CN103411611B - Tank-type mixture Full-automatic temperature compensation test method and equipment - Google Patents

Abstract

The invention discloses a kind of tank-type mixture Full-automatic temperature compensation test method and equipment, this equipment comprises: base; Be located at two bracing frames on described base; Be located at two horizontal rotating shafts on described two bracing frames respectively; The incubator that two ends, left and right are connected with described two horizontal rotating shafts respectively; Be located at the holder of described incubator inwall regularly; Holder is provided with longitudinal rotating shaft; What be fixedly connected with described longitudinal rotating shaft lays table top for what install tank-type mixture; The temperature switch board be connected with incubator; The drive unit be connected with described two horizontal rotating shafts and longitudinal rotating shaft respectively; By the tank-type mixture proving installation that CAN is connected with described tank-type mixture; And the processing unit be connected with temperature switch board, drive unit and tank-type mixture proving installation respectively.Carry out the test of tank-type mixture Full-automatic temperature compensation by the present invention and there is process automation, parameter Automatic solution, compensation efficiency is high, reliability is high, compensation precision is high advantage.<!--1-->

Description

Tank-type mixture Full-automatic temperature compensation test method and equipment

Technical field

The present invention relates to the temperature compensation of tank-type mixture, refer to a kind of tank-type mixture Full-automatic temperature compensation test method and equipment particularly, belong to IMU technical field of measurement and test.

Background technology

Tank-type mixture forms primarily of gyro, accelerometer and interlock circuit, it is the core component of control system, be mainly used in the angular velocity in sensitive carrier motion and acceleration, for system guidance controls to provide attitude and positional information, the precision of tank-type mixture will directly affect final guidance precision.

In the application of tank-type mixture, due to the easy temperature influence of precision of gyro and accelerometer, usually take Temperature Control Measures, make product work at stationary temperature point, ensure output accuracy, but control tank-type mixture environment temperature, to temperature required, there is time longer shortcoming.What require along with tank-type mixture application improves constantly, 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 carrying out software compensation to output, weaken influence of temperature change, meet the requirement of precision and stabilization time simultaneously.

In recent years, domestic Duo Jia universities and colleges and R&D institution have carried out technique for temperature compensation research work, propose method and the model of temperature compensation, although major part is confined to theory and laboratory stage, but also have small part to be applied on tank-type mixture, and the scope of following temperature compensation application can be more and more wider.At present, temperature compensation test is by the testing experiment under different temperatures, calculates and obtains temperature compensation coefficient, have a direct impact compensation precision.Due to used group of parameter mainly gyro, accelerometer and change-over circuit zero partially and constant multiplier, current test method is each gyro and accelerometer are carried out separately to the parameter testing of full temperature scope, at each temperature spot, insulation a period of time, to be output stable after, carry out speed rotation or static test, be completed and enter next temperature spot, repeat heat insulation test process, until obtain whole temperature datas of this parameter.Each parameter, according to above-mentioned measurement of test method, finally obtains zero inclined and constant multiplier of each temperature spot, by calculating, obtaining the relation between whole parameter and temperature, finally by people for selecting calculating, obtaining final penalty coefficient.

Although above-mentioned existing test method can test 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, resource occupation waste is serious, need in test timing manual operation speed platform and incubator, workload is large, easily makes mistakes, and needs the temperature test repeating each parameter in complementation test, wasting manpower and material resources, during each parameter switching, product all needs power-off, and used group parameter is successively energized by product and the impact of temperature variation environment, and compensation precision is limited, compensation efficiency is extremely low, is difficult to apply on a large scale.Therefore in the urgent need to working out a kind of novel temperature compensation test method, short form test flow process, Reality simulation environment, improving compensation precision, being convenient to through engineering approaches and implementing.

Summary of the invention

The object of the invention is to overcome above-mentioned the deficiencies in the prior art and a kind of tank-type mixture Full-automatic temperature compensation testing equipment be provided and carry out Full-automatic temperature compensation test method by this equipment, this equipment can fully automatic operation, temperature spot needed for automatic control, and automatically measure the supplemental characteristic of the tank-type mixture under each temperature spot, finally automatically calculate required penalty coefficient.

The technical scheme realizing the object of the invention employing is: a kind of tank-type mixture Full-automatic temperature compensation test method, comprises the following steps:

(1) send synchronizing signal to tank-type mixture proving installation, tank-type mixture proving installation starts after receiving described synchronizing signal, the supplemental characteristic of preparation for acquiring tank-type mixture, and replys answer signal;

(2), after receiving described answer signal, control the temperature of environment residing for tank-type mixture, tank-type mixture is in the environment of n temperature spot, and makes the temperature retention time of each temperature spot be tn;

(3) when residing for tank-type mixture, the temperature of environment reaches the temperature spot of setting, the motion under making tank-type mixture simulate required operating mode, tank-type mixture proving installation gathers the supplemental characteristic of tank-type mixture in this motion process;

(4) control the temperature spot that the temperature of environment residing for tank-type mixture reaches next setting, repeat above-mentioned steps (3), until the supplemental characteristic of tank-type mixture under having gathered all temperature spots.

In technique scheme, the supplemental characteristic of described tank-type mixture is zero inclined D of gyro ₀with constant multiplier E ₁, and zero of accelerometer inclined K ₀with positive negative sense constant multiplier K ₁₊, K _1-.

The present invention also provides a kind of tank-type mixture Full-automatic temperature compensation testing equipment, comprising:

Base;

Two bracing frames, are located on described base respectively;

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

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

Temperature switch board, is connected with described incubator, for controlling the temperature in described incubator;

Longitudinal rotating shaft that axis is vertically arranged, is located in described incubator;

Lay table top for what install tank-type mixture, described in lay table top be horizontally disposed, and to be fixedly connected with described longitudinal rotating shaft;

Drive unit, is connected with described two horizontal rotating shafts and longitudinal rotating shaft respectively;

Tank-type mixture proving installation, is connected with described tank-type mixture by CAN; And

Processing unit, is connected with described temperature switch board, drive unit and tank-type mixture proving installation respectively.

In technique scheme, the X-axis of described tank-type mixture is identical with the axis direction of described longitudinal rotating shaft; The Y-axis of described tank-type mixture is identical with the axis direction of described horizontal rotating shaft.

Compared with current test method, the present invention has process automation, parameter Automatic solution, compensation efficiency is high, reliability is high, compensation precision high, specific as follows:

(1) process automation: process of the test realizes a keyization operation, starts post-processing unit and automatically carries out work according to Row control temperature switch board, drive unit and tank-type mixture proving installation according to testing requirements, instead of manual operation of the prior art;

(2) parameter Automatic solution: the supplemental characteristic being obtained tank-type mixture under each state by tank-type mixture proving installation, and automatically peeked by processing unit, Automatic solution goes out penalty coefficient, avoid and manually obtain data, calculate the problem of easily makeing mistakes in data;

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

(4) reliability is high: do not need manual operation in test, and eliminating 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, as far as possible Reality simulation working environment, eliminates the factors such as temperature is uneven, delayed, other parameter is cross-linked error impact, warranty test effect.

Accompanying drawing explanation

Fig. 1 is the structural representation of tank-type mixture Full-automatic temperature compensation testing equipment of the present invention;

Fig. 2 is the mounting structure schematic diagram of tank-type mixture in Fig. 1;

Fig. 3 is the structured flowchart of each signal processing unit in tank-type mixture Full-automatic temperature compensation testing equipment of the present invention;

Fig. 4 carries out for using tank-type mixture Full-automatic temperature compensation testing equipment shown in Fig. 1 the process flow diagram tested;

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

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

As depicted in figs. 1 and 2, tank-type mixture Full-automatic temperature compensation testing equipment of the present invention, comprising: base 9; Base 9 is respectively equipped with left support frame 10.1 and right support frame 10.2; Left support frame 10.1 and right support frame 10.2 are respectively equipped with left horizontal rotating shaft 11.1 and right lateral shaft 11.2, the axis of left horizontal rotating shaft 11.1 and right lateral shaft 11.2 be level to.Incubator 2 is provided with between left horizontal rotating shaft 11.1 and right lateral shaft 11.2, namely the two ends, left and right of incubator 2 are connected with left horizontal rotating shaft 11.1 and right lateral shaft 11.2 respectively, incubator 2 can be driven to rotate around horizontal direction axis when left horizontal rotating shaft 11.1 and right lateral shaft 11.2 rotate.

Be provided with longitudinal rotating shaft 8 in incubator 2, the axis of longitudinal rotating shaft 8 is vertical direction, and the outside of longitudinal rotating shaft 8 is provided with lays table top 7, and tank-type mixture 1 is arranged on to be laid on table top 7.Drive when longitudinal rotating shaft 8 is rotated and lay table top 7 and rotate, thus drive tank-type mixture 1 to rotate.

Incubator 2 is connected with temperature switch board 4, and temperature switch board 4 is for controlling the temperature in incubator 2.Tank-type mixture 1 is connected with tank-type mixture proving installation 3 by CAN, and tank-type mixture proving installation 3 is for testing the supplemental characteristic of tank-type mixture 1.

Left horizontal rotating shaft 11.1 and right lateral shaft 11.2 and longitudinal rotating shaft 8 are connected to drive unit 5, and drive unit 5 rotates for driving two horizontal rotating shafts 11.1,11.2 and longitudinal rotating shaft 8.

Present device also comprises an observing and controlling cabinet 6, processing unit is provided with in observing and controlling cabinet 6, processing unit is respectively with tank-type mixture proving installation 3, temperature switch board 4 and drive unit 5 be connected, and processing unit is used for sending control signal respectively to tank-type mixture proving installation 3, temperature switch board 4 and drive unit 5.

The present invention's processing unit used can be industrial circle industrial computer used, or common computer, or single-chip microcomputer.By sending test signal to tank-type mixture proving installation 3, for testing the supplemental characteristic of tank-type mixture; Send temperature control signals by processing unit to temperature switch board 4, regulate the temperature in incubator 2 for control temperature switch board 4; And send drive control signal to drive unit 5, two horizontal rotating shafts 11.1 are driven for accessory drive 5,11.2 and longitudinal rotating shaft 8, realize controlling tank-type mixture proving installation 3, temperature switch board 4 and drive unit 5 above by processing unit 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 tank-type mixture 1 is: X-axis is identical with the axis direction of longitudinal rotating shaft; The Y-axis of tank-type mixture is identical with the axis direction of horizontal rotating shaft.The present embodiment controls the rotation direction of longitudinal rotating shaft by the right-hand rule, wherein right-hand rule agree as follows: hold X-axis with the right hand, and thumb is towards X-axis forward, and the bending direction of other four thumbs is the rotation direction of tank-type mixture; In like manner, the present embodiment controls the rotation direction of horizontal rotating shaft by the prescribed manner of the above-mentioned right-hand rule.The more than just exemplary direction described by longitudinal rotating shaft and the rotation of horizontal rotating shaft control tank-type mixture, can carry out respective change in practical application as the case may be.

As shown in Figure 4, use tank-type mixture Full-automatic temperature compensation testing equipment of the present invention to carry out the test of survey combination Full-automatic temperature compensation and comprise following concrete steps:

(1) send synchronizing signal by processing unit in observing and controlling cabinet 6 to tank-type mixture proving installation 3, tank-type mixture proving installation 3 starts after receiving described synchronizing signal, the supplemental characteristic of preparation for acquiring tank-type mixture 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 controls 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) regulate the temperature in incubator 2 to reach in the process of design temperature at temperature switch board 4, temperature switch board 4 real-time reception processing unit is 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 left horizontal rotating shaft 11.1 and right lateral shaft 11.2 to drive incubator 2 to rotate respectively, and drive longitudinal rotating shaft 8 to drive to lay table top 7 and rotate, until incubator 2 and lay table top 7 and turn to precalculated position, tank-type mixture proving installation 3 gathers the supplemental characteristic of tank-type mixture 1 in this process.

(4) incubator 2 and lay after table top 7 turns to precalculated position, processing unit sends the instruction entering next temperature spot to temperature switch board 4, temperature in temperature switch board control 4 incubator 2 processed reaches the temperature spot of next setting, repeat above-mentioned steps (3), until the supplemental characteristic of tank-type mixture 1 under having gathered all temperature spots.

As shown in Figure 5, the supplemental characteristic detailed process gathering tank-type mixture 1 in each temperature spot is as follows:

In incubator 2, temperature enters a certain temperature spot, processing unit sends acquisition instructions respectively to tank-type mixture proving installation 3, and start timing: in this timing node, driving instruction is sent to drive unit 5, drive unit 5 is made to start to drive left horizontal rotating shaft 11.1, right lateral shaft 11.2, and longitudinal rotating shaft 8 is rotated, left horizontal rotating shaft 11.1 and right lateral shaft 11.2 drive incubator 2 to turn to precalculated position, and longitudinal rotating shaft 8 drive lays table top 7 to precalculated position, keep static behind in-position, eliminate temperature hysteresis effect, until after next timing node, repeat above-mentioned steps and turn to next precalculated position, circulation like this, until after this temperature spot terminates, enter next temperature spot.

Left horizontal rotating shaft 11.1, right lateral shaft 11.2 is set in the present embodiment, and the slewing rate ω of longitudinal rotating shaft 8, the time T of rotation.Meeting pass between two parameters is ω × (T-10)=90, getting ω is 3 °/s, T is 40s, totally 34 timing nodes, in a temperature spot, in the angle that the angle that longitudinal rotating shaft 8 is rotated and left horizontal rotating shaft 11.1 and right lateral shaft 11.2 rotate and this temperature spot, the position of different time node arranges as shown in table 1 below.

Table 1

Always synchronous between tank-type mixture testing apparatus 6 data acquisition and procession unit, after off-test, processing unit automatical selects the rotation test data of each temperature spot Tp, obtains 34 arrays under each temperature spot Tp condition, and used group of data accumulative in each T time are: make N _axibe the pulse sum that in i-th T time, X accelerometer exports, N _wxiit is the pulse sum that in i-th timing node, X gyro exports; N _ayibe the pulse sum that in i-th timing node, Y accelerometer exports, N _wyiit is the pulse sum that in i-th timing node, Y gyro exports; N _azibe the pulse sum that in i-th timing node, Z accelerometer exports, N _wzibe the pulse sum that in i-th timing node, Z gyro exports, wherein, i=1,2 ... 34.Automatic computing formula is as follows:

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

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

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

${\mathrm{\&Delta;D}}_{0x}=\frac{N_{\mathrm{wx}1}+N_{\mathrm{wx}4}-N_{\mathrm{wx}7}-N_{\mathrm{wx}8}}{4\&times;T}$

${\mathrm{\&Delta;D}}_{0y}=\frac{N_{\mathrm{wy}5}+N_{\mathrm{wy}6}-N_{\mathrm{wy}7}-N_{\mathrm{wy}8}}{4\&times;T}$

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

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

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

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

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

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

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

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

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

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

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

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

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

In above 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 zero inclined of X, Y, Z axis direction gyro; K _0x, K _0y, K _0zbe respectively the zero inclined 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 used group of parameter of each temperature spot of above-mentioned formulae discovery, then the relation under obtaining each temperature spot between corresponding used group parameter and temperature, can be used for the penalty coefficient calculating different compensation model.

The present invention drives left horizontal rotating shaft 11.1, right lateral shaft 11.2 by processing unit accessory drive 5, and longitudinal rotating shaft 8 is rotated, under the actual condition that simulation tank-type mixture 1 runs, to obtain the working environment of more realistic operating mode, improve the accuracy of test figure.

Table top is laid for what install tank-type mixture; The temperature switch board be connected with incubator; The drive unit be connected with described two horizontal rotating shafts and longitudinal rotating shaft respectively; By the tank-type mixture proving installation that CAN is connected with described tank-type mixture; And the processing unit be connected with temperature switch board, drive unit and tank-type mixture proving installation respectively.Carry out the test of tank-type mixture Full-automatic temperature compensation by the present invention and there is process automation, parameter Automatic solution, compensation efficiency is high, reliability is high, compensation precision is high advantage.

Claims (3)

1. a tank-type mixture Full-automatic temperature compensation test method, is characterized in that, comprises the following steps:

(1) send synchronizing signal to tank-type mixture proving installation, tank-type mixture proving installation starts after receiving described synchronizing signal, the supplemental characteristic of preparation for acquiring tank-type mixture, and replys answer signal;

(2), after receiving described answer signal, control the temperature of environment residing for tank-type mixture, tank-type mixture is in the environment of n temperature spot, and makes the temperature retention time of each temperature spot be tn;

(3) when residing for tank-type mixture, the temperature of environment reaches the temperature spot of setting, the motion under making tank-type mixture simulate required operating mode, tank-type mixture proving installation gathers the supplemental characteristic of tank-type mixture in this motion process; The described motion that tank-type mixture is simulated under required operating mode is specially: tank-type mixture is rotated around horizontal direction axis and vertical direction axis respectively; Each temperature spot has 34 timing nodes; The supplemental characteristic of described tank-type mixture is zero inclined D of gyro ₀with constant multiplier E ₁, and zero of accelerometer inclined K ₀with positive negative sense constant multiplier K ₁₊, K _1-;

(4) control the temperature spot that the temperature of environment residing for tank-type mixture reaches next setting, repeat above-mentioned steps (3), until the supplemental characteristic of tank-type mixture under having gathered all temperature spots;

The used group of parameter by each temperature spot of following formulae discovery:

$E_{1x}=\frac{N_{wx1}-N_{wx4}}{2\&times;90\&times;3600}$

$E_{1y}=\frac{N_{wy6}-N_{wy5}}{2\&times;90\&times;360}$

$E_{1z}=\frac{N_{wz2}-N_{wz3}}{2\&times;90\&times;3600}$

$D_{0x}=\frac{N_{wx10}+N_{wx11}+N_{wx31}+N_{wx32}}{4\&times;T}$

$D_{0y}=\frac{N_{wy10}+N_{wy11}+N_{wy16}+N_{wy17}}{4\&times;T}$

$D_{0z}=\frac{N_{wz10}+N_{wz11}+N_{wz16}+N_{wz17}}{4\&times;T}$

$K_{0x}=\frac{N_{Ax10}+N_{Ax11}+N_{Ax31}+N_{Ax32}}{4\&times;T}$

$K_{0y}=\frac{N_{Ay10}+N_{Ay11}+N_{Ay16}+N_{Ay17}}{4\&times;T}$

$K_{0z}=\frac{N_{Az13}+N_{Az14}+N_{Az19}+N_{Az20}}{4\&times;T}$

$K_{1x+}=\frac{N_{Ax25}+N_{Ax26}}{2\&times;T}-K_{0x}$

$K_{1x-}=\frac{N_{Ax7}+N_{Ax8}}{2\&times;T}-K_{0x}$

$K_{1y+}=\frac{N_{Ax13}+N_{Ax14}}{2\&times;T}-K_{0y}$

$K_{1y-}=\frac{N_{Ay19}+N_{Ay20}}{2\&times;T}-K_{0y}$

$K_{1z+}=\frac{N_{Az22}+N_{Az23}}{2\&times;T}-K_{0z}$

$K_{1z-}=\frac{N_{Az16}+N_{Az17}}{2\&times;T}-K_{0z}$

In above 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 zero inclined of X, Y, Z axis direction gyro; K _0x, K _0y, K _0zbe respectively the zero inclined 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 that in i-th timing node, X accelerometer exports, N _wxiit is the pulse sum that in i-th timing node, X-direction gyro exports; N _ayibe the pulse sum that in i-th timing node, Y direction accelerometer exports, N _wyiit is the pulse sum that in i-th timing node, Y direction gyro exports; N _azibe the pulse sum that in i-th timing node, Z-direction accelerometer exports, N _wzibe the pulse sum that in i-th timing node, Z-direction gyro exports, wherein, i=1,2 ... 34.

2. a tank-type mixture Full-automatic temperature compensation testing equipment, is characterized in that, comprising:

Base;

Two bracing frames, are located on described base respectively;

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

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

Temperature switch board, is connected with described incubator, for controlling the temperature in described incubator;

Longitudinal rotating shaft that axis is vertically arranged, is located in described incubator;

Lay table top for what install tank-type mixture, described in lay table top be horizontally disposed, and to be fixedly connected with described longitudinal rotating shaft;

Drive unit, is connected with described two horizontal rotating shafts and longitudinal rotating shaft respectively;

Tank-type mixture proving installation, is connected with described tank-type mixture by CAN; And

Processing unit, is connected with described temperature switch board, drive unit and tank-type mixture proving installation respectively, and processing unit is by used group of parameter of each temperature spot of following formulae discovery:

$E_{1x}=\frac{N_{wx1}-N_{wx4}}{2\&times;90\&times;3600}$

$E_{1y}=\frac{N_{wy6}-N_{wy5}}{2\&times;90\&times;360}$

$E_{1z}=\frac{N_{wz2}-N_{wz3}}{2\&times;90\&times;3600}$

$D_{0x}=\frac{N_{wx10}+N_{wx11}+N_{wx31}+N_{wx32}}{4\&times;T}$

$D_{0y}=\frac{N_{wy10}+N_{wy11}+N_{wy16}+N_{wy17}}{4\&times;T}$

$D_{0z}=\frac{N_{wz10}+N_{wz11}+N_{wz16}+N_{wz17}}{4\&times;T}$

$K_{0x}=\frac{N_{Ax10}+N_{Ax11}+N_{Ax31}+N_{Ax32}}{4\&times;T}$

$K_{0y}=\frac{N_{Ay10}+N_{Ay11}+N_{Ay16}+N_{Ay17}}{4\&times;T}$

$K_{0z}=\frac{N_{Az13}+N_{Az14}+N_{Az19}+N_{Az20}}{4\&times;T}$

$K_{1x+}=\frac{N_{Ax25}+N_{Ax26}}{2\&times;T}-K_{0x}$

$K_{1x-}=\frac{N_{Ax7}+N_{Ax8}}{2\&times;T}-K_{0x}$

$K_{1y+}=\frac{N_{Ax13}+N_{Ax14}}{2\&times;T}-K_{0y}$

$K_{1y-}=\frac{N_{Ay19}+N_{Ay20}}{2\&times;T}-K_{0y}$

$K_{1z+}=\frac{N_{Az22}+N_{Az23}}{2\&times;T}-K_{0z}$

$K_{1z-}=\frac{N_{Az16}+N_{Az17}}{2\&times;T}-K_{0z}$

In above 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 zero inclined of X, Y, Z axis direction gyro; K _0x, K _0y, K _0zbe respectively the zero inclined 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 that in i-th timing node, X accelerometer exports, N _wxiit is the pulse sum that in i-th timing node, X-direction gyro exports; N _ayibe the pulse sum that in i-th timing node, Y direction accelerometer exports, N _wyiit is the pulse sum that in i-th timing node, Y direction gyro exports; N _azibe the pulse sum that in i-th timing node, Z-direction accelerometer exports, N _wzibe the pulse sum that in i-th timing node, Z-direction gyro exports, wherein, i=1,2 ... 34.

3. tank-type mixture Full-automatic temperature compensation testing equipment according to claim 2, is characterized in that:

The X-axis of described tank-type mixture is identical with the axis direction of described longitudinal rotating shaft;

The Y-axis of described tank-type mixture is identical with the axis direction of described horizontal rotating shaft.