CN102519448A - Quick north-finding method based on optical fiber gyroscope - Google Patents

Quick north-finding method based on optical fiber gyroscope Download PDF

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CN102519448A
CN102519448A CN201110421361XA CN201110421361A CN102519448A CN 102519448 A CN102519448 A CN 102519448A CN 201110421361X A CN201110421361X A CN 201110421361XA CN 201110421361 A CN201110421361 A CN 201110421361A CN 102519448 A CN102519448 A CN 102519448A
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optical fibre
north
fibre gyro
time
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律新伟
舒晓武
刘承
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Zhejiang University ZJU
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Abstract

The invention discloses a quick north-finding method based on an optical fiber gyroscope, which comprises the following steps of: firstly, adjusting a rotary table, and fixing the optical fiber gyroscope; then, collecting and storing the output sequences of the optical fiber gyroscope at all the positions, obtaining a reverse sequence by reverse storage, and modeling all the sequences by an autoregressive integrated moving average model (ARIMA) (2, 1, 1); establishing a Kalman-stable equation and a measurement equation, carrying out Kalman filtering on all the sequences, and confirming the output of the initial time and the finish time of measurement; and finally, calculating the initial azimuth angle, and realizing quick north-finding based on the optical fiber gyroscope. The quick north-finding method overcomes the influence of zero deviation change for the north-finding accuracy in the starting process of the optical fiber gyroscope, so that the optical fiber gyroscope can be used for finding north after being electrified, the north-finding time can be shortened, and the north-finding accuracy is simultaneously guaranteed.

Description

A kind of Quick north-finding method based on optical fibre gyro
Technical field
The present invention relates to a kind of north finding method, more particularly to a kind of Quick north-finding method based on optical fibre gyro.
Background technology
Optical fibre gyro is used for measuring the turning rate in carrier relative inertness space, has the advantages that movement-less part, technique is simple, shock resistance.Optical fibre gyro has broad prospects as sensing element in positioning and directing application.
In using optical fibre gyro as the north finding method of sensing element, multi-location north seeking method overcomes the shortcoming of Fast Dynamic North-Seeking, reduces to seeking the requirement of northern hardware, while remaining the static advantage for seeking north and Fast Dynamic North-Seeking.
In multi-location north seeking method, seek and assume that zero is approximately partially constant when north is resolved, this bias instaility to optical fibre gyro claims.Zero deviation change caused by output shift, temperature change that optical fibre gyro internal opticses or electricity component are produced in thermally equilibrated process is reached during due to startup etc., so that optical fibre gyro could meet the requirement of bias instaility after certain startup time, this will cause the increase of seeking the northern time.Conversely, beginning to seek north on startup, it can shorten and seek the northern time, but the error that zero deviation change is brought can reduce north finding precision.
A kind of Quick north-finding method based on optical fibre gyro that the present invention is designed, ARIMA modelings are carried out to optical fibre gyro output sequence and reverse sequence, and carry out Kalman filter, reduce influence of the zero deviation change to north finding precision in optical fibre gyro start-up course, north finding precision is ensure that while the northern time is sought in shortening, and gives the complete scheme for seeking that northern test parameter is solved and model is set up.
The content of the invention
The purpose of the present invention is to overcome north-seeking of fiber optic gyroscope system accuracy and the conflict for seeking the northern time there is provided a kind of Quick north-finding method based on optical fibre gyro, shortens under conditions of north finding precision is ensured and seeks the north required time.
The purpose of the present invention is achieved through the following technical solutions：A kind of Quick north-finding method based on optical fibre gyro, comprises the following steps：
1st, turntable is adjusted, makes turntable rotating shaft perpendicular to horizontal plane, optical fibre gyro is fixed on turntable, the initial position of the input shaft of optical fibre gyro perpendicular to turntable rotating shaft and with treating interceptionP 1Alignment；
2nd, with initial positionP 1For first position, gather and storing fiber optic gyro is in time of measuring
Figure 201110421361X100002DEST_PATH_IMAGE001
Interior output sequence, turntable is rotated in the clockwise direction 180
Figure 201110421361X100002DEST_PATH_IMAGE003
To the second placeP 2, gather and storing fiber optic gyro be in time of measuring
Figure 19314DEST_PATH_IMAGE001
Interior output sequence, turntable is rotated in the clockwise direction 90
Figure 741600DEST_PATH_IMAGE003
To the 3rd positionP 3, gather and storing fiber optic gyro be in time of measuringInterior output sequence
Figure 201110421361X100002DEST_PATH_IMAGE005
, turntable is rotated in the clockwise direction 180
Figure 350490DEST_PATH_IMAGE003
To the 4th positionP 4, gather and storing fiber optic gyro be in time of measuring
Figure 230722DEST_PATH_IMAGE001
Interior output sequence
Figure 668656DEST_PATH_IMAGE006
, wherein,kAt the time of representing gathered data；
3rd, according to optical fibre gyro in the step 2 (a) output sequence
Figure 26956DEST_PATH_IMAGE004
、And
Figure 612975DEST_PATH_IMAGE006
, backward storage obtains corresponding reverse sequence
Figure 201110421361X100002DEST_PATH_IMAGE007
、
Figure 475889DEST_PATH_IMAGE008
And
Figure 201110421361X100002DEST_PATH_IMAGE009
；
4th, output sequences of the Auto regressive integrated moving average model ARIMA (2,1,1) to optical fibre gyro is utilized、
Figure 197912DEST_PATH_IMAGE004
And
Figure 419946DEST_PATH_IMAGE005
And reverse sequence
Figure 832473DEST_PATH_IMAGE007
、
Figure 860472DEST_PATH_IMAGE008
And
Figure 979738DEST_PATH_IMAGE009
It is modeled；
5th, according to ARIMA (2,1, the 1) model obtained in the step 4, Kalman state equations and measurement equation are set up, respectively to output sequence
Figure 169411DEST_PATH_IMAGE002
、
Figure 6917DEST_PATH_IMAGE004
And
Figure 573027DEST_PATH_IMAGE005
And reverse sequence、
Figure 671488DEST_PATH_IMAGE008
And
Figure 58607DEST_PATH_IMAGE009
Kalman filter is carried out, optical fibre gyro is obtained in first positionP 1, the second placeP 2With the 3rd positionP 3Measure the output of finish time
Figure 428408DEST_PATH_IMAGE010
、With
Figure 256687DEST_PATH_IMAGE012
, the second placeP 2, the 3rd positionP 3With the 4th positionP 4Measure the output of initial time
Figure 201110421361X100002DEST_PATH_IMAGE013
、With；
6th, initial orientation angle tangent value is calculated, initial orientation angle is obtained, so as to realize the rapid north-seeking based on optical fibre gyro.
Further, in the step 2, optical fibre gyro remains static in four position measurements, according to the output characteristics of optical fibre gyro start-up course, and the output sequence of optical fibre gyro is independent non-stationary random series.
The beneficial effects of the present invention are：The present invention is modeled using ARIMA to seeking north test optical fibre gyro output sequence and reverse sequence, and the output of each POS INT moment and finish time are obtained using Kalman filtering, output of the north resolving using same position not in the same time is sought, so as to greatly reduce influence of the zero deviation change to north finding precision.The method of the present invention inhibits influence of the zero deviation change to north finding precision in optical fibre gyro start-up course so that can carry out seeking north after electricity on optical fibre gyro, the northern time is sought so as to shorten, while ensureing north finding precision.
Brief description of the drawings
Fig. 1 is four position views that turntable rotates；
Fig. 2 is the flow chart of the Quick north-finding method based on optical fibre gyro.
Embodiment
North is sought by the sensitive earth rotation angular speed component of optical fibre gyro to realize.Earth rotation angular speed
Figure 201110421361X100002DEST_PATH_IMAGE017
Two orthogonal vectors can be decomposed into, day is to component
Figure 711436DEST_PATH_IMAGE018
And north component
Figure DEST_PATH_IMAGE019
, wherein
Figure 158336DEST_PATH_IMAGE020
Represent local geographic latitude.
In local level, if optical fibre gyro input reference axis exists with geographical northAngle, as shown in figure 1, then optical fibre gyro sensitivity to earth rotation component be
Figure DEST_PATH_IMAGE021
.Consider zero partially and noise influence when, optical fibre gyro is output as
Figure 160107DEST_PATH_IMAGE022
, wherein,Zero for optical fibre gyro is inclined, and zero changes over time partially；
Figure 809394DEST_PATH_IMAGE024
For the output noise of optical fibre gyro.
As shown in figure 1, wherein P1 represents initial orientation Angle Position
Quick north-finding method based on optical fibre gyro, comprises the following steps：
1st, turntable is adjusted, makes turntable rotating shaft perpendicular to horizontal plane, optical fibre gyro is fixed on turntable, the initial position of the input shaft of optical fibre gyro perpendicular to turntable rotating shaft and with treating interceptionP 1Alignment；
2nd, with initial positionP 1For first position, gather and storing fiber optic gyro is in time of measuring
Figure 674582DEST_PATH_IMAGE001
Interior output sequence
Figure 751122DEST_PATH_IMAGE002
, turntable is rotated in the clockwise direction 180
Figure 334550DEST_PATH_IMAGE003
To the second placeP 2, gather and storing fiber optic gyro be in time of measuring
Figure 584266DEST_PATH_IMAGE001
Interior output sequence, turntable is rotated in the clockwise direction 90
Figure 315517DEST_PATH_IMAGE003
To the 3rd positionP 3, gather and storing fiber optic gyro be in time of measuring
Figure 323924DEST_PATH_IMAGE001
Interior output sequence
Figure 377331DEST_PATH_IMAGE005
, turntable is rotated in the clockwise direction 180
Figure 217111DEST_PATH_IMAGE003
To the 4th positionP 4, gather and storing fiber optic gyro be in time of measuring
Figure 635454DEST_PATH_IMAGE001
Interior output sequence
Figure 927895DEST_PATH_IMAGE006
, wherein,kAt the time of representing gathered data, time of measuring representative value isSecond, rotation time of the turntable between position is no more than 4 seconds；
3rd, according to the output sequence of optical fibre gyro in the step 2
Figure 722675DEST_PATH_IMAGE004
、
Figure 416962DEST_PATH_IMAGE005
And
Figure 504741DEST_PATH_IMAGE006
, backward storage obtains corresponding reverse sequence
Figure 550058DEST_PATH_IMAGE007
、
Figure 945267DEST_PATH_IMAGE008
And
Figure 431743DEST_PATH_IMAGE009
；
4th, output sequences of the Auto regressive integrated moving average model ARIMA (2,1,1) to optical fibre gyro is utilized
Figure 519785DEST_PATH_IMAGE002
、And
Figure 923401DEST_PATH_IMAGE005
And reverse sequence
Figure 326701DEST_PATH_IMAGE007
、And
Figure 277656DEST_PATH_IMAGE009
It is modeled；
4.1 pairs of output sequences
Figure 14668DEST_PATH_IMAGE002
Average value processing is removed in progress, obtains sequence
Figure 974272DEST_PATH_IMAGE026
.Sequence
Figure 404116DEST_PATH_IMAGE026
ARIMA (2,1,1) model of fit be
Figure DEST_PATH_IMAGE027
, wherein,BFor backward shift operator,
Figure 317845DEST_PATH_IMAGE028
For difference operator.Go the formula that average value processing is used for：
Figure DEST_PATH_IMAGE029
Wherein,
Figure 796231DEST_PATH_IMAGE030
It is output sequence
Figure 439702DEST_PATH_IMAGE002
Average.
4.2 pairs of obtained sequencesFirst-order difference processing is carried out, sequence is obtained
Figure DEST_PATH_IMAGE031
.The first-order difference formula that uses of processing for：
                                              
Figure 441473DEST_PATH_IMAGE032
4.3 pairs of sequences
Figure 956506DEST_PATH_IMAGE031
Average value processing is removed in progress, forms new sequence
Figure DEST_PATH_IMAGE033
.New sequence
Figure 392167DEST_PATH_IMAGE033
Model of fit be
Figure 898234DEST_PATH_IMAGE034
, wherein, parameter to be estimated is
Figure DEST_PATH_IMAGE035
、、
Figure DEST_PATH_IMAGE037
And noise estimate variance
Figure 872324DEST_PATH_IMAGE038
.Go the formula that average value processing is used for：
                                                     
Figure DEST_PATH_IMAGE039
4.4 according to sequence
Figure 224807DEST_PATH_IMAGE033
, calculate its auto-correlation function
Figure 603574DEST_PATH_IMAGE040
, and estimation second order regression coefficient is carried out by following formulaWith
Figure 399809DEST_PATH_IMAGE036
：
                                             
4.5 according to sequence
Figure 872378DEST_PATH_IMAGE033
And parameter
Figure 657932DEST_PATH_IMAGE035
、
Figure 583162DEST_PATH_IMAGE036
, order
Figure 181372DEST_PATH_IMAGE042
, obtain sequence
Figure DEST_PATH_IMAGE043
, average value processing is carried out to it, even
Figure 446131DEST_PATH_IMAGE044
, wherein
Figure DEST_PATH_IMAGE045
For sequence
Figure 668165DEST_PATH_IMAGE043
Average, now,
Figure 80692DEST_PATH_IMAGE046
。
4.6 according to sequence
Figure 780794DEST_PATH_IMAGE043
Obtain its auto-covariance coefficient
Figure DEST_PATH_IMAGE047
And auto-correlation function
Figure 112DEST_PATH_IMAGE048
, the solution relational expression of parameter is carried out by the way of moments estimation according to MA (1) model：
                                                      
Figure DEST_PATH_IMAGE049
Obtain parameter
Figure 455364DEST_PATH_IMAGE037
With noise estimate variance
Figure 292870DEST_PATH_IMAGE050
, and require
Figure DEST_PATH_IMAGE051
。
4.7 by parameter
Figure 858981DEST_PATH_IMAGE037
、
Figure 832753DEST_PATH_IMAGE035
、、
Figure 783708DEST_PATH_IMAGE052
With
Figure 887931DEST_PATH_IMAGE045
Substitute into, obtain output sequence
Figure 44105DEST_PATH_IMAGE002
Model：
                             
Using same method pair
Figure 215062DEST_PATH_IMAGE005
、
Figure 823897DEST_PATH_IMAGE006
、
Figure 997390DEST_PATH_IMAGE007
、
Figure 945754DEST_PATH_IMAGE008
AndIt is modeled, obtains series model.
5th, Kalman state equations and measurement equation are set up, Kalman filter is carried out to each sequence, each position measurement initial time and the output of finish time is determined.
5.1 by output sequence
Figure 947525DEST_PATH_IMAGE002
Model conversion for Kalman state equations and measurement equation.Due toFor constant term, to simplify state equation and measurement equation, first remove to form new measurement ordered series of numbers
Figure DEST_PATH_IMAGE055
, and be directed to
Figure 960535DEST_PATH_IMAGE055
Kalman filter analysis is carried out, state equation can be obtained and measurement equation is respectively
                         
Figure 99393DEST_PATH_IMAGE056
                                          
Figure DEST_PATH_IMAGE057
I.e.
                                                  
Figure 620504DEST_PATH_IMAGE058
Wherein,
                   
Figure DEST_PATH_IMAGE059
,,
Figure DEST_PATH_IMAGE061
,
                          ,
Figure DEST_PATH_IMAGE063
,
5.2 determine parameter.
Measurement noise
Figure 547561DEST_PATH_IMAGE064
Noise matrix, process noise
Figure 600967DEST_PATH_IMAGE066
For
                                                
Figure 378430DEST_PATH_IMAGE063
So as to which process noise matrix is
                                 
Figure DEST_PATH_IMAGE067
Initial covariance matrix
                                                   
Figure 796773DEST_PATH_IMAGE068
Initial state estimation utilizes the average of sequence
                                                  
Figure DEST_PATH_IMAGE069
5.3 are filtered according to Kalman filter recurrence formula, suppress the output noise of optical fibre gyro, optical fibre gyro is obtained in first positionP 1Measure the output of finish time
Figure 883995DEST_PATH_IMAGE010
。
Using same method pair、
Figure 229843DEST_PATH_IMAGE006
、、And
Figure 593063DEST_PATH_IMAGE009
It is filtered, suppresses the output noise of optical fibre gyro, optical fibre gyro is obtained in the second placeP 2With the 3rd positionP 3Measure the output of finish time
Figure 948138DEST_PATH_IMAGE011
With
Figure 819142DEST_PATH_IMAGE012
, the second placeP 2, the 3rd positionP 3With the 4th positionP 4Measure the output of initial time
Figure 488021DEST_PATH_IMAGE013
、With
Figure 173397DEST_PATH_IMAGE015
。
6th, initial orientation angle is calculated.Because rotation time of the turntable between position is no more than 4 seconds, optical fibre gyro output
Figure 612206DEST_PATH_IMAGE010
With
Figure 135591DEST_PATH_IMAGE013
In the different very little of zero-deviation, be considered as it is equal, optical fibre gyro output
Figure 237540DEST_PATH_IMAGE010
With
Figure 479165DEST_PATH_IMAGE013
Subtract each other, similarly,
Figure DEST_PATH_IMAGE071
,
Figure 335443DEST_PATH_IMAGE072
.Initial orientation angle tangent value is calculated, process is as follows：
In formula,
Figure 873871DEST_PATH_IMAGE074
、、
Figure 773432DEST_PATH_IMAGE076
The initial orientation tangent of an angle value that respectively three times calculating is obtained.
Calculate initial orientation angle
Figure 117826DEST_PATH_IMAGE016
, process is as follows：
Figure DEST_PATH_IMAGE077
In formula,
Figure 553486DEST_PATH_IMAGE078
To calculate the average value at initial orientation angle for three times,
Figure DEST_PATH_IMAGE079
For the average value of three calculating initial orientation angle tangent values.Obtain initial orientation angle
Figure 59554DEST_PATH_IMAGE016
, so as to realize the rapid north-seeking based on optical fibre gyro.
As can be seen here, a kind of Quick north-finding method based on optical fibre gyro that the present invention is provided inhibits influence of the zero deviation change to north finding precision in optical fibre gyro start-up course, so that can carry out seeking north after the upper electricity of optical fibre gyro, the northern time is sought so as to shorten, while ensureing north finding precision.

Claims (2)

1. a kind of Quick north-finding method based on optical fibre gyro, it is characterised in that comprise the following steps：
（1）Turntable is adjusted, makes turntable rotating shaft perpendicular to horizontal plane, optical fibre gyro is fixed on turntable, the initial position of the input shaft of optical fibre gyro perpendicular to turntable rotating shaft and with treating interceptionP 1Alignment；
（2）With initial positionP 1For first position, gather and storing fiber optic gyro is in time of measuring
Figure 201110421361X100001DEST_PATH_IMAGE001
Interior output sequence
Figure 700288DEST_PATH_IMAGE002
, turntable is rotated in the clockwise direction
Figure 201110421361X100001DEST_PATH_IMAGE003
To the second placeP 2, gather and storing fiber optic gyro be in time of measuring
Figure 947730DEST_PATH_IMAGE001
Interior output sequence
Figure 392356DEST_PATH_IMAGE004
, turntable is rotated in the clockwise direction 90
Figure 201110421361X100001DEST_PATH_IMAGE005
To the 3rd positionP 3, gather and storing fiber optic gyro be in time of measuring
Figure 383446DEST_PATH_IMAGE001
Interior output sequence
Figure 223226DEST_PATH_IMAGE006
, turntable is rotated in the clockwise direction 180
Figure 641569DEST_PATH_IMAGE005
To the 4th positionP 4, gather and storing fiber optic gyro be in time of measuringInterior output sequence
Figure 201110421361X100001DEST_PATH_IMAGE007
, wherein,kAt the time of representing gathered data；
（3）According to the output sequence of optical fibre gyro in the step 2
Figure 728790DEST_PATH_IMAGE004
、And
Figure 776435DEST_PATH_IMAGE007
, backward storage obtains corresponding reverse sequence
Figure 556173DEST_PATH_IMAGE008
、
Figure 201110421361X100001DEST_PATH_IMAGE009
And
Figure 889065DEST_PATH_IMAGE010
；
（4）Utilize output sequences of the Auto regressive integrated moving average model ARIMA (2,1,1) to optical fibre gyro
Figure 703437DEST_PATH_IMAGE002
、
Figure 463583DEST_PATH_IMAGE004
And
Figure 730616DEST_PATH_IMAGE006
And reverse sequence
Figure 929516DEST_PATH_IMAGE008
、And
Figure 529442DEST_PATH_IMAGE010
It is modeled；
（5）According to ARIMA (2,1, the 1) model obtained in the step 4, Kalman state equations and measurement equation are set up, respectively to output sequence、
Figure 457001DEST_PATH_IMAGE004
And
Figure 980387DEST_PATH_IMAGE006
And reverse sequence
Figure 347914DEST_PATH_IMAGE008
、
Figure 589540DEST_PATH_IMAGE009
And
Figure 864663DEST_PATH_IMAGE010
Kalman filter is carried out, optical fibre gyro is obtained in first positionP 1, the second placeP 2With the 3rd positionP 3Measure the output of finish time
Figure 201110421361X100001DEST_PATH_IMAGE011
、
Figure 445817DEST_PATH_IMAGE012
With
Figure DEST_PATH_IMAGE013
, the second placeP 2, the 3rd positionP 3With the 4th positionP 4Measure the output of initial time
Figure 718667DEST_PATH_IMAGE014
、
Figure DEST_PATH_IMAGE015
With
Figure 883807DEST_PATH_IMAGE016
；
（6）Initial orientation angle tangent value is calculated, initial orientation angle is obtained
Figure DEST_PATH_IMAGE017
, so as to realize the rapid north-seeking based on optical fibre gyro.
2. the Quick north-finding method as claimed in claim 1 based on optical fibre gyro, characterized in that, in the step 2, optical fibre gyro remains static in four position measurements, according to the output characteristics of optical fibre gyro start-up course, the output sequence of optical fibre gyro is independent non-stationary random series.
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CN104729492A (en) * 2013-12-18 2015-06-24 广西大学 Optical fiber gyroscope signal processing method based on Kalman filtering
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CN103278160A (en) * 2013-05-15 2013-09-04 重庆华渝电气仪表总厂 Azimuth angle error compensation method of inertia azimuth keeping system
CN103278160B (en) * 2013-05-15 2015-12-09 重庆华渝电气仪表总厂 A kind of inertial attitude keeping system azimuth angle error compensating method
CN105283733A (en) * 2013-05-27 2016-01-27 迈克罗茵费尼蒂股份有限公司 Apparatus for providing azimuth
CN104729492A (en) * 2013-12-18 2015-06-24 广西大学 Optical fiber gyroscope signal processing method based on Kalman filtering
CN105466411A (en) * 2015-12-30 2016-04-06 浙江大学 Four-axis optical fiber gyro and north finding method thereof
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CN109995562A (en) * 2017-12-30 2019-07-09 中国移动通信集团河北有限公司 Network traffic prediction technique, device, equipment and medium
CN115164942A (en) * 2022-09-07 2022-10-11 中国船舶重工集团公司第七0七研究所 Automatic horizontal north-seeking precision testing method for strapdown gyro north-seeking instrument
CN115164942B (en) * 2022-09-07 2022-11-25 中国船舶重工集团公司第七0七研究所 Automatic horizontal north-seeking precision testing method for strapdown gyro north-seeking instrument

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Application publication date: 20120627