CN103808321A - Triaxial integrated optical fiber gyroscope inert measurement device based on optical source cold standby and compensation and installation method - Google Patents

Abstract

The invention discloses a triaxial integrated optical fiber gyroscope inert measurement device based on optical source cold standby, and a compensation and installation method. The triaxial integrated optical fiber gyroscope inert measurement device comprises a body, two triaxial shared optical sources, an optical source driving and refrigerating circuit, three framework-free optical fiber loop meter heads, three optical fiber gyroscope signal processing and interference circuit digital boards, a system signal processing and interface circuit digital plate, a secondary power supply module, a frequency and voltage conversion simulation circuit, three electric connectors and a reference mirror. The three optical fiber loops share an optical source, and a standby cold optical source is provided, thus the reliability is high; the installation error correction method used by the invention can effectively reduce the triaxial cross coupling; the circuit boards are installed on a lateral cover and an upper cover for the convenience of radiation protection design; meanwhile, the favorable heat radiation is realized; framework-free optical fiber loops are used, the adaptability of a magnetic environment and a radiation environment is improved.

Description

A kind of three-axis integrative inertial measurement unit of optical fiber gyroscope and compensation and installation method based on light source cold standby

Technical field

The present invention relates to three-axis integrative long-life miniaturization optical fiber gyro inertial measurement unit, be particularly related to a kind of miniaturization for spacecraft Navigation, Guidance and Control, highly reliable, long-life, adopted the inertial measurement unit of optical fiber gyroscope of zero offset compensation and alignment error bearing calibration, belong to inertia measurement technical field.

Background technology

Spacecraft, as the mark of high and new technology development, is being played the part of very important role in the national defense construction of China.Local war under future high-tech condition has proposed very high requirement to the acquisition capability of information, the attitude stability of space flight is prerequisite and the guarantee of effectively carrying out the each tasks such as aiming, docking, wherein inertia type instrument is again the key equipment of attitude control system, and it directly affects precision and the performance of attitude control system.Spacecraft adopts the inertial measuring unit of gyroscope composition and optical sensor (as infrared horizon, sun sensor and star sensor etc.) jointly to form the attitude measurement system of satellite conventionally.Utilize gyro short time measurement precision height and optical sensor there is no the characteristic of cumulative errors, the two complements each other, and jointly obtains lasting high-precision attitude and attitude angle speed measurement information.

Optical fibre gyro is a kind of all solid state inertia type instrument, and it has the not available advantage of traditional electromechanical meters.The closed loop detection system that it is made up of optical device and electron device, determines angular velocity of rotation by the phase differential that detects two-beam, without any moving component, is structurally the gyroscope of complete solid state.Optical fibre gyro is just with its principle and structural advantage, make it there is obvious advantage in many applications, especially on to product reliability and the very high spacecraft of life requirements, its principal feature shows the following aspects: (1) high precision: external high-precision optical fiber gyro precision has reached 0.00038 °/h; (2) all solid state: the parts of optical fibre gyro are all solid-state, there is the characteristic of anti-vacuum, anti-vibration and impact; (3) long-life: optical fibre gyro crucial optical device used all can the meeting spatial application long-life requirement of 15 years; (4) high reliability: optical fibre gyro structural design is flexible, production technology is relatively simple, can carry out easily the Redundancy Design of circuit to it, or adopts slack gyro construction system, can improve like this reliability of system.

The inertial measurement unit of optical fiber gyroscope design proposals that adopt three axles to work alone in prior art more, can measure the attitude of spacecraft three axles with respect to inertial space, but this design proposal does not adopt Redundancy Design, especially the decay of light source can have influence on the performance of gyro, the attitude of three axles with respect to inertial space all can not be provided when wherein any axle breaks down, and reliability is lower; In addition, the fiber optic loop structure of existing fiber gyro has all adopted the structure that has skeleton, and this design, in high and low temperature environment, because skeleton is asynchronous with fibre strain, can affect the performance of fiber optic loop.Adopt the exoskeletal fiber optic loop just to have broken away from the constraint of skeleton, improved the ability that optical fibre gyro adapts to wide temperature variation.Radiation hardening generally takes to paste at chip surface the mode of tantalum piece, and the temperature conductivity of tantalum is lower, must use other radiating modes simultaneously.

Summary of the invention

The object of the invention is, in order to solve the deficiencies in the prior art, provides inertial measurement unit of optical fiber gyroscope and Temperature Modeling thereof and error compensating method, and this device is a kind of three axle common light source, cold standby light source, mechanical environment adaptability is good, quality is light, reliability is high.

The object of the invention is to be achieved through the following technical solutions, inertial measurement unit of optical fiber gyroscope, comprises that a body (1), two three axle common light source (17), light sources drive with refrigerant circuits (6), three exoskeletal fiber optic loop gauge outfits (5), three signal of fiber optical gyroscopes and process with interface circuit digiboard (10), system signal and process and interface circuit digiboard (8), secondary power supply module (4), frequency and voltage transitions mimic channel (7), three electric connectors (9A, 9B, 9C), reference mirror (3), three axle common light source (17) are arranged on body (1), have adopted cold standby design, three exoskeletal fiber optic loop gauge outfits (5) pack magnetic shielding outer cover (11) into by fiber optic loop (12) and are fixed on fiber optic loop mounting bracket and inner cover (13), mutually orthogonal being arranged on body (1), 1 light source drives with refrigerant circuits (6) and is contained on body (1), three signal of fiber optical gyroscopes are processed with interface circuit digiboard (10) and are contained on side cover, wherein two are arranged on band rice word muscle side cover, another is arranged on the side plate that two connectors are installed, a system signal is processed with interface circuit digiboard and is arranged on upper cover (2), secondary power supply module (4) entirety is as bottom, power supply and IO interface have been used three electric connectors (9A, 9B, 9C), are arranged on respectively on two side covers, and one of them side cover is installed two connectors (9B, 9C), and another adjacent side cover is installed a connector (9A), a reference mirror (3) is arranged on (1) on body.

Light source drives with active and standby part of part of refrigerant circuits (6) and is subject to the control of gyrounit internal relay, for active and standby part of light source provides working power path; Gyroscope signal process circuit (10) is processed respectively three axis optical fibre gyro metrical information, outputing to system signal with impulse form and process and interface circuit digital circuit (8), is analog quantity remote measurement Voltage-output by frequency and voltage transitions mimic channel (7) by optical fibre gyro pulses switch; System signal is processed the information of processing optical fibre gyro with interface digital circuit (8), and result framing is sent to Satellite Attitude control subsystem; System signal process with interface digital circuit (8) on scm software complete that counted number of pulses reads, the number request of sending out of Star Service computing machine on zero offset compensation and response satellite, framing data are sent to Star Service computing machine; Alignment error is proofreaied and correct and is completed by Star Service computing machine, and correction parameter is demarcated and provided by inertial measurement unit of optical fiber gyroscope, uses this calibrating parameters, effectively reduces by three axle cross-couplings; On four angles of base, have respectively a mounting hole, this device fiber optic loop used is exoskeletal fiber optic loop.

The fiber lengths of described three exoskeletal fiber optic loop (12) is 680m, and fiber optic loop (12) inner side and bottom surface are used silicon rubber to fix.

On described upper cover (2), install tantalum piece (15) additional, and by the coated object that reaches heat radiation of Copper Foil (16) for tantalum piece (15).

An alignment error compensation method for inertial measurement unit of optical fiber gyroscope, step is as follows:

(1) in three-axis integrative optical fibre gyro assembling process, produce alignment error, three gyro sensitive axes are not parallel or vertical with the external mounting plane of inertial measurement unit of optical fiber gyroscope, cause having coupling error between three axles, angular velocity responsive on three input axis of gyro of inertial measurement unit of optical fiber gyroscope is:

$\left[\begin{array}{c}{\mathrm{\Ω}}_x\\ {\mathrm{\Ω}}_y\\ {\mathrm{\Ω}}_z\end{array}\right]=\left[\begin{array}{c}{\mathrm{\Ω}}_{0x}\\ {\mathrm{\Ω}}_{0y}\\ {\mathrm{\Ω}}_{0z}\end{array}\right]+\left[\begin{array}{ccc}{K}_{\mathrm{xx}}& K_{\mathrm{yx}}& K_{\mathrm{zx}}\\ K_{\mathrm{xy}}& K_{\mathrm{yy}}& K_{\mathrm{zy}}\\ K_{\mathrm{xz}}& K_{\mathrm{yz}}& K_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]+\left[\begin{array}{c}{\mathrm{\ϵ}}_x\\ {\mathrm{\ϵ}}_y\\ {\mathrm{\ϵ}}_z\end{array}\right]---\left(1\right)$

ω _x, ω _y, ω _z--the angular velocity on three axles of orthogonal coordinate system of needing to measure, unit be °/s, is that turntable is inputted setting value;

Ω _x, Ω _y, Ω _z--the output in three installation shaft, the standard input of getting in calibration process is the output mean value of whole number of turns value;

Ω _0x, Ω _0y, Ω _0z---three optical fibre gyros zero inclined to one side;

K _ij--the constant multiplier of the gyro misalignment that has been coupled, wherein i=x, y, z, j=x, y, z, i represents input shaft, j represents the axle being affected.

ε _x, ε _y, ε _z--the stochastic error of gyro;

(2) inertial measurement unit of optical fiber gyroscope is arranged in hexahedron frock, is placed in single axle table, make sensitive axes towards ground, set fixed angles speed omega, forward and reverse rotation, the sampling time guarantees as rotating a circle, the rotation of x axle obtains:

$K_{\mathrm{xx}}=\frac{X_{x+}-X_{x-}}{2\mathrm{\ω}}$

$K_{\mathrm{yx}}=\frac{Y_{x+}-Y_{x-}}{2\mathrm{\ω}}$

$K_{\mathrm{zx}}=\frac{Z_{x+}-Z_{x-}}{2\mathrm{\ω}}$

Wherein X _x+for be rotated in the forward x gyro output mean value, X along x _x-for exporting mean value, Y along x reverse rotation x gyro _x+for be rotated in the forward y gyro output mean value, Y along x _x-for exporting mean value, Z along x reverse rotation y gyro _x+for be rotated in the forward z gyro output mean value, Z along x _x-for exporting mean value along x reverse rotation z gyro;

The rotation of y axle obtains:

$K_{\mathrm{xy}}=\frac{X_{y+}-X_{y-}}{2\mathrm{\ω}}$

$K_{\mathrm{yy}}=\frac{Y_{y+}-Y_{y-}}{2\mathrm{\ω}}$

$K_{\mathrm{zy}}=\frac{Z_{y+}-Z_{y-}}{2\mathrm{\ω}}$

Wherein X _y+for be rotated in the forward x gyro output mean value, X along y _y-for exporting mean value, Y along y reverse rotation x gyro ₊for be rotated in the forward y gyro output mean value, Y along y _-for exporting mean value, Z along y reverse rotation y gyro _y+for be rotated in the forward z gyro output mean value, Z along y _y-for exporting mean value along y reverse rotation z gyro;

The rotation of z axle obtains:

$K_{\mathrm{xz}}=\frac{X_{z+}-X_{z-}}{2\mathrm{\ω}}$

$K_{\mathrm{yz}}=\frac{Y_{z+}-Y_{z-}}{2\mathrm{\ω}}$

$K_{\mathrm{zz}}=\frac{Z_{z+}-Z_{z-}}{2\mathrm{\ω}}$

Wherein X _z+for be rotated in the forward x gyro output mean value, X along z _z-for exporting mean value, Y along z reverse rotation x gyro _z+for be rotated in the forward y gyro output mean value, Y along z _z-for exporting mean value, Z along z reverse rotation y gyro ₊for be rotated in the forward z gyro output mean value, Z along z _-for exporting mean value along z reverse rotation z gyro;

(3) so far, calculate measured angle speed by step (1) and (2):

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]={\left[\begin{array}{ccc}{K}_{\mathrm{xx}}& K_{\mathrm{xy}}& K_{\mathrm{xz}}\\ K_{\mathrm{yx}}& K_{\mathrm{yy}}& K_{\mathrm{yz}}\\ K_{\mathrm{zx}}& K_{\mathrm{zy}}& K_{\mathrm{zz}}\end{array}\right]}^{-1}(\left[\begin{array}{c}{\mathrm{\Ω}}_x\\ {\mathrm{\Ω}}_y\\ {\mathrm{\Ω}}_z\end{array}\right]-\left[\begin{array}{c}{\mathrm{\Ω}}_{0x}\\ {\mathrm{\Ω}}_{0y}\\ {\mathrm{\Ω}}_{0z}\end{array}\right]).$

The compensation method of the Temperature Modeling of inertial measurement unit of optical fiber gyroscope, performing step is as follows:

(1) inertial measurement unit of optical fiber gyroscope is contained in hexahedron frock, put into the incubator with north orientation benchmark marble flat board, the set temperature point set time zero position of testing uniformly-spaced from-40 ℃ to 75 ℃, utilize test to data linear regression obtain relation the corresponding table of making of three axle zero-bits with the temperature of-40 ℃ to 75 ℃;

(2) by the zero-bit table corresponding to temperature under the three axle different temperatures that calculate, when inertial measurement unit of optical fiber gyroscope work, collecting is the zero-bit that data deduct corresponding temperature, be exactly the data after temperature compensation, less than normal in 1 °/h to having realized from-40 ℃ to 75 ℃ in temperature range zero after zero offset compensation.

The present invention's advantage is compared with prior art:

(1) three optical fibre gyros of the present invention are arranged on three mutually perpendicular sides, make the center of gravity of inertial measurement unit of optical fiber gyroscope be positioned at geometric center place as far as possible, have improved the anti-mechanical property of inertial measurement unit of optical fiber gyroscope; Light source redundancy backup has effectively improved the reliability of system; While use in-orbit, a light source breaks down, and can be switched on cold standby light source and work on, and gyrounit still can provide three-axis attitude angular velocity; Scaling method of the present invention can more accurately demarcate inertial measurement unit of optical fiber gyroscope zero partially, constant multiplier and alignment error, can effectively improve service precision in-orbit, improved product processes; Adopt a kind of exoskeletal fiber optic loop, reduced temperature control.

(2) the present invention adopt by circuit board be installed to side cover and on cover, and preventing total dose radiation ability lower position, chip place has been taked to the safeguard procedures of the coated tantalum piece of copper sheet, on tantalum piece, coated Copper Foil dispels the heat.Take into account the requirement of radiation proof and heat radiation two aspects, be convenient to carry out radiation hardening and strengthen improving heat radiation to part components and parts.

(3) the present invention adopts the temperature compensation of cubic spline interpolation, has expanded the operating temperature range of inertial measurement unit of optical fiber gyroscope.

Accompanying drawing explanation

Fig. 1 is contour structures schematic diagram of the present invention;

Fig. 2 is formation schematic diagram of the present invention;

Fig. 3 is that alignment error forms and demarcate schematic diagram;

Fig. 4 is exoskeletal fiber optic loop design diagram;

Fig. 5 is that upper cover is carried out radiation hardened installation tantalum piece schematic diagram to special chip;

Fig. 6 A, 6B, 6C adopt the coated copper sheet of tantalum piece and by the chip design diagram that body structure installs that loses money in a business.

Embodiment

Below in conjunction with drawings and Examples, the invention will be further described.

(1) main assembly design: inertial measurement unit of optical fiber gyroscope, as shown in Figure 1, 2, comprises a body 1 and a upper cover 2; Three exoskeletal fiber optic loop gauge outfits 5 on body, a system signal is processed and interface circuit mimic channel 7, a light source drives and refrigerant circuits 6, in upper cover 2, there is system signal to process and interface circuit digiboard 8, gyroscope signal process and interface circuit digiboard are respectively housed at two in without connector side cover, surplus next gyroscope signal process and interface circuit digiboard 8 are contained on the side cover with two connectors, device, circuit board not on the side cover with a connector, and its inside is optoelectronic device.A secondary power supply 4 is contained in the below of body; Optical reference mirror 3 is installed on upper cover 2 sides above body 1, has respectively a mounting hole, for being fixed on spacecraft structure body on the angle, four of bottoms of body 1;

A busbar voltage is converted into the voltage that optical fibre gyro assembly inside can be used by a secondary power supply 4, is respectively light source and drives with refrigerant circuits 6, three gyroscope signal process and interface circuit 10, system signal and process and process with interface mimic channel 8, system signal and interface digital circuit 7 is powered;

Light source drive with refrigerant circuits plate 6 on have two cover Circuits System, control respectively active and standby part of light source, by pilot relay connect light source drive with refrigerant circuits on active and standby part Circuits System, be active and standby light source power supply, two light sources 17 are positioned on body 1 after the side plate with connector 9A;

Three gyroscope signal process and interface circuit 10 receive respectively the output information of three optical fibre gyro gauge outfits 5, then gyro information is sent to the digital circuit 8 of system signal processing and interface circuit, numerical information is sent to control subsystem, treated gyro information and temperature information are processed and the mimic channel 7 of interface circuit by system signal, and simulating signal is sent to control subsystem;

(2) electric theory of constitution: to be an external diameter be 77mm to the profile of above-mentioned three fibre optic gyroscopes as shown in Figure 4, internal diameter is 56mm, height is the annulus of 21mm, has light path part and circuit part in the outside portion of annulus, and wherein light path part comprises light source, coupling mechanism, Y waveguide, detector; Light source is SLD light source, and coupling mechanism is single mode 2 × 2 fiber couplers, and fiber optic loop adopts the symmetrical winding method of level Four; The differential wave detection mode that adopts circuit part realizes detection and the filtering of photosignal, and the pulse signal that output is directly proportional to angular velocity is realized closed-loop control simultaneously;

Signal is processed with interface circuit and is all adopted the central information processing unit take " 8032 single-chip microcomputers+ASIC " as core, receive the pulse signal of fibre optic gyroscope output and the temperature signal of fibre optic gyroscope, carry out data processing, and data after treatment are sent to control subsystem; This circuit comprises single-chip microcomputer, program storage (PROM), ASIC, house dog, RC reset circuit; ASIC receives the pulse signal of fibre optic gyroscope output and the temperature signal of fibre optic gyroscope, the pulse signal receiving and temperature signal are outputed to single-chip microcomputer by the instruction that simultaneously receives single-chip microcomputer, single-chip microcomputer completes the processing and the conversion that receive signal, simultaneously timing reset watchdog circuit; Single-chip microcomputer reads the programmed instruction in PROM and carries out according to set-up function, when RC reset circuit is processed for signal and interface circuit powers on, single-chip microcomputer and ASIC is resetted;

(3) calculating of alignment error and compensation method: as shown in Figure 3, angular velocity responsive on three input axis of gyro of inertial measurement unit of optical fiber gyroscope is:

$\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{bx}}\\ {\mathrm{\ω}}_{\mathrm{by}}\\ {\mathrm{\ω}}_{\mathrm{bz}}\end{array}\right]=\left[\begin{array}{ccc}{K}_{\mathrm{xx}}& K_{\mathrm{yx}}& K_{\mathrm{zx}}\\ K_{\mathrm{xy}}& K_{\mathrm{yy}}& K_{\mathrm{zy}}\\ K_{\mathrm{xz}}& K_{\mathrm{yz}}& K_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]---\left(1\right)$

ω _x, ω _y, ω _z--the angular velocity on three axles of orthogonal coordinate system of needing to measure, unit be °/s), be that turntable is inputted setting value;

ω _bx, ω _by, ω _bz--the output in three installation shaft, unit is °/s that the standard input of getting in calibration process is the mean value of whole number of turns value;

K _ij--the constant multiplier of coupling gyro misalignment coefficient, wherein i=x, y, z, j=x, y, z, i represents input shaft, j represents the axle being affected.

Inertial measurement unit of optical fiber gyroscope output characteristics can be write as following form:

$\left[\begin{array}{c}{\mathrm{\Ω}}_x\\ {\mathrm{\Ω}}_y\\ {\mathrm{\Ω}}_z\end{array}\right]=\left[\begin{array}{c}{\mathrm{\Ω}}_{0x}\\ {\mathrm{\Ω}}_{0y}\\ {\mathrm{\Ω}}_{0z}\end{array}\right]+\left[\begin{array}{ccc}{K}_{\mathrm{xx}}& K_{\mathrm{yx}}& K_{\mathrm{zx}}\\ K_{\mathrm{xy}}& K_{\mathrm{yy}}& K_{\mathrm{zy}}\\ K_{\mathrm{xz}}& K_{\mathrm{yz}}& K_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]+\left[\begin{array}{c}{\mathrm{\ϵ}}_x\\ {\mathrm{\ϵ}}_y\\ {\mathrm{\ϵ}}_z\end{array}\right]---\left(2\right)$

In formula:

ω _x, ω _y, ω _z--the angular velocity °/s on three axles of orthogonal coordinate system of needing to measure is turntable input setting value;

Ω _x, Ω _y, Ω _z--the output in three installation shaft, the standard input of getting in calibration process is the output mean value of whole number of turns value;

Ω _0x, Ω _0y, Ω _0z---three optical fibre gyros zero inclined to one side;

K _ij--the constant multiplier of the gyro misalignment that has been coupled, wherein i=x, y, z, j=x, y, z, i represents input shaft, j represents the axle being affected.

ε _x, ε _y, ε _z--the stochastic error of gyro.

Inertial measurement unit of optical fiber gyroscope is arranged in hexahedron frock, establishes 3 optical fibre gyros and be respectively Gx, Gy, Gz, vertical this dignity of sensitive axes be Gx, according to right-hand screw rule, be respectively Gy and Gz, the vertical face of Gy sensitive axes is reference field, and Gy is parallel to bottom surface; Gz is parallel with bottom surface with reference field;

Inertial measurement unit of optical fiber gyroscope band frock is placed in single axle table, makes sensitive axes towards ground, sets fixed angles speed omega, forward and reverse rotation, and the sampling time guarantees that the rotation of x axle obtains for rotation integer multiples:

$K_{\mathrm{xx}}=\frac{X_{x+}-X_{x-}}{2\mathrm{\ω}}$

$K_{\mathrm{yx}}=\frac{Y_{x+}-Y_{x-}}{2\mathrm{\ω}}$

$K_{\mathrm{zx}}=\frac{Z_{x+}-Z_{x-}}{2\mathrm{\ω}}$

Wherein X _x+for be rotated in the forward x gyro output mean value, X along x _x-for exporting mean value, Y along x reverse rotation x gyro _x+for be rotated in the forward y gyro output mean value, Y along x _x-for exporting mean value, Z along x reverse rotation y gyro _x+for be rotated in the forward z gyro output mean value, Z along x _x-for exporting mean value along x reverse rotation z gyro;

The rotation of y axle obtains:

$K_{\mathrm{xy}}=\frac{X_{y+}-X_{y-}}{2\mathrm{\ω}}$

$K_{\mathrm{yy}}=\frac{Y_{y+}-Y_{y-}}{2\mathrm{\ω}}$

$K_{\mathrm{zy}}=\frac{Z_{y+}-Z_{y-}}{2\mathrm{\ω}}$

Wherein X _y+for be rotated in the forward x gyro output mean value, X along y _y-for exporting mean value, Y along y reverse rotation x gyro ₊for be rotated in the forward y gyro output mean value, Y along y _-for exporting mean value, Z along y reverse rotation y gyro _y+for be rotated in the forward z gyro output mean value, Z along y _y-for exporting mean value along y reverse rotation z gyro;

The rotation of z axle obtains:

$K_{\mathrm{xz}}=\frac{X_{z+}-X_{z-}}{2\mathrm{\ω}}$

$K_{\mathrm{yz}}=\frac{Y_{z+}-Y_{z-}}{2\mathrm{\ω}}$

$K_{\mathrm{zz}}=\frac{Z_{z+}-Z_{z-}}{2\mathrm{\ω}}$

Wherein X _z+for be rotated in the forward x gyro output mean value, X along z _z-for exporting mean value, Y along z reverse rotation x gyro _z+for be rotated in the forward y gyro output mean value, Y along z _z-for exporting mean value, Z along z reverse rotation y gyro ₊for be rotated in the forward z gyro output mean value, Z along z _-for exporting mean value along z reverse rotation z gyro;

So far, can calculate measured angle speed:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]={\left[\begin{array}{ccc}{K}_{\mathrm{xx}}& K_{\mathrm{xy}}& K_{\mathrm{xz}}\\ K_{\mathrm{yx}}& K_{\mathrm{yy}}& K_{\mathrm{yz}}\\ K_{\mathrm{zx}}& K_{\mathrm{zy}}& K_{\mathrm{zz}}\end{array}\right]}^{-1}(\left[\begin{array}{c}{\mathrm{\Ω}}_x\\ {\mathrm{\Ω}}_y\\ {\mathrm{\Ω}}_z\end{array}\right]-\left[\begin{array}{c}{\mathrm{\Ω}}_{0x}\\ {\mathrm{\Ω}}_{0y}\\ {\mathrm{\Ω}}_{0z}\end{array}\right]).$

(4) the coated copper sheet of tantalum piece does radiation proof and heat dissipation design: according to general design requirement, inertial measurement unit of optical fiber gyroscope need to provide equivalent thickness of aluminium 9mm shielding, corresponding irradiation accumulated dose is 1.211E+04rad (Si), and in this dosage optical fibre gyro, all devices can bear and have more than 30% surplus (in optical fibre gyro, the minimum irradiation accumulated dose of device used ability is 18krad (Si)).But use aluminium integral protection, inertial measurement unit of optical fiber gyroscope physical dimension will increase a lot, therefore, select the lower device of antagonism irradiation accumulated dose, the mode that mounts the coated tantalum piece 14 of copper sheet in side cover correspondence position part is protected, as shown in Figure 5.When meeting anti-irradiation requirement, also need to meet the requirement of heat radiation, therefore coated copper auxiliary heat dissipation on tantalum piece.

Reach radiation proof requirement, the present invention's tantalum piece 15 thickness used are 1mm, and as shown in Figure 6A, amounting to equivalent thickness of aluminium is 6mm, adds aluminium outer casing thickness, and local equivalent thickness of aluminium is not less than 9mm, meet and use chip requirement of shelter.From material thermal conductivity data, be more than 7 times of tantalum by tantalum piece with copper 16(copper T2 coefficient of heat conductivity, more than 3 times of aluminium) be coated the thermal conduction characteristic companion chip heat radiation that can utilize copper good, as shown in Figure 6B.The positive 14A of the coated tantalum piece of copper sheet and reverse side 14B are as shown in Figure 6 C.

(5) magnetic shielding of exoskeletal fiber optic loop: Magnet-Optic Faraday Effect can cause that optical fibre gyro zero changes partially, radiation also can make the loss of fiber optic loop increase in addition, and long-term accumulated can affect the performance of optical fibre gyro.The present invention considers magnetic protection and long-life requirement, has taked to thicken the mode of magnetic shielding material, well-designed closed structure, has further strengthened the diamagnetic and radiance of fiber optic loop.

Exoskeletal fiber optic loop gauge outfit 5 packs magnetic shielding outer cover 11 into by fiber optic loop 12 and is fixed on fiber optic loop mounting bracket and inner cover 13; Magnetic shielding material selects the iron-nickel alloy that density is higher to shield, magnetic shielding outer cover 11 thickness are 1.0mm, and the light path of optical fibre gyro is in body interior, body other parts are also blocked its formation, played diamagnetic and effect radiation-screening, exoskeletal fiber optic loop scheme of installation is shown in Fig. 4 simultaneously.

In a word, three fiber optic loop of the present invention share a light source, and have a cold standby light source, and reliability is high; The alignment error bearing calibration that the present invention uses can reduce by three axle cross-couplings effectively; The present invention by circuit board be arranged on side cover and on cover, when being convenient to radiation protection design, realized good heat radiating; The present invention has used exoskeletal fiber optic loop, has improved the adaptability of magnetic environment and radiation environment.

Claims (5)

1. the three-axis integrative inertial measurement unit of optical fiber gyroscope based on light source cold standby, is characterized in that: comprise that a body (1), two three axle common light source (17), light sources drive with refrigerant circuits (6), three exoskeletal fiber optic loop gauge outfits (5), three signal of fiber optical gyroscopes and process with interface circuit digiboard (10), system signal and process and interface circuit digiboard (8), secondary power supply module (4), frequency and voltage transitions mimic channel (7), three electric connectors (9A, 9B, 9C), reference mirror (3), three axle common light source (17) are arranged on body (1), have adopted cold standby design, three exoskeletal fiber optic loop gauge outfits (5) pack magnetic shielding outer cover (11) into by fiber optic loop (12) and are fixed on fiber optic loop mounting bracket and inner cover (13), mutually orthogonal being arranged on body (1), a light source drives with refrigerant circuits (6) and is contained on body (1), three signal of fiber optical gyroscopes are processed with interface circuit digiboard (10) and are contained on side cover, wherein two are arranged on band rice word muscle side cover, another is arranged on the side plate that two connectors are installed, a system signal is processed with interface circuit digiboard and is arranged on upper cover (2), secondary power supply module (4) entirety is as bottom, power supply and IO interface have been used three electric connectors (9A, 9B, 9C), are arranged on respectively on two side covers, and one of them side cover is installed two connectors (9B, 9C), and another adjacent side cover is installed a connector (9A), a reference mirror (3) is arranged on (1) on body.

2. the three-axis integrative inertial measurement unit of optical fiber gyroscope based on light source cold standby according to claim 1, is characterized in that: the fiber lengths of described three exoskeletal fiber optic loop (12) is 680m, and fiber optic loop (12) inner side and bottom surface are used silicon rubber to fix.

3. the three-axis integrative inertial measurement unit of optical fiber gyroscope based on light source cold standby according to claim 1, is characterized in that: on described upper cover (2), install tantalum piece (15) additional, and by the coated object that reaches heat radiation of Copper Foil (16) for tantalum piece (15).

4. for an alignment error compensation method for inertial measurement unit of optical fiber gyroscope described in claim 1, it is characterized in that:

(1) in three-axis integrative optical fibre gyro assembling process, produce alignment error, three gyro sensitive axes are not parallel or vertical with the external mounting plane of inertial measurement unit of optical fiber gyroscope, cause having coupling error between three axles, angular velocity responsive on three input axis of gyro of inertial measurement unit of optical fiber gyroscope is:

ω _x, ω _y, ω _z--the angular velocity on three axles of orthogonal coordinate system that need are measured is turntable input setting value;

Ω _x, Ω _y, Ω _z--the output in three installation shaft, the standard input of getting in calibration process is the output mean value of whole number of turns value;

Ω _0x, Ω _0y, Ω _0z---three optical fibre gyros zero inclined to one side;

--the constant multiplier of the gyro misalignment that has been coupled, i represents input shaft, j represents the axle being affected.

ε _x, ε _y, ε _z--the stochastic error of gyro;

(2) inertial measurement unit of optical fiber gyroscope is arranged in hexahedron frock, is placed in single axle table, make sensitive axes towards ground, set fixed angles speed omega, forward and reverse rotation, the sampling time guarantees as rotating a circle, the rotation of x axle obtains:

Wherein X _x+for be rotated in the forward x gyro output mean value, X along x _x-for exporting mean value, Y along x reverse rotation x gyro _x+for be rotated in the forward y gyro output mean value, Y along x _x-for exporting mean value, Z along x reverse rotation y gyro _x+for be rotated in the forward z gyro output mean value, Z along x _x-for exporting mean value along x reverse rotation z gyro;

The rotation of y axle obtains:

Wherein X _y+for be rotated in the forward x gyro output mean value, X along y _y-for exporting mean value, Y along y reverse rotation x gyro ₊for be rotated in the forward y gyro output mean value, Y along y _-for exporting mean value, Z along y reverse rotation y gyro _y+for be rotated in the forward z gyro output mean value, Z along y _y-for exporting mean value along y reverse rotation z gyro;

The rotation of z axle obtains:

Wherein X _z+for be rotated in the forward x gyro output mean value, X along z _z-for exporting mean value, Y along z reverse rotation x gyro _z+for be rotated in the forward y gyro output mean value, Y along z _z-for exporting mean value, Z along z reverse rotation y gyro ₊for be rotated in the forward z gyro output mean value, Z along z _-for exporting mean value along z reverse rotation z gyro;

(3) so far, calculate measured angle speed by step (1) and (2):

5. for a compensation method for the Temperature Modeling of inertial measurement unit of optical fiber gyroscope described in claim 1, it is characterized in that performing step is as follows:

(1) inertial measurement unit of optical fiber gyroscope is contained in hexahedron frock, put into the incubator with north orientation benchmark marble flat board, the set temperature point set time zero position of testing uniformly-spaced from-40 ℃ to 75 ℃, utilize test to data linear regression obtain relation the corresponding table of making of three axle zero-bits with the temperature of-40 ℃ to 75 ℃;

(2) by the zero-bit table corresponding to temperature under the three axle different temperatures that calculate, when inertial measurement unit of optical fiber gyroscope work, collecting is the zero-bit that data deduct corresponding temperature, be exactly the data after temperature compensation, less than normal in 1 °/h to having realized from-40 ℃ to 75 ℃ in temperature range zero after zero offset compensation.

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