CN103411611A - Method and equipment for full-automatic temperature compensation test of inertia measurement assembly - Google Patents

Abstract

The invention discloses a method and equipment for a temperature compensation full-automatic test of an inertia measurement assembly. The equipment comprises a base, two support frames, two transverse rotating shafts, an incubator, a fixing seat, a longitudinal rotating shaft, a placement table facet, a temperature control cabinet, a driving device, an inertia measurement assembly testing device and a processing unit, wherein the two support frames are arranged on the base; the two transverse rotating shafts are arranged on the two support frames; the left end and the right end of the incubator are respectively connected with the two transverse rotating shafts; the fixing seat is fixedly arranged on the inner wall of the incubator; the longitudinal rotating shaft is arranged on the fixing seat; the placement table facet is fixedly connected with the longitudinal rotating shaft and used for mounting the inertia measurement assembly; the temperature control cabinet is connected with the incubator; the driving device is connected with both the two transverse rotating shafts and the longitudinal rotating shaft; the inertia measurement assembly testing device is connected with the inertia measurement assembly through a CAN bus; the processing unit is connected with the temperature control cabinet, the driving device and the inertia measurement assembly testing device. The full-automatic temperature compensation test of the inertia measurement assembly performed by adopting the equipment provided by the invention has the advantages that the process is automatic, parameters are calculated automatically, the compensation efficiency is high, the reliability is high, and the compensation precision is high.

Description

Be used to survey combination Full-automatic temperature compensation test method and equipment

Technical field

The present invention relates to be used to survey the temperature compensation of combination, refer to particularly a kind of survey combination Full-automatic temperature compensation test method and equipment be used to, belong to the IMU technical field of measurement and test.

Background technology

Being used to survey combination mainly is comprised of gyro, accelerometer and interlock circuit, it is the core component of control system, be mainly used in angular velocity and acceleration in sensitive carrier motion, control attitude and positional information are provided for system guidance, the precision of being used to survey combination will directly affect final guidance precision.

In being used to survey the application of combination, because the precision of gyro and accelerometer is subject to the temperature impact, usually take Temperature Control Measures, make product work at the stationary temperature point, guarantee output accuracy, be used to survey the combination environment temperature and have to temperature required a shortcoming that the time grows but control.Along with being used to survey improving constantly of Combination application requirement, precision is high, fast and stable is one of them important aspect, existing temperature control mode can not meet application demand, technique for temperature compensation produces thus, by output is carried out to software compensation, weaken influence of temperature change, meet simultaneously the requirement of precision and stabilization time.

In recent years, domestic many universities and colleges and R&D institution have carried out the technique for temperature compensation research work, method and the model of temperature compensation have been proposed, although major part is confined to theory and laboratory stage, but also have small part to be applied being used to survey in combination, and the scope of follow-up temperature compensation application can be more and more wider.At present, the temperature compensation test is by the testing experiment under different temperatures, calculates and obtains temperature compensation coefficient, and compensation precision is had a direct impact.Owing to being used to organize the zero inclined to one side and constant multiplier that parameter is mainly gyro, accelerometer and change-over circuit, test method is for to carry out separately the parameter testing of full temperature scope to each gyro and accelerometer at present, at each temperature spot, insulation a period of time, after stable output, carry out speed rotation or static test, be completed and enter next temperature spot, repeat the heat insulation test process, until obtain whole temperature datas of this parameter.Each parameter is according to above-mentioned measurement of test method, finally obtain each temperature spot zero partially and constant multiplier, by calculating, obtain the relation between whole parameters and temperature, finally by the people for selecting calculating, obtain final penalty coefficient.

Although above-mentioned existing test method can be tested the relation obtained between temperature compensation coefficient and temperature, can be used in temperature compensation.But test period takes about 7 days usually, and the time is oversize, the resource occupation waste is serious, need in test regularly manual operation speed platform and incubator, workload is large, easily makes mistakes, and in complementation test, needs to repeat the temperature test of each parameter, the wasting manpower and material resources, during each parameter switching, product all needs outage, is used to organize parameter and successively switched on and the impact of temperature variation environment by product, and compensation precision is limited, compensation efficiency is extremely low, is difficult to apply on a large scale.So in the urgent need to working out a kind of novel temperature compensation test method, the short form test flow process, the Reality simulation environment, improve compensation precision, is convenient to through engineering approaches and implements.

Summary of the invention

The object of the invention is to overcome above-mentioned the deficiencies in the prior art and provide a kind of being used to survey combination Full-automatic temperature compensation testing equipment and carry out the Full-automatic temperature compensation test method by this equipment, this equipment can fully automatic operation, automatically control required temperature spot, and automatically measure the supplemental characteristic that being used under each temperature spot survey combination, finally automatically calculate required penalty coefficient.

Realize that the technical scheme that the object of the invention adopts is: a kind of survey combination Full-automatic temperature compensation test method of being used to comprises the following steps:

(1) to being used to survey combined measuring device, send synchronizing signal, be used to survey after combined measuring device receives described synchronizing signal and start, preparation for acquiring is used to survey the supplemental characteristic of combination, and replys answer signal;

(2) after receiving described answer signal, control the temperature of being used to survey combination environment of living in, make to be used to survey combination and be in the environment of n temperature spot, and to make the temperature retention time of each temperature spot be tn;

(3) when the temperature of being used to survey combination environment of living in reaches the temperature spot of setting, make and be used to survey the motion under the required operating mode of combine analog, be used to survey combined measuring device and gather the supplemental characteristic of being used to survey combination in this motion process;

(4) control and be used to survey the temperature spot that the temperature that combines environment of living in reaches next setting, repeat above-mentioned steps (3), until gathered the supplemental characteristic of being used to survey combination under all temperature spots.

In technique scheme, the described supplemental characteristic of being used to survey combination is zero D partially of gyro ₀With constant multiplier E ₁, and zero inclined to one side K of accelerometer ₀With positive negative sense constant multiplier K ₁₊, K _1-.

The present invention also provides a kind of combination Full-automatic temperature compensation testing equipment of being used to survey, and comprising:

Base;

Two bracing frames, be located at respectively on described base;

The two horizontal rotating shafts that axis horizontal is arranged, be located at respectively on described two bracing frames;

Incubator, its two ends, left and right are connected with described two horizontal rotating shafts respectively, and this incubator of the rotating drive of described two horizontal rotating shafts rotates;

The temperature switch board, be connected with described incubator, be used to controlling the temperature in described incubator;

The vertical vertical rotating shaft of arranging of axis, be located in described incubator;

For the table top of laying of being used to survey combination is installed, the described table top of laying is horizontally disposed, and is fixedly connected with described vertical rotating shaft;

Drive unit, be connected with vertical rotating shaft with described two horizontal rotating shafts respectively;

Be used to survey combined measuring device, by the CAN bus and described be used to survey be connected; And

Processing unit, respectively with described temperature switch board, drive unit be used to survey combined measuring device and be connected.

In technique scheme, described X-axis of being used to survey combination is identical with the axis direction of described vertical rotating shaft; Described Y-axis of being used to survey combination is identical with the axis direction of described horizontal rotating shaft.

With current test method, compare, the present invention has that process automation, parameter are resolved automatically, compensation efficiency is high, reliability is high, the compensation precision high, specific as follows:

(1) process automation: process of the test realizes a key operation, starts post-processing unit and automatically according to flow process, controls temperature switch board, drive unit and be used to survey combined measuring device and carry out work according to testing requirements, has substituted manually-operated of the prior art;

(2) parameter is resolved automatically: by being used to survey combined measuring device, obtain the supplemental characteristic of being used to survey combination under each state, and automatically peek, automatically calculate penalty coefficient by processing unit, avoided manually obtaining the problem of easily makeing mistakes in data, computational data;

(3) compensation efficiency is high: the rotation test duration of each temperature spot is generally 1360s, gets 11 temperature spots, can complete test in 26 hours, compares with current test method, and the time only has original 1/5;

(4) reliability is high: in test, do not need manual operation, having eliminated the people is possible of makeing mistakes; The working condition of software automated monitor, can react in time, avoids plant issue to cause test failure;

(5) compensation precision is high: product once electrification in test, and slewing rate is gentle, and position is selected symmetrical, and the Reality simulation working environment, eliminate the factor impacts such as temperature imbalance, hysteresis, the crosslinked error of other parameter, the warranty test effect as far as possible.

The accompanying drawing explanation

Fig. 1 is the structural representation that the present invention is used to survey combination Full-automatic temperature compensation testing equipment;

Fig. 2 is the mounting structure schematic diagram of being used to survey combination in Fig. 1;

Fig. 3 is the structured flowchart that the present invention is used to survey each signal processing unit in combination Full-automatic temperature compensation testing equipment;

Fig. 4 is for being used the process flow diagram that combination Full-automatic temperature compensation testing equipment is tested of being used to survey shown in Figure 1;

Test flow chart when Fig. 5 is each temperature spot.

Embodiment

The present invention is described in further detail below in conjunction with the drawings and specific embodiments.

As depicted in figs. 1 and 2, the present invention is used to survey combination Full-automatic temperature compensation testing equipment, comprising: base 9; On base 9, be respectively equipped with left support frame 10.1 and right support frame 10.2; On left support frame 10.1 and right support frame 10.2, be respectively equipped with left laterally rotating shaft 11.1 and right lateral shaft 11.2, the axis of left laterally rotating shaft 11.1 and right lateral shaft 11.2 be level to.Between left laterally rotating shaft 11.1 and right lateral shaft 11.2, be provided with incubator 2, the two ends, left and right that are incubator 2 are connected with right lateral shaft 11.2 with the horizontal rotating shaft 11.1 in a left side respectively, and left laterally rotating shaft 11.1 and right lateral shaft 11.2 can drive incubator 2 while rotating and rotate around the horizontal direction axis.

In incubator 2, be provided with vertical rotating shaft 8, vertically the axis of rotating shaft 8 is vertical direction, and vertically the outside of rotating shaft 8 is provided with and lays table top 7, is used to survey combination 1 and is arranged on and lays on table top 7.When vertically rotating shaft 8 was rotated, table top 7 rotations were laid in driving, were used to survey combination 1 rotation thereby drive.

Incubator 2 is connected with temperature switch board 4, and temperature switch board 4 is be used to controlling the temperature in incubator 2.Be used to survey combination 1 and be connected with and be used to survey combined measuring device 3 by the CAN bus, be used to survey combined measuring device 3 and for test, be used to survey the supplemental characteristic of combination 1.

Left horizontal rotating shaft 11.1 and right lateral shaft 11.2 and vertical rotating shaft 8 are connected with respectively drive unit 5, and drive unit 5 is be used to driving two horizontal rotating shafts 11.1,11.2 and vertically rotating shaft 8 rotations.

Present device also comprises an observing and controlling cabinet 6, in observing and controlling cabinet 6, be provided with processing unit, processing unit respectively be used to survey combined measuring device 3, temperature switch board 4 and drive unit 5 and be connected, processing unit is for sending control signal to being used to survey combined measuring device 3, temperature switch board 4 and drive unit 5 respectively.

The present invention's processing unit used can be industrial circle industrial computer used, or common computer, or single-chip microcomputer.By to being used to survey combined measuring device 3, sending test signal, for test, be used to survey the supplemental characteristic of combination; By processing unit, send temperature control signals to temperature switch board 4, the temperature of regulating in incubator 2 be used to controlling temperature switch board 4; And send drive control signal to drive unit 5, for accessory drive 5, drive two horizontal rotating shafts 11.1,11.2 and vertically rotating shaft 8, above-mentioned by processing unit, realize controlling be used to survey combined measuring device 3, temperature switch board 4 and drive unit 5 and be those skilled in the art institute common technology means, repeat no more herein.

As shown in Figure 3, in the present embodiment, the installation direction of being used to survey combination 1 is: X-axis is identical with the axis direction of vertical rotating shaft; The Y-axis of being used to survey combination is identical with the axis direction of laterally rotating shaft.The present embodiment is controlled the rotation direction of vertical rotating shaft by the right-hand rule, wherein right-hand rule agree as follows: with the right hand, hold X-axis, thumb is towards the X-axis forward, and the direction of the bending of other four thumbs is the rotation direction of being used to survey combination; In like manner, the present embodiment is controlled the rotation direction of horizontal rotating shaft by the prescribed manner of the above-mentioned right-hand rule.Be more than exemplary explanation by vertical rotating shaft and laterally rotating shaft control and be used to survey the direction that combination is rotated, in practical application, can carry out as the case may be respective change.

As shown in Figure 4, using the present invention to be used to survey combination Full-automatic temperature compensation testing equipment surveys the combination Full-automatic temperature compensation and tests and comprise following concrete steps:

(1) by processing unit in observing and controlling cabinet 6, send synchronizing signals to being used to survey combined measuring device 3, be used to survey after combined measuring device 3 receives described synchronizing signal and start, preparation for acquiring is used to survey the supplemental characteristic of combination 1, and answer signal is replied to processing unit;

(2) after processing unit receives described answer signal, send control information to temperature switch board 4, temperature switch board 4 is controlled incubator 2 according to described control information, and described control information comprises: n temperature spot in incubator 2 and the temperature retention time tn of each temperature spot;

(3) during the temperature in temperature switch board 4 adjusting incubators 2 reached the process of design temperature, temperature switch board 4 real-time reception & disposal unit were to the temperature query statement sent.When the temperature in incubator 2 reaches the temperature spot point of setting, processing unit is given an order to drive unit 5, accessory drive 5 drives respectively left laterally rotating shaft 11.1 and right lateral shaft 11.2 drives incubator 2 rotations, and drive vertical rotating shaft 8 and drive and lay table top 7 and rotate, until incubator 2 and lay table top 7 and turn to precalculated position is used to survey combined measuring device 3 and is gathered the supplemental characteristic of being used to survey combination 1 in these processes.

(4) incubator 2 and lay table top 7 and turn to precalculated position after, processing unit sends the instruction that enters next temperature spot to temperature switch board 4, temperature in temperature switch board control 4 incubator 2 processed reaches the next temperature spot of setting, repeat above-mentioned steps (3), until gathered under all temperature spots, be used to survey the supplemental characteristic of combination 1.

As shown in Figure 5, in each temperature spot, gather the supplemental characteristic detailed process be used to survey combination 1 as follows:

In incubator 2, temperature enters a certain temperature spot, processing unit sends acquisition instructions to being used to survey combined measuring device 3 respectively, and beginning timing: in this timing node, to drive unit 5, send and drive instruction, make drive unit 5 start to drive left laterally rotating shaft 11.1, right lateral shaft 11.2, and vertically rotating shaft 8 is rotated, left laterally rotating shaft 11.1 and right lateral shaft 11.2 drive incubator 2 and turn to precalculated position, and vertically rotating shaft 8 drives are laid table top 7 to precalculated position, behind in-position, keep static, eliminate the temperature hysteresis effect, until after next timing node, repeat above-mentioned steps and turn to next precalculated position, so circulation, until after this temperature spot end, enter next temperature spot.

In the present embodiment, set left laterally rotating shaft 11.1, right lateral shaft 11.2, and the slewing rate ω of vertical rotating shaft 8, the time T of rotation.Between two parameters, meeting pass is ω * (T-10)=90, getting ω is 3 °/s, T is 40s, totally 34 timing nodes, in a temperature spot, vertically in the angle of the angle of rotating shaft 8 rotations and left laterally rotating shaft 11.1 and 11.2 rotations of right lateral shaft and this temperature spot, the position of different time node arranges as shown in table 1 below.

Table 1

Be used to survey between 6 data acquisitions of combined test equipment and processing unit and synchronize always, after off-test, the processing unit automatical is selected the rotation test data of each temperature spot Tp, obtains 34 arrays under each temperature spot Tp condition, in each T time accumulative total be used to organize data and be: make N _AxiBe the pulse sum of X accelerometer output in i T time, N _wxiIt is the pulse sum of X gyro output in i timing node; N _AyiBe the pulse sum of Y accelerometer output in i timing node, N _wyiIt is the pulse sum of Y gyro output in i timing node; N _AziBe the pulse sum of Z accelerometer output in i timing node, N _wziBe the pulse sum of Z gyro output in i timing node, wherein, i=1,2 ... 34.Automatically computing formula is as follows:

$E_{1x}=\frac{N_{\mathrm{wx}1}-N_{\mathrm{wx}4}}{2\×90\×3600}$

$E_{1y}=\frac{N_{\mathrm{wy}6}-N_{\mathrm{wy}5}}{2\×90\×3600}$

$E_{1z}=\frac{N_{\mathrm{wz}2}-N_{\mathrm{wz}3}}{2\×90\×3600}$

${\mathrm{\&Delta;D}}_{0x}=\frac{{\mathrm{<figure-callout\; id="1"\; label="N\; wx"\; filenames="HDA00003627273600012.png"\; state="\{\{state\}\}">N</figure-callout>}}_{\mathrm{wx}}+N_{\mathrm{wx}4}-N_{\mathrm{wx}7}-{\mathrm{<figure-callout\; id="8"\; label="N\; wx"\; filenames="HDA00003627273600012.png"\; state="\{\{state\}\}">N</figure-callout>}}_{\mathrm{wx}}}{4\&times;T}$

${\mathrm{\&Delta;D}}_{0y}=\frac{N_{\mathrm{wy}5}+N_{\mathrm{wy}6}-N_{\mathrm{wy}7}-{\mathrm{<figure-callout\; id="8"\; label="N\; wy"\; filenames="HDA00003627273600012.png"\; state="\{\{state\}\}">N</figure-callout>}}_{\mathrm{wy}}}{4\&times;T}$

${\mathrm{\&Delta;D}}_{0z}=\frac{N_{\mathrm{wz}2}+N_{\mathrm{wz}3}-N_{\mathrm{wz}14}}{4\&times;T}$

$D_{0x}=\frac{N_{\mathrm{wx}10}+N_{\mathrm{wx}11}+N_{\mathrm{wx}31}+N_{\mathrm{wx}32}}{4\&times;T}$

$D_{0y}=\frac{N_{\mathrm{wy}10}+N_{\mathrm{wy}11}+N_{\mathrm{wy}16}+N_{\mathrm{wy}17}}{4\&times;T}$

$D_{0z}=\frac{N_{\mathrm{wz}10}+N_{\mathrm{wz}11}+N_{\mathrm{wz}16}+N_{\mathrm{wz}17}}{4\&times;T}$

$K_{0x}=\frac{N_{\mathrm{Ax}10}+N_{\mathrm{Ax}11}+N_{\mathrm{Ax}31}+N_{\mathrm{Ax}32}}{4\&times;T}$

$K_{0y}=\frac{N_{\mathrm{Ay}10}+N_{\mathrm{Ay}11}+N_{\mathrm{Ay}16}+N_{\mathrm{Ay}17}}{4\&times;T}$

$K_{0z}=\frac{N_{\mathrm{Az}13}+N_{\mathrm{Az}14}+N_{\mathrm{Az}19}+N_{\mathrm{Az}20}}{4\&times;T}$

$K_{1x+}=\frac{N_{\mathrm{Ax}25}+N_{\mathrm{Ax}26}}{2\&times;T}-K_{0x}$

$K_{1x-}=\frac{N_{\mathrm{Ax}7}+{\mathrm{<figure-callout\; id="8"\; label="N\; Ax"\; filenames="HDA00003627273600012.png"\; state="\{\{state\}\}">N</figure-callout>}}_{\mathrm{Ax}}}{2\&times;T}-K_{0x}$

$K_{1y+}=\frac{N_{\mathrm{Ax}13}+N_{\mathrm{Ax}14}}{2\&times;T}-K_{0y}$

$K_{1y-}=\frac{N_{\mathrm{Ay}19}+N_{\mathrm{Ay}20}}{2\&times;T}-K_{0y}$

$K_{1z+}=\frac{N_{\mathrm{Az}22}+N_{\mathrm{Az}23}}{2\&times;T}-K_{0z}$

$K_{1z-}=\frac{N_{\mathrm{Az}16}+N_{\mathrm{Az}17}}{2\&times;T}-K_{0z}$

In following formula, E _1x, E _1y, E _1zBe respectively the constant multiplier of X, Y, Z axis direction gyro; D _0x, D _0y, D _0zBe respectively the partially zero of X, Y, Z axis direction gyro; K _0x, K _0y, K _0zBe respectively the partially zero of X, Y, Z axis directional acceleration meter; K _1x+, K _1y+, K _1z+Be respectively the forward constant multiplier of X, Y, Z axis directional acceleration meter; K _1x-, K _1y-, K _1z-Be respectively the negative sense constant multiplier of X, Y, Z axis directional acceleration meter; Δ D _0x, Δ D _0y, Δ D _0zBe respectively X, Y, Z-direction gyro zero drift residual error, by Δ D _0x, Δ D _0y, Δ D _0zValue accuracy of judgement degree.

By what above-mentioned formula calculated each temperature spot, be used to organize parameter, obtain correspondingly under each temperature spot being used to organize the relation between parameter and temperature, can be used for calculating the penalty coefficient of different compensation models.

The present invention drives left laterally rotating shaft 11.1, right lateral shaft 11.2 by processing unit accessory drive 5, and vertically rotating shaft 8 is rotated, simulation is used to survey under the actual condition of combination 1 operation, to obtain the working environment of more realistic operating mode, improves the accuracy of test figure.

For the table top of laying of being used to survey combination is installed; The temperature switch board be connected with incubator; The drive unit be connected with vertical rotating shaft with described two horizontal rotating shafts respectively; By the CAN bus and described be used to survey be connected be used to survey combined measuring device; And respectively with temperature switch board, drive unit be used to survey the processing unit that combined measuring device is connected.By the present invention, be used to survey the test of combination Full-automatic temperature compensation and have advantages of that process automation, parameter are resolved automatically, compensation efficiency is high, reliability is high, compensation precision is high.

Claims (7)

1. be used to survey combination Full-automatic temperature compensation test method for one kind, it is characterized in that, comprise the following steps:

(1) to being used to survey combined measuring device, send synchronizing signal, be used to survey after combined measuring device receives described synchronizing signal and start, preparation for acquiring is used to survey the supplemental characteristic of combination, and replys answer signal;

(2) after receiving described answer signal, control the temperature of being used to survey combination environment of living in, make to be used to survey combination and be in the environment of n temperature spot, and to make the temperature retention time of each temperature spot be tn;

(3) when the temperature of being used to survey combination environment of living in reaches the temperature spot of setting, make and be used to survey the motion under the required operating mode of combine analog, be used to survey combined measuring device and gather the supplemental characteristic of being used to survey combination in this motion process;

(4) control and be used to survey the temperature spot that the temperature that combines environment of living in reaches next setting, repeat above-mentioned steps (3), until gathered the supplemental characteristic of being used to survey combination under all temperature spots.

2. be used to according to claim 1 survey combination Full-automatic temperature compensation test method, it is characterized in that, describedly make the motion of being used to survey under the required operating mode of combine analog be specially: make and be used to survey combination and around horizontal direction axis and vertical direction axis, rotate respectively.

3. be used to according to claim 2 survey combination Full-automatic temperature compensation test method, it is characterized in that: each temperature spot has 34 timing nodes.

4. be used to according to claim 3 to survey the method for combination Full-automatic temperature compensation test, it is characterized in that: the described supplemental characteristic of being used to survey combination is zero D partially of gyro ₀With constant multiplier E ₁, and zero inclined to one side K of accelerometer ₀With positive negative sense constant multiplier K ₁₊, K _1-.

5. be used to according to claim 4 to survey the method for combination Full-automatic temperature compensation test, it is characterized in that: processing unit is used to organize parameter by what following formula calculated each temperature spot:

$E_{1x}=\frac{N_{\mathrm{wx}1}-N_{\mathrm{wx}4}}{2\&times;90\&times;3600}$

$E_{1y}=\frac{N_{\mathrm{wy}6}-N_{\mathrm{wy}5}}{2\&times;90\&times;3600}$

$E_{1z}=\frac{N_{\mathrm{wz}2}-N_{\mathrm{wz}3}}{2\&times;90\&times;3600}$

$D_{0x}=\frac{N_{\mathrm{wx}10}+N_{\mathrm{wx}11}+N_{\mathrm{wx}31}+N_{\mathrm{wx}32}}{4\&times;T}$

$D_{0z}=\frac{N_{\mathrm{wz}10}+N_{\mathrm{wz}11}+N_{\mathrm{wz}16}+N_{\mathrm{wz}17}}{4\&times;T}$

$D_{0z}=\frac{N_{\mathrm{wz}10}+N_{\mathrm{wz}11}+N_{\mathrm{wz}16}+N_{\mathrm{wz}17}}{4\&times;T}$

$K_{0x}=\frac{N_{\mathrm{Ax}10}+N_{\mathrm{Ax}11}+N_{\mathrm{Ax}31}+N_{\mathrm{Ax}32}}{4\&times;T}$

$K_{0y}=\frac{N_{\mathrm{Ay}10}+N_{\mathrm{Ay}11}+N_{\mathrm{Ay}16}+N_{\mathrm{Ay}17}}{4\&times;T}$

$K_{0z}=\frac{N_{\mathrm{Az}13}+N_{\mathrm{Az}14}+N_{\mathrm{Az}19}+N_{\mathrm{Az}20}}{4\&times;T}$

$K_{1x+}=\frac{N_{\mathrm{Ax}25}+N_{\mathrm{Ax}26}}{2\&times;T}-K_{0x}$

$K_{1x-}=\frac{N_{\mathrm{Ax}7}+N_{\mathrm{Ax}8}}{2\&times;T}-K_{0x}$

$K_{1y+}=\frac{N_{\mathrm{Ax}13}+N_{\mathrm{Ax}14}}{2\&times;T}-K_{0y}$

$K_{1y-}=\frac{N_{\mathrm{Ay}19}+N_{\mathrm{Ay}20}}{2\&times;T}-K_{0y}$

$K_{1z+}=\frac{N_{\mathrm{Az}22}+N_{\mathrm{Az}23}}{2\&times;T}-K_{0z}$

$K_{1z-}=\frac{N_{\mathrm{Az}16}+N_{\mathrm{Az}17}}{2\&times;T}-K_{0z}$

In following formula, E _1x, E _1y, E _1zBe respectively the constant multiplier of X, Y, Z axis direction gyro; D _0x, D _0y, D _0zBe respectively the partially zero of X, Y, Z axis direction gyro; K _0x, K _0y, K _0zBe respectively the partially zero of X, Y, Z axis directional acceleration meter; K _1x+, K _1y+, K _1z+Be respectively the forward constant multiplier of X, Y, Z axis directional acceleration meter; K _1x-, K _1y-, K _1z-Be respectively the negative sense constant multiplier of X, Y, Z axis directional acceleration meter; N _AxiBe the pulse sum of X accelerometer output in i timing node, N _wxiIt is the pulse sum of X-direction gyro output in i timing node; N _AyiBe the pulse sum of Y direction accelerometer output in i timing node, N _wyiIt is the pulse sum of Y direction gyro output in i timing node; N _AziBe the pulse sum of Z-direction accelerometer output in i timing node, N _wziBe the pulse sum of Z-direction gyro output in i timing node, wherein, i=1,2 ... 34.

6. be used to survey combination Full-automatic temperature compensation testing equipment for one kind, it is characterized in that, comprising:

Base;

Two bracing frames, be located at respectively on described base;

The two horizontal rotating shafts that axis horizontal is arranged, be located at respectively on described two bracing frames;

Incubator, its two ends, left and right are connected with described two horizontal rotating shafts respectively, and this incubator of the rotating drive of described two horizontal rotating shafts rotates;

The temperature switch board, be connected with described incubator, be used to controlling the temperature in described incubator;

The vertical vertical rotating shaft of arranging of axis, be located in described incubator;

For the table top of laying of being used to survey combination is installed, the described table top of laying is horizontally disposed, and is fixedly connected with described vertical rotating shaft;

Drive unit, be connected with vertical rotating shaft with described two horizontal rotating shafts respectively;

Be used to survey combined measuring device, by the CAN bus and described be used to survey be connected; And

Processing unit, respectively with described temperature switch board, drive unit be used to survey combined measuring device and be connected.

7. according to claim 6ly be used to survey combination Full-automatic temperature compensation testing equipment, it is characterized in that:

Described X-axis of being used to survey combination is identical with the axis direction of described vertical rotating shaft;

Described Y-axis of being used to survey combination is identical with the axis direction of described horizontal rotating shaft.

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