CN101900572A - Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table - Google Patents

Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table Download PDF

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CN101900572A
CN101900572A CN 201010222120 CN201010222120A CN101900572A CN 101900572 A CN101900572 A CN 101900572A CN 201010222120 CN201010222120 CN 201010222120 CN 201010222120 A CN201010222120 A CN 201010222120A CN 101900572 A CN101900572 A CN 101900572A
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gyro
gyroscope
output valve
inside casing
degree
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CN101900572B (en
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孙枫
唐李军
周广涛
高伟
徐博
奔粤阳
于强
王武剑
吴磊
王伟
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Harbin Engineering University
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Harbin Engineering University
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Abstract

The present invention provides a rapid measuring method for installation error of a strapdown inertial system gyroscope based on a three-axle rotary table; the strapdown system is installed on a chassis of the three-axle table; sensing shafts of an Y gyroscope, a X gyroscope and a Z gyroscope are pointed at an inner frame, a middle frame and an outer frame of the rotary table, and the inner frame is pointed to the east, the middle frame is pointed to the north and the outer frame is pointed to the sky; the rotary table chooses the northeast direction to respectively adjust the angles of the inner frame, the middle frame and the outer frame to cause the Y gyroscope, the X gyroscope and the Z gyroscope to satisfy the output requirement to get the first to sixth installation errors of the gyroscope. The method separates the installation error from the standardizations of the gyroscope and avoids the influence caused by coupling each measuring parameter in the testing method for the standardizations of the gyroscope of the traditional speed experiments by directly and quickly measuring via the three-axle rotary table. Compared with the prior art, the method is simple and quick, has explicit physical conception, easy understanding and small calculation amount. Therefore, the method is a rapidly, directly and independently measuring method with higher precision.

Description

Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle table
Technical field
What the present invention relates to is a kind of measuring method of navigational material alignment error of navigation field.
Background technology
The strap down inertial navigation System response time is short, reliability is high, volume is little, in light weight, and have certain precision, be used in navigation field widely, have huge economic benefit.
Alignment error is an important component part of strap down inertial navigation Systematic error sources, therefore in real system, for improving accuracy of navigation systems, at first to accurately install gyro by accuracy requirement as far as possible, measure then and estimate alignment error, so that carry out correction-compensation, the adverse effect that the alignment error of reduction gyro is brought system.
The method of traditional measurement gyro misalignment is at the inertia device timing signal, obtains gyro misalignment by the experiment of turntable speed, and this process is consuming time long especially, and various measurement parameters and alignment error are coupled mutually, interact.
Summary of the invention
The object of the present invention is to provide a kind of rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle table that can improve the alignment error measuring accuracy.
The object of the present invention is achieved like this:
The present invention is based on the rapid measuring method for installation error of strapdown inertial system gyroscope of three-axle table, it is characterized in that:
(1) strapdown system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to east orientation, center refer to north orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment Y1, housing forward or reverse β then 1Spend, make the output valve and the ε of Y gyro herein Y1Unanimity, then θ Yz=0.5 β 1, θ YzBe gyro first alignment error;
(3) turntable is got the sky, northeast and is rotated 90 degree to, housing, writes down the output valve ε of Y gyro this moment Y2, then center rotates 180 degree, and then with center forward or reverse β 2Angle, make the output valve and the ε of Y gyro herein Y2Unanimity, then θ Yx=0.5 β 2, θ YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment X1, inside casing forward or reverse α then 1The angle, make the output valve and the ε of X gyro herein X1Unanimity, then θ Xy=0.5 α 1, θ XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ 1The angle, make the output valve and the ε of Z gyro herein Z1Unanimity, then θ Zy=0.5 γ 1, θ ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment Z2, housing forward or reverse γ next 2The angle, make the output valve and the ε of Z gyro herein Z2Unanimity, then θ Zx=0.5 γ 2, θ ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment X2, inside casing is rotating 180 degree, then again with inside casing forward or reverse α then 2The angle, make the output valve and the ε of X gyro herein X2Unanimity, then θ Xz=0.5 α 2, θ XzBe gyro the 6th alignment error.
Advantage of the present invention is: alignment error is separated from Gyro Calibration, by three-axle table directly, fast it is measured, avoided the influence that each measurement parameter intercouples and brings in the conventional rate experiment Gyro Calibration method of testing.Compared with prior art, this method is simple, fast, and physical concept is clear and definite, understands easily, and calculated amount is little, be a kind of fast, directly, independently, the higher measuring method of precision.
Description of drawings
Fig. 1 is six alignment error θ of gyro of the present invention Xy, θ Xz, θ Yx, θ Yz, θ Zx, θ ZyThe coordinate synoptic diagram;
Fig. 2 is gyro misalignment measuring principle Fig. 1 of the present invention;
Fig. 3 is gyro misalignment measuring principle Fig. 2 of the present invention;
Fig. 4 is a process flow diagram of the present invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Fig. 1 is six alignment error θ of gyro Xy, θ Xz, θ Yx, θ Yz, θ Zx, θ ZyCoordinate synoptic diagram, OXYZ are orthonormal coordinates system, OX bY bZ bThe non-orthogonal coordinate system of forming for three sensitive axes of gyro.OX ' is OX bProjection on the OZX of plane, the angle of the two are θ Xz, OX ' is θ with the OX angle Xy, OX like this bAnd the alignment error between the OX can be with above-mentioned two parameter θ Xz, θ XyDescribe; In like manner, OY ' is OY bProjection on the OXY of plane, OY bAnd the alignment error angle between the OY can be with two small angle theta Yx, θ YzDescribe; OZ ' is OZ bProjection on the OZY of plane, OZ bAnd the alignment error between the OZ also can be with two small angle theta Zy, θ ZxDescribe.
In conjunction with Fig. 2, Fig. 3, the installation error of strapdown inertial system gyroscope that is suitable for of the present invention determines that the principle of method is as follows:
Among Fig. 2, suppose the sensitive axes OX of X gyro bThe angle that departs from the OXZ face is θ, at this moment OX bAxle is at the ob place, and oa is the OXZ face, can write down the output valve of X gyro herein; Oa rotates 180 and spends oa ' and locate then, and then the X gyro turns to ob ' and locates, and " locates, makes that the output valve of X gyro equates with the output valve of ob place gyro herein, at this moment OX if upwards rotate oa to oa bAxle is positioned at ob, and " locating; ob then " is θ with the angle of OXZ face, and the OXZ face is from oa ' to oa, and " turned angle is 2 θ, writes down from oa ' to oa " turned angle, then the value of θ equals the OXZ face from oa ' to oa, and " half of rotational angle so just directly drawn the sensitive axes OX of X gyro bAngle with the OXZ face.Because rotational-angular velocity of the earth is only at local north orientation with day to angular velocity component is arranged, promptly important in the inside casing and the housing direction of three-axle table, therefore can only in the vertical guide of east-west direction, find two identical positions of gyroscope output valve when measuring certain angle with the plane, gyro must refer to east or west when promptly beginning, and rotates in the vertical guide of east-west direction then and seeks the output valve position identical with the initial place.Can directly measure θ by this principle Yx, θ Xz, θ Zy
Among Fig. 3, suppose the axle OY of Y gyro bFace OXY be projected as Oa ', obviously exist and OY on the right of north orientation bThe position of symmetry, identical certainly in the output valve of these two Y of symmetric position place gyros, based on this, write down the output valve ε of north orientation left side Y gyro earlier, the sky makes Y gyro output valve herein consistent with ε, then θ to the slow rotational angle θ of axle then Yz=0.5 θ.Can directly measure θ by this principle Xy, θ Zx, θ Yz
In conjunction with Fig. 4, the installation error of strapdown inertial system gyroscope that is suitable for of the present invention determines that method comprises the steps:
(1) strapdown system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to east orientation, center refer to north orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment Y1, housing forward or reverse β then 1Spend, make the output valve and the ε of Y gyro herein Y1Unanimity, then θ Yz=0.5 β 1, θ YzBe gyro first alignment error;
(3) turntable is got the sky, northeast and is rotated 90 degree to, housing, writes down the output valve ε of Y gyro this moment Y2, then center rotates 180 degree, and then with center forward or reverse β 2Angle, make the output valve and the ε of Y gyro herein Y2Unanimity, then θ Yx=0.5 β 2, θ YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment X1, inside casing forward or reverse α then 1The angle, make the output valve and the ε of X gyro herein X1Unanimity, then θ Xy=0.5 α 1, θ XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ 1The angle, make the output valve and the ε of Z gyro herein Z1Unanimity, then θ Zy=0.5 γ 1, θ ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment Z2, housing forward or reverse γ next 2The angle, make the output valve and the ε of Z gyro herein Z2Unanimity, then θ Zx=0.5 γ 2, θ ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment X2, inside casing is rotating 180 degree, then again with inside casing forward or reverse α then 2The angle, make the output valve and the ε of X gyro herein X2Unanimity, then θ Xz=0.5 α 2, θ XzBe gyro the 6th alignment error.
Wherein: θ Xy, θ Xz, θ Yx, θ Yz, θ Zx, θ ZyBe gyro first～the 6th alignment error; ε X1, ε X2Be the projection components of rotational-angular velocity of the earth on the X gyro, ε Y1, ε Y2Be the projection components of rotational-angular velocity of the earth on the Y gyro, ε Z1, ε Z2Be the projection components of rotational-angular velocity of the earth on the Z gyro, above-mentioned projection components is pulse signal; α 1Be the angle of step 4 intermediate station last moment around the inside casing rotation, α 2Be the angle of step 7 intermediate station last moment around the inside casing rotation, β 1Be the angle of step 2 intermediate station last moment around the housing rotation, β 2Be the angle of step 3 intermediate station last moment around the center rotation, γ 1Be the angle of step 5 intermediate station last moment around the inside casing rotation, γ 2Be the angle of step 6 intermediate station last moment around the housing rotation.

Claims (1)

1. based on the rapid measuring method for installation error of strapdown inertial system gyroscope of three-axle table, it is characterized in that:
(1) strapdown system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to east orientation, center refer to north orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment Y1, housing forward or reverse β then 1Spend, make the output valve and the ε of Y gyro herein Y1Unanimity, then θ Yz=0.5 β 1, θ YzBe gyro first alignment error;
(3) turntable is got the sky, northeast and is rotated 90 degree to, housing, writes down the output valve ε of Y gyro this moment Y2, then center rotates 180 degree, and then with center forward or reverse β 2Angle, make the output valve and the ε of Y gyro herein Y2Unanimity, then θ Yx=0.5 β 2, θ YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment X1, inside casing forward or reverse α then 1The angle, make the output valve and the ε of X gyro herein X1Unanimity, then θ Xy=0.5 α 1, θ XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ 1The angle, make the output valve and the ε of Z gyro herein Z1Unanimity, then θ Zy=0.5 γ 1, θ ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment Z2, housing forward or reverse γ next 2The angle, make the output valve and the ε of Z gyro herein Z2Unanimity, then θ Zx=0.5 γ 2, θ ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment X2, inside casing is rotating 180 degree, then again with inside casing forward or reverse α then 2The angle, make the output valve and the ε of X gyro herein X2Unanimity, then θ Xz=0.5 α 2, θ XzBe gyro the 6th alignment error.
CN2010102221208A 2010-07-09 2010-07-09 Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table Expired - Fee Related CN101900572B (en)

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CN102410845A (en) * 2011-08-16 2012-04-11 江苏惠通集团有限责任公司 Method and device for correcting error, detecting angular speed and controlling mouse, and space mouse
CN103925930A (en) * 2014-04-17 2014-07-16 哈尔滨工程大学 Compensation method for gravity meter biax gyrostabilized platform course error effect
CN103940443A (en) * 2014-03-11 2014-07-23 哈尔滨工程大学 Gyroscope error calibration method
CN106525073A (en) * 2016-09-27 2017-03-22 北京控制工程研究所 Inertial space gyro calibration test method based on three-shaft turntable
CN111272199A (en) * 2020-03-23 2020-06-12 北京爱笔科技有限公司 Method and device for calibrating installation error angle of IMU (inertial measurement Unit)
CN111664868A (en) * 2020-05-28 2020-09-15 北京航天时代光电科技有限公司 Method for calibrating and compensating installation error of single-axis gyroscope
CN115200613A (en) * 2022-09-14 2022-10-18 中国船舶重工集团公司第七0七研究所 Method for testing precision of quadrangular frustum pyramid installation surface of inertial navigation system

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CN102410845A (en) * 2011-08-16 2012-04-11 江苏惠通集团有限责任公司 Method and device for correcting error, detecting angular speed and controlling mouse, and space mouse
CN103940443A (en) * 2014-03-11 2014-07-23 哈尔滨工程大学 Gyroscope error calibration method
CN103940443B (en) * 2014-03-11 2017-02-08 哈尔滨工程大学 Gyroscope error calibration method
CN103925930A (en) * 2014-04-17 2014-07-16 哈尔滨工程大学 Compensation method for gravity meter biax gyrostabilized platform course error effect
CN103925930B (en) * 2014-04-17 2016-08-17 哈尔滨工程大学 A kind of compensation method of gravimeter biax gyrostabilized platform course error effect
CN106525073A (en) * 2016-09-27 2017-03-22 北京控制工程研究所 Inertial space gyro calibration test method based on three-shaft turntable
CN106525073B (en) * 2016-09-27 2019-07-12 北京控制工程研究所 A kind of inertial space Gyro Calibration test method based on three-axle table
CN111272199A (en) * 2020-03-23 2020-06-12 北京爱笔科技有限公司 Method and device for calibrating installation error angle of IMU (inertial measurement Unit)
CN111664868A (en) * 2020-05-28 2020-09-15 北京航天时代光电科技有限公司 Method for calibrating and compensating installation error of single-axis gyroscope
CN115200613A (en) * 2022-09-14 2022-10-18 中国船舶重工集团公司第七0七研究所 Method for testing precision of quadrangular frustum pyramid installation surface of inertial navigation system
CN115200613B (en) * 2022-09-14 2022-12-09 中国船舶重工集团公司第七0七研究所 Method for testing accuracy of quadrangular frustum pyramid installation surface of inertial navigation system

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