CN102607590A - Flexible gyro overload term anti-interference testing device based on optical fiber monitoring - Google Patents
Flexible gyro overload term anti-interference testing device based on optical fiber monitoring Download PDFInfo
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Abstract
本发明公开了一种基于光纤监测的挠性陀螺过载项抗干扰测试装置,属于惯性器件测试技术领域。所述的测试装置包括测试安装基准面、标定安装基准面、挠性陀螺安装基座和光纤陀螺安装基座,由整块材料机械加工而成;挠性陀螺安装基座和光纤陀螺安装基座设置在测试装置内部。所述的测试安装基准面和标定安装基准面上分别用于与大过载设备连接。使用时,通过安装方式的改变,可以进行光纤陀螺及挠性陀螺被测试轴的标度因数标定和挠性陀螺大过载测试。本发明实现了将光纤陀螺敏感轴与挠性陀螺被测试轴同向安装,利用光纤陀螺对环境过载不敏感的特点,得到纯净的挠性陀螺过载误差数据,为挠性陀螺过载项误差提取提供可用数据。
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
技术领域 technical field
本发明属于惯性器件测试技术领域,具体来说是一种基于光纤监测的挠性陀螺过载项抗干扰测试装置。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.
背景技术 Background technique
挠性陀螺是一种机械式双自由度陀螺仪,广泛应用在各种导航、制导与控制系统中。在实际应用中,挠性陀螺仪的角速度测量值中存在着由于各种干扰力矩产生的漂移误差,一般由静态漂移误差、动态漂移误差和随机漂移误差等组成,其中由线运动引起的静态漂移误差是挠性陀螺漂移误差的主要部分,也是挠性捷联惯导系统误差的主要因素。一般地,挠性陀螺静态漂移误差主要由零偏误差(与环境过载无关)和一次比力敏感误差(与环境过载的一次方成正比)组成。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).
在使用前,挠性陀螺必须经过标定,得到其误差数学模型中的各项系数,然后在导航计算时对挠性陀螺的测量值进行补偿,消除挠性陀螺漂移误差的影响。通常的标定方法是利用双轴或三轴位置台,采用多位置标定法(八位置、二十四位置或其它多位置)得到挠性陀螺的零偏误差项和一次比力误差项。对于大过载应用环境,还要通过地面的离心机提供过载激励,测试得到挠性陀螺比力敏感误差项系数在大过载环境下的数值。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.
然而,大过载测试设备往往由于转轴不平行、设备结构件弹性变形、振动等因素使其所提供的线性过载中夹杂着角速度干扰。该角速度干扰会被挠性陀螺敏感到,从而影响到挠性陀螺比力敏感项系数的测试结果。如果该干扰的量级超过或与挠性陀螺的比力敏感误差相当时,将无法得到挠性陀螺的比力敏感误差。所以,必须采取一定的装置消除大过载激励中夹杂的角速度干扰。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.
现有的挠性陀螺过载项测试方法是多位置标定法(参考文献【1】~【3】),将挠性陀螺通过转接装置安装到转台上,然后转台转到特定的位置后静止,因此,其所使用的转接装置没有抗动态干扰的措施,不适用于高动态有角速度干扰下挠性陀螺标定与测试。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.
参考文献[1]挠性陀螺仪最优八位置标定方法,中国发明专利,申请号200810101156.3,公开号CN 101231178A,富立,王玲玲,刘文丽;参考文献[2]挠性陀螺仪静态漂移误差模型最优二十四位置标定方法,中国发明专利,授权公告号CN 101377422B,富立,郭志英,王玲玲,刘文丽;参考文献[3]挠性陀螺仪静态漂移零次和一次加速度相关项误差模型最优位置标定方法,中国发明专利,申请公布号CN 101738203A,富立,王新玲,刘文丽,王玲玲。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.
发明内容 Contents of the invention
本发明的目的在于在挠性陀螺大过载测试中,利用本装置实现光纤陀螺与被测试挠性陀螺同轴向安装,通过光纤陀螺的监测,达到消除设备误差引起的挠性陀螺干扰角速度的目的。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 .
本发明提供的基于光纤监测的挠性陀螺过载项抗干扰测试装置,包括测试安装基准面、标定安装基准面、挠性陀螺安装基座和光纤陀螺安装基座,由整块材料机械加工而成。挠性陀螺安装基座和光纤陀螺安装基座设置在测试装置内部。所述的测试安装基准面和标定安装基准面上分别都设置有安装孔,安装孔用于与大过载设备连接。测试安装基准面和标定安装基准面是相互垂直的外底面和外侧面。光纤陀螺安装基座上的光纤陀螺安装面与标定安装基准面平行且与测试安装基准面垂直。挠性陀螺安装基座上的挠性陀螺安装面与标定安装基准面垂直且与测试安装基准面平行,与光纤陀螺安装面垂直。挠性陀螺安装面上有用于挠性陀螺安装的螺纹孔,螺纹孔的位置保证挠性陀螺安装后其被测试轴与标定安装基准面垂直且与光纤陀螺敏感轴平行。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.
使用时,通过安装方式的改变,可以进行光纤陀螺及挠性陀螺被测试轴的标度因数标定,也可以进行挠性陀螺大过载测试。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.
本发明的优点在于:The advantages of the present invention are:
实现了将光纤陀螺敏感轴与挠性陀螺被测试轴同向安装,利用光纤陀螺对环境过载不敏感的特点,将挠性陀螺被测试轴的输出与光纤陀螺的输出进行相减,从而将设备干扰角速度从挠性陀螺输出中去除,得到纯净的挠性陀螺过载误差数据,为挠性陀螺过载项误差提取提供可用数据。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.
附图说明 Description of drawings
图1a为本发明的测试装置的立体结构示意图;Fig. 1 a is the schematic diagram of the three-dimensional structure of the test device of the present invention;
图1b为本发明的测试装置的仰视角度的结构示意图;Fig. 1 b is a schematic structural view of the looking-up angle of the test device of the present invention;
图2为本发明的测试装置的安装示意图。Fig. 2 is a schematic diagram of the installation of the test device of the present invention.
具体实施方式 Detailed ways
下面结合附图和实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
本发明提供一种基于光纤监测的挠性陀螺过载项抗干扰测试装置,如图1a、1b所示,本装置总体上呈形,包括测试安装基准面1、标定安装基准面2、挠性陀螺安装基座3和光纤陀螺安装基座4,由整块材料机械加工而成。如图1a所示,挠性陀螺安装基座3和光纤陀螺安装基座4设置在测试装置内部。如图1b所示,所述的测试安装基准面1和标定安装基准面2上分别都设置有安装孔101和安装孔201,测试安装基准面1和标定安装基准面2是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
使用时,通过安装方式的改变,可以进行光纤陀螺及挠性陀螺被测试轴的标度因数标定,也可以进行挠性陀螺大过载测试,使用本发明的测试装置进行监测用光纤陀螺及挠性陀螺被测试轴的标度因数标定,监测用光纤陀螺7通过螺钉安装到光纤陀螺基座4的光纤陀螺安装面401上,被测试挠性陀螺6通过螺钉安装到挠性陀螺安装面301上,进行挠性陀螺6的标度因数测试时,将装置的标定安装基准面2与大过载设备5的安装面贴合,用螺钉或螺栓通过安装孔201固紧。标度因数测试完成后,将本发明的测试装置连同挠性陀螺6和光纤陀螺7一起从大过载设备5上拆下,将测试安装基准面1与大过载设备5提供的安装面贴合,如图2所示,用螺钉或螺栓通过安装孔101固紧,就可以进行挠性陀螺大过载测试。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
本发明提供的测试装置中,监测用光纤陀螺的敏感轴与挠性陀螺被测轴同向安装,安装精度可由装置的机械加工精度保证。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.
本装置的标定安装基准面2与标度因数标定设备通过螺钉固接,可用于监测用光纤陀螺与挠性陀螺被测轴的标度因数现场标定。The calibration
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CN107741239A (en) * | 2017-09-26 | 2018-02-27 | 北京晨晶电子有限公司 | Gyroscope scale factor test system and method |
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