CN102607590A - Flexible gyro overload term anti-interference testing device based on optical fiber monitoring - Google Patents

Abstract

The invention discloses a flexible gyroscope overload item anti-interference testing device based on optical fiber monitoring, which belongs to the technical field of inertial device testing. The test device includes a test installation reference plane, a calibration installation reference plane, a flexible gyroscope installation base and an optical fiber gyroscope installation base, which are machined from a single piece of material; the flexible gyroscope installation base and the optical fiber gyroscope installation base Set inside the test fixture. The test installation reference plane and the calibration installation reference plane are respectively used to connect with the large overload equipment. When in use, by changing the installation method, the scale factor calibration of the tested axis of the fiber optic gyroscope and the flexible gyroscope and the large overload test of the flexible gyroscope can be performed. The invention realizes that the sensitive axis of the fiber optic gyroscope and the tested axis of the flexible gyroscope are installed in the same direction, and utilizes the characteristic that the fiber optic gyroscope is not sensitive to environmental overload to obtain pure overload error data of the flexible gyroscope, which provides for the extraction of the error of the flexible gyroscope overload item data available.

Description

An anti-interference test device for flexible gyroscope overload items based on optical fiber monitoring

technical field

The invention belongs to the technical field of inertial device testing, in particular to an anti-interference testing device for a flexible gyro overload item based on optical fiber monitoring.

Background technique

Flexible gyroscope is a mechanical two-degree-of-freedom gyroscope, which is widely used in various navigation, guidance and control systems. In practical applications, there are drift errors caused by various disturbance torques in the angular velocity measurement value of the flexible gyroscope, which are generally composed of static drift errors, dynamic drift errors and random drift errors, among which the static drift caused by linear motion The error is the main part of the drift error of the flexible gyro, and it is also the main factor of the error of the flexible strapdown inertial navigation system. Generally, the static drift error of the flexible gyroscope is mainly composed of zero bias error (independent of the environmental overload) and first-order specific force sensitivity error (proportional to the first power of the environmental overload).

Before use, the flexible gyroscope must be calibrated to obtain the coefficients in its error mathematical model, and then the measured value of the flexible gyroscope is compensated during navigation calculations to eliminate the influence of the flexible gyroscope's drift error. The usual calibration method is to use a two-axis or three-axis position table, and use a multi-position calibration method (eight positions, twenty-four positions or other multi-positions) to obtain the zero-bias error term and the first-order specific force error term of the flexible gyroscope. For the large overload application environment, the centrifuge on the ground is also used to provide overload excitation, and the value of the flexible gyroscope's specific force sensitive error term coefficient in the large overload environment is obtained through the test.

However, the large overload test equipment often has angular velocity interference in the linear overload provided by factors such as non-parallel rotating shafts, elastic deformation of equipment structural parts, and vibration. The angular velocity disturbance will be sensitive to the flexible gyroscope, thus affecting the test result of the specific force sensitivity coefficient of the flexible gyroscope. If the magnitude of the disturbance exceeds or is equal to the specific force sensitivity error of the flexible gyroscope, the specific force sensitive error of the flexible gyroscope cannot be obtained. Therefore, certain devices must be adopted to eliminate the angular velocity interference contained in the large overload excitation.

The existing method for testing the overload of flexible gyroscopes is the multi-position calibration method (references [1] to [3]). The flexible gyroscope is installed on the turntable through the adapter device, and then the turntable is turned to a specific position and then stops. Therefore, the adapter device used has no anti-dynamic interference measures, and is not suitable for the calibration and testing of flexible gyroscopes under high dynamic and angular velocity interference.

Reference [1] Optimal eight-position calibration method for flexible gyroscope, Chinese invention patent, application number 200810101156.3, publication number CN 101231178A, Fu Li, Wang Lingling, Liu Wenli; Reference [2] The static drift error model of flexible gyroscope is the most You 24 position calibration method, Chinese invention patent, authorized announcement number CN 101377422B, Fu Li, Guo Zhiying, Wang Lingling, Liu Wenli; Reference [3] The error model of zero-order static drift and first-order acceleration related items of flexible gyroscope is optimal Position calibration method, Chinese invention patent, application publication number CN 101738203A, Fu Li, Wang Xinling, Liu Wenli, Wang Lingling.

Contents of the invention

The purpose of the present invention is to use the device to install the optical fiber gyroscope coaxially with the tested flexible gyroscope in the large overload test of the flexible gyroscope, and achieve the purpose of eliminating the interference angular velocity of the flexible gyroscope caused by equipment errors through the monitoring of the optical fiber gyroscope .

The anti-jamming test device for the overload item of the flexible gyroscope based on optical fiber monitoring provided by the present invention includes a test installation reference plane, a calibration installation reference plane, a flexible gyroscope installation base and an optical fiber gyroscope installation base, which are machined from a whole piece of material . The flexible gyroscope installation base and the fiber optic gyroscope installation base are arranged inside the test device. The test installation reference plane and the calibration installation reference plane are respectively provided with installation holes, and the installation holes are used for connecting with large overload equipment. The test installation reference plane and the calibration installation reference plane are the outer bottom surface and the outer surface which are perpendicular to each other. The installation surface of the fiber optic gyroscope on the installation base of the fiber optic gyroscope is parallel to the calibration installation reference plane and perpendicular to the test installation reference plane. The flexible gyroscope installation surface on the flexible gyroscope installation base is perpendicular to the calibration installation reference plane and parallel to the test installation reference plane, and perpendicular to the fiber optic gyroscope installation surface. There are threaded holes for flexible gyro installation on the flexible gyroscope installation surface. The position of the threaded holes ensures that the tested axis of the flexible gyroscope is perpendicular to the calibrated installation reference plane and parallel to the sensitive axis of the fiber optic gyroscope after the flexible gyroscope is installed.

When in use, by changing the installation method, the scale factor of the fiber optic gyroscope and flexible gyroscope to be tested can be calibrated, and the large overload test of the flexible gyroscope can also be performed.

The advantages of the present invention are:

The sensitive shaft of the fiber optic gyroscope and the tested shaft of the flexible gyroscope are installed in the same direction, and the output of the tested shaft of the flexible gyroscope is subtracted from the output of the fiber optic gyroscope by using the characteristic that the fiber optic gyroscope is not sensitive to environmental overload, so that the equipment The disturbance angular velocity is removed from the output of the flexible gyroscope to obtain pure overload error data of the flexible gyroscope, which provides usable data for the extraction of the error of the flexible gyroscope overload term.

Description of drawings

Fig. 1 a is the schematic diagram of the three-dimensional structure of the test device of the present invention;

Fig. 1 b is a schematic structural view of the looking-up angle of the test device of the present invention;

Fig. 2 is a schematic diagram of the installation of the test device of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

形装置的相互垂直的外底面和外侧面。光纤陀螺安装基座4上的光纤陀螺安装面401与标定安装基准面2平行且与测试安装基准面1垂直。挠性陀螺安装基座3上的挠性陀螺安装面301与标定安装基准面2垂直且与测试安装基准面1平行，与光纤陀螺安装面401垂直。挠性陀螺安装面301上有四个用于挠性陀螺安装的螺纹孔302，螺纹孔302的位置保证挠性陀螺6安装后其被测试轴与标定安装基准面2垂直且与光纤陀螺敏感轴平行。使用时，标定安装基准面2或测试安装基准面1与大过载设备5的安装面相接触，如图2，用螺钉或螺栓通过安装孔201或101固紧。The present invention provides a flexible gyroscope overload item anti-interference test device based on optical fiber monitoring, as shown in Figures 1a and 1b, the device generally presents shape, including test installation reference plane 1, calibration installation reference plane 2, flexible gyroscope installation base 3 and fiber optic gyroscope installation base 4, which are machined from a single piece of material. As shown in Fig. 1a, the flexible gyroscope installation base 3 and the fiber optic gyroscope installation base 4 are arranged inside the testing device. As shown in Figure 1b, the test installation reference plane 1 and the calibration installation reference plane 2 are respectively provided with installation holes 101 and installation holes 201, and the test installation reference plane 1 and the calibration installation reference plane 2 are

The outer bottom surface and the outer surface of the shape device are perpendicular to each other. The fiber optic gyroscope installation surface 401 on the fiber optic gyroscope installation base 4 is parallel to the calibration installation reference plane 2 and perpendicular to the test installation reference plane 1 . The flexible gyroscope installation surface 301 on the flexible gyroscope installation base 3 is perpendicular to the calibration installation reference plane 2 and parallel to the test installation reference plane 1 , and perpendicular to the fiber optic gyroscope installation surface 401 . There are four threaded holes 302 on the flexible gyroscope mounting surface 301 for flexible gyroscope installation. The positions of the threaded holes 302 ensure that after the flexible gyroscope 6 is installed, the tested axis is perpendicular to the calibration installation reference plane 2 and is perpendicular to the optical fiber gyroscope sensitive axis. parallel. When in use, the calibrated installation reference plane 2 or the test installation reference plane 1 is in contact with the installation surface of the large overload device 5, as shown in FIG. 2, and fastened through the installation holes 201 or 101 with screws or bolts.

During use, by changing the installation method, the scale factor calibration of the tested axis of the fiber optic gyroscope and the flexible gyroscope can be carried out, and the large overload test of the flexible gyroscope can also be carried out. The gyroscope is calibrated by the scale factor of the test axis, the fiber optic gyroscope 7 for monitoring is mounted on the fiber optic gyroscope mounting surface 401 of the fiber optic gyroscope base 4 by screws, and the tested flexible gyroscope 6 is mounted on the flexible gyroscope mounting surface 301 by screws, When performing the scale factor test of the flexible gyroscope 6, the installation reference surface 2 of the device is attached to the installation surface of the large overload device 5, and fastened through the installation hole 201 with screws or bolts. After the scale factor test is completed, the test device of the present invention is removed from the large overload device 5 together with the flexible gyroscope 6 and the fiber optic gyroscope 7, and the test installation reference surface 1 is attached to the installation surface provided by the large overload device 5, As shown in FIG. 2 , the large overload test of the flexible gyroscope can be carried out by fastening with screws or bolts through the mounting holes 101 .

In the test device provided by the present invention, the sensitive axis of the monitoring optical fiber gyroscope and the measured axis of the flexible gyroscope are installed in the same direction, and the installation accuracy can be guaranteed by the machining accuracy of the device.

The calibration installation reference plane 2 of the device is fixedly connected with the scale factor calibration equipment through screws, and can be used for on-site calibration of the scale factor of the measured axis of the fiber optic gyroscope and flexible gyroscope used for monitoring.

Claims (3)

1. A flexible gyroscope overload item anti-jamming test device based on optical fiber monitoring, characterized in that: it includes a test installation reference plane, a calibration installation reference plane, a flexible gyroscope installation base and an optical fiber gyroscope installation base, and is made of a monolithic material It is machined; the test installation datum plane and the calibration installation datum plane are the outer bottom surface and the outer side surface perpendicular to each other, generally in the shape of

Shape, the flexible gyroscope installation base and the fiber optic gyroscope installation base are set inside the test device, and the test installation reference plane and the calibration installation reference plane are respectively provided with installation holes, and the installation holes are used to connect with large overload equipment; The fiber optic gyroscope installation surface on the installation base of the fiber optic gyroscope is parallel to the calibration installation reference plane and perpendicular to the test installation reference plane; the flexible gyroscope installation surface on the flexible gyroscope installation base is perpendicular to the calibration installation reference plane and is perpendicular to the test installation reference plane Parallel and perpendicular to the installation surface of the fiber optic gyroscope; there are threaded holes for the installation of the flexible gyroscope on the installation surface of the flexible gyroscope. axis parallel. 2. A kind of flexible gyroscope overload item anti-jamming test device based on optical fiber monitoring according to claim 1, characterized in that: when carrying out the scaling factor calibration of the fiber optic gyroscope and the flexible gyroscope axis under test, the monitoring optical fiber The gyroscope is installed on the fiber optic gyroscope installation surface of the fiber optic gyroscope base by screws, and the tested flexible gyroscope is installed on the flexible gyroscope installation surface by screws. The bolts are fastened through the mounting holes. 3. A kind of flexible gyroscope overload item anti-jamming test device based on optical fiber monitoring according to claim 1, characterized in that: when carrying out the flexible gyroscope large overload test, the test installation reference plane and the large overload equipment provided The mounting surface is fitted together and fastened through the mounting holes with screws or bolts.

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