ω _Y, a _X, a _Y, a _Y, adopt least square method to obtain flexible gyroscope static error compensation model G ₀In coefficient of deviation.

Embodiment

See also shown in the table 2, respectively to the data acquisition of carrying out under each orientation, and to the data that gather to obtain according to flexible gyroscope static error model G ₁Parsing obtains coefficient of deviation, then according to flexible gyroscope static error compensation model G ₀Compensate.As seen adopt the traditional relatively 8 positions test method of optimum 8 positions test method precision to improve greatly.

The present invention proposes a kind of optimum 8 positions of flexure gyroscope test design method, utilized the principle design of D-optiaml ciriterion to go out to be convenient to estimate the optimum 8 positions test of flexible gyroscope static error model coefficient of deviation, table 2 is the coefficient of deviations that adopt traditional 8 positions method and optimum 8 positions test design method to obtain respectively in inertial navigation test center flexible gyroscope test process, table 3 is that the coefficient of deviation that utilizes two kinds of methods to obtain is objective respectively to the evaluation result after the gyro output compensation of other three positions, space, by gyro to measure value residual sum of square as seen, the more traditional 8 positions method of the result after the coefficient of deviation that utilizes the optimum 8 positions of flexure gyroscope test design method to find the solution compensates has improved 4～8 times.Thereby optimum 8 positions of flexure gyroscope test design method as can be known, estimate the coefficient of deviation of error model exactly, improved the measuring accuracy of flexible gyroscope, significantly reduced the gyro test time simultaneously, reduced experimentation cost, in addition, the optimum 8 positions test design method of invention has stronger versatility, can be applied to well in other type gyro ground calibration process.

The optimum quadrature 8 positions of table 1 space distribution

Test result under two kinds of diverse location definition of table 2

The Y-axis coefficient	U 0	U 1	U 2	U 3	U 4	U 5
							The tradition 8 positions	-88.2917	13.8319	-0.1846	-38.5564	-7.6838	0.3500
Optimum 8 positions	-87.5823	13.8895	-0.0325	-38.4089	-4.6462	-0.2833
							The X-axis coefficient	V 0	V 1	V 2	V 3	V 4	V 5
The tradition 8 positions	-30.0896	0.1062	13.9443	7.6994	-38.7559	0.6646
							Optimum 8 positions	-31.4083	-0.0263	13.9992	4.6215	-38.6138	1.7708

Table 3 evaluation result

Claims (2)

1, a kind of method for standardization of optimum 8 positions of flexure gyroscope is flexure gyroscope to be installed on the three shaft position rate tables, and flexure gyroscope links to each other with data acquisition equipment, and data acquisition equipment links to each other with computing machine; Position measurement software is installed in the described computing machine; It is characterized in that having following demarcation execution in step:

The first step: demarcate the optimum 8 positions orientation

First orientation: the X measurement axis sensing of flexure gyroscope " my god ", the Y measurement axis of flexure gyroscope is pointed to " west ", and the Z axis of rotation of flexure gyroscope points to " north ";

Second orientation: the X measurement axis sensing of flexure gyroscope " ", the Y measurement axis of flexure gyroscope is pointed to " north ", and the Z axis of rotation of flexure gyroscope points to " east ";

The third party position: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " my god ", the Z axis of rotation of flexure gyroscope points to " east ";

The position, four directions: the X measurement axis of flexure gyroscope is pointed to " north ", the Y measurement axis sensing of flexure gyroscope " ", the Z axis of rotation of flexure gyroscope points to " west ";

The 5th orientation: the X measurement axis of flexure gyroscope is pointed to " east ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " ";

The 6th orientation: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " east ", the Z axis of rotation sensing of flexure gyroscope " my god ";

The 7th orientation: the X measurement axis of flexure gyroscope is pointed to " west ", and the Y measurement axis of flexure gyroscope is pointed to " south ", the Z axis of rotation sensing of flexure gyroscope " my god ";

Eight directional: the X measurement axis of flexure gyroscope is pointed to " south ", and the Y measurement axis of flexure gyroscope is pointed to " west ", the Z axis of rotation sensing of flexure gyroscope " ";

Second step: obtain coefficient of deviation

(A) data under traditional 8 positions are carried out flexible gyroscope static error model G ₁Resolve to obtain traditional 8 positions coefficient of deviation based on least square method;

(B) data under the optimum 8 positions are carried out flexible gyroscope static error model G ₁Resolve to obtain the optimum 8 positions coefficient of deviation based on least square method;

Described flexible gyroscope static error model

$G_1=\left[\begin{array}{c}{i}_x\\ i_y\end{array}\right]=\left[\begin{array}{c}{U}_0\\ V_0\end{array}\right]+\left[\begin{array}{cc}{U}_1& U_2\\ V_1& V_2\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_Y\\ {\mathrm{\ω}}_X\end{array}\right]+\left[\begin{array}{cc}{U}_3& U_4\\ V_3& V_4\end{array}\right]\left[\begin{array}{c}{a}_X\\ a_Y\end{array}\right]+\left[\begin{array}{c}{U}_5\\ V_5\end{array}\right]a_Z,$

Wherein, $U_1=\frac{\cos (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$ $U_2=\frac{\sin (\mathrm{\ϵ}+\mathrm{\ξ})}{{\left(\mathrm{SF}\right)}_Y\cos \mathrm{\ξ}},$

$V_1=\frac{-\sin \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$ $V_2=\frac{\cos \mathrm{\ϵ}}{{\left(\mathrm{SF}\right)}_X\cos \mathrm{\ξ}},$

U ₀＝U ₁×D(X) _F+U ₂×D(Y) _F，V ₀＝V ₁×D(X) _F+V ₂×D(Y) _F，

U ₃＝U ₁×D(X) _X+U ₂×D(Y) _X，U ₄＝U ₁×D(X) _Y+U ₂×D(Y) _Y，

V ₃＝V ₁×D(X) _X+V ₂×D(Y) _X，V ₄＝V ₁×D(X) _Y+V ₂×D(Y) _Y，

U ₅＝U ₁×D(X) _Z+U ₂×D(Y) _Z，V ₅＝V ₁×D(X) _Z+V ₂×D(Y) _Z，

In the formula: i _xThe pairing umber of pulse of torquer electric current of expression flexure gyroscope X measurement axis, i _yThe pairing umber of pulse of torquer electric current of expression flexure gyroscope Y measurement axis, ω _XThe component of expression rotational-angular velocity of the earth on flexure gyroscope X measurement axis, ω _YThe component of expression rotational-angular velocity of the earth on flexure gyroscope Y measurement axis, a _XComponent of acceleration on the expression flexure gyroscope X measurement axis, a _YComponent of acceleration on the expression flexure gyroscope Y measurement axis, a _ZComponent of acceleration on the expression flexure gyroscope Z axis of rotation, (SF) _XThe torquer calibration factor of expression flexure gyroscope X measurement axis, (SF) _YThe torquer calibration factor of expression flexure gyroscope Y measurement axis, ε are represented the angle between the housing X-axis of the torquer X-axis of flexure gyroscope and flexure gyroscope, and ξ represents the angle between the housing Y-axis of the torquer Y-axis of flexure gyroscope and flexure gyroscope;

The 3rd step: the measured value to the optimum 8 positions orientation compensates

Utilize flexible gyroscope static error compensation model G ₀The flexure gyroscope outputting measurement value is compensated the measured value that obtains after the compensation with the optimum 8 positions coefficient of deviation;

Described flexible gyroscope static error compensation model is

$G_0=\left\{\begin{array}{c}D\left(X\right)=D{\left(X\right)}_F+D{\left(X\right)}_X{a}_X+D{\left(X\right)}_Y{a}_Y+D{\left(X\right)}_Z{a}_z\\ D\left(Y\right)=D{\left(Y\right)}_F+D{\left(Y\right)}_X{a}_X+D{\left(Y\right)}_Y{a}_Y+D{\left(Y\right)}_Z{a}_z\end{array}\right\},$

In the formula, the drift value of D (X) expression flexure gyroscope X measurement axis, the drift value of D (Y) expression flexure gyroscope Y measurement axis, D (X) _FThe expression flexure gyroscope is around X measurement axis and the irrelevant coefficient of deviation of acceleration, D (Y) _FThe expression flexure gyroscope is around Y measurement axis and the irrelevant coefficient of deviation of acceleration, D (X) _XFlexure gyroscope is around the X measurement axis coefficient of deviation relevant with the acceleration first power, D (X) in the expression X measurement axis _YFlexure gyroscope is around the Y measurement axis coefficient of deviation relevant with the acceleration first power, D (X) in the expression X measurement axis _ZFlexure gyroscope is around the Z axis of rotation coefficient of deviation relevant with the acceleration first power, D (Y) in the expression X measurement axis _XFlexure gyroscope is around the X measurement axis coefficient of deviation relevant with the acceleration first power, D (Y) in the expression Y measurement axis _YFlexure gyroscope is around the Y measurement axis coefficient of deviation relevant with the acceleration first power, D (Y) in the expression Y measurement axis _ZFlexure gyroscope is around the Z axis of rotation coefficient of deviation relevant with the acceleration first power, a in the expression Y measurement axis _XComponent of acceleration on the expression flexure gyroscope X measurement axis, a _YComponent of acceleration on the expression flexure gyroscope Y measurement axis, a _ZComponent of acceleration on the expression flexure gyroscope Z axis of rotation.

2, method for standardization of optimum 8 positions of flexure gyroscope according to claim 1 is characterized in that: gather 6 secondary data at least on each selected orientation, each time remaining 10min.

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