CN104006828A - Method for calibrating axial system error of inertial device - Google Patents

Method for calibrating axial system error of inertial device Download PDF

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Publication number
CN104006828A
CN104006828A CN201410270654.6A CN201410270654A CN104006828A CN 104006828 A CN104006828 A CN 104006828A CN 201410270654 A CN201410270654 A CN 201410270654A CN 104006828 A CN104006828 A CN 104006828A
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inertia device
gyro
optical fiber
digital quantity
inertial device
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CN201410270654.6A
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CN104006828B (en
Inventor
袁慧铮
穆杰
高博
陆俊清
李星善
邵志浩
葛仲浩
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General Designing Institute of Hubei Space Technology Academy
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General Designing Institute of Hubei Space Technology Academy
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams

Abstract

The invention provides a method for calibrating an axial system error of an inertial device. The method comprises the following steps that S1, the inertial device to be tested is arranged on a position table, and the position table is rotated to enable a rotary shaft of the position table to coincide with an OZ shaft of a navigation system; the inertial device to be tested comprises a first inertial device body and a second inertial device body, and the second inertial device body provides the angular rate reference for the first inertial device body; S2, a first digital quantity Ua output by the first inertial device body and a second digital quantity Ub output by the second inertial device body in the inertial device to be tested are collected; S3, after the position table is rotated by 180 degrees or the odd times of 180 degrees, a third digital quantity U'a output by the first inertial device body and a fourth digital quantity U'b output by the second inertial device body are collected; S4, the axial system error of the inertial device to be tested is obtained according to the first digital quantity, the second digital quantity, the third digital quantity and the fourth digital quantity. The axial system error of the inertial device can be calibrated, and calibration precision is high.

Description

A kind of inertia device axial system error scaling method
Technical field
The invention belongs to inertia device field, be specifically related to a kind of inertia device axial system error scaling method.
Background technology
Optical fibre gyro refers to the entity that fiber optic loop and other opticses and circuit block form, can the measurement of complete independently rate of acceleration and the output of respective digital amount; Noun " fiber optic loop " refers in particular to the important sensing unit that forms optical fibre gyro.In principle, only have optical fibre gyro just to have the concept of sensitive axes, in an optical fibre gyro, can only have a fiber optic loop.But " optical fibre gyro that dicyclo is nested " of indication herein, in an optical fibre gyro, to have comprised one large (fiber lengths is over 2000 meters), one little (fiber lengths is shorter than 200 meters) two fiber optic loop, when this optical fibre gyro is normally worked, only have the sensitive information that large ring is corresponding can be output to (as calibrating table etc.) on external test facility.But what consider herein is the axial system error that two fiber optic loop produce while installing, as shown in Figure 1, therefore, carrying out axial system error timing signal, by revising the signal processing software of optical fibre gyro, by ring and little ring sensitivity greatly to angular speed information together with output on external test facility.Like this, just can think and have two optical fibre gyros (encircling greatly corresponding gyro is high-precision optical fiber gyro, and the gyro of little ring correspondence is low-precision optical fiber gyro).
Generally speaking, in fiber-optic inertial field, think that the optical fibre gyro that zero bias stability is greater than 0.1 °/h is low-precision optical fiber gyro; Zero optical fibre gyro of bias stability between 0.01 °/h and 0.1 °/h is middle precision optical fiber gyro; Zero bias stability is high-precision optical fiber gyro higher than the optical fibre gyro of 0.01 °/h.
Optical fibre gyro is a kind of all solid state angular-rate sensor, has the outstanding advantages such as volume is little, low in energy consumption, the life-span long, dynamic range is large, fast response time, anti-vibrating and impact, since coming out, has got most of the attention.Development through over nearly 40 years, has been widely used in the fields such as aircraft, naval vessel, armored vehicle, oil well logging, and continues to the more direction fast development of high precision, smaller szie.Adopt high precision, the wide range optical fibre gyro of dicyclo nested designs, taken into account the demand of optical fibre gyro high precision and wide range, also solved the quick starting problem of high-precision optical fiber gyro high dynamic environment simultaneously, there is very high using value.But in actual applications, the alignment error existing while installing due to two sensing rings, as shown in Figure 1, cause the sensitive axes of high-precision optical fiber gyro and low-precision optical fiber gyro also not parallel, and this axial system error can be reflected in the reference angle speed that low-precision optical fiber gyro provides, easily cause high-precision optical fiber gyro undesired across striped work.
For example, the angular speed separation of high-precision optical fiber gyro/fiber optic loop first order striped and second level striped is 40 °/s, if current extraneous input angle speed is 40.1 °/s, if the sensitive axes of high-precision optical fiber gyro and low-precision optical fiber gyro overlaps completely, the angular speed benchmark that low-precision optical fiber gyro provides should be 40.1 °/s, high-precision optical fiber gyro across striped mechanism, should be designated as gyro work at present in the striped of the second level.If but there is an angle between high-precision optical fiber gyro and low-precision optical fiber gyro, the angular speed benchmark that low-precision optical fiber gyro provides is less than 40 °/s, so high-precision optical fiber gyro across striped mechanism, be designated as gyro work at present in first order striped, can cause the output of high-precision optical fiber gyro and actual corners speed to occur mistake.
Therefore, need to provide the axial system error between high-precision optical fiber ring and low-precision optical fiber ring by the method for demarcating.Traditional scaling method, conventionally for IMU, (or be called for short IMU:Inertial Measurment Unit, comprise three mutual vertically arranged gyros, and three accelerometers coaxial with gyro) design, need to just can calibrate the axial system error of two mutual vertically arranged optical fibre gyros by the information of accelerometer, therefore, not by external information in the situation that, to being positioned at two coaxial optical fibre gyro axial system errors, demarcate, not yet find similar scheme.
Summary of the invention
Defect and technical need for prior art, the object of the present invention is to provide a kind of optical fibre gyro axial system error scaling method, be intended to solve prior art in reality processing installation process, the inevitable error of introducing two axles systems, causes speed benchmark that low-precision optical fiber ring directly provides can not truly reflect the technical matters of current actual corners speed.
The scaling method that the invention provides a kind of inertia device axial system error, comprises the steps:
S1: inertia device to be measured is arranged in position table, and rotates the turning axle that described position table makes described position table and overlap with the OZ axle of navigation system; Described inertia device to be measured comprises the first inertia device and the second inertia device, and described the second inertia device provides angular speed benchmark for described the first inertia device;
S2: the first digital quantity U that gathers the first inertia device output described in described inertia device to be measured athe second digital quantity U with described the second inertia device output b;
S3: by after the odd-multiple of described position table Rotate 180 ° or 180 °, gather the 3rd digital quantity U ' of described the first inertia device output athe 4th digital quantity U ' with described the second inertia device output b;
S4: the axial system error that obtains described inertia device to be measured according to described the first digital quantity, described the second digital quantity, described the 3rd digital quantity and described the 4th digital quantity.
Wherein, in step S4 according to formula obtain the axial system error of described inertia device to be measured; E 1bconstant multiplier for described the second inertia device; D 0bfor described the second inertia device zero partially; E 1aconstant multiplier for described the first inertia device; D 0afor described the first inertia device zero partially.
In traditional scaling method, for calibrating the error (traditional scaling method does not relate to the situation of this coaxial demarcation) of inertia device on two mutual vertical axials, the static information and the fixed angles rate information that need a plurality of positions, with accelerometer or turntable, being output as benchmark calculates, time often reaches several hours, demarcates flow process complexity.Compared with prior art, the invention has the advantages that: the present invention is carrying out the timing signal of axial system error between two coaxial inertia devices, all rely on the information of this inertia device self to demarcate and resolve, do not introduce extra external reference (traditional scaling method needs the information of accelerometer), (error is only relevant with the positional precision of position table to have reduced calibrated error source, as whether enough accurate in 180 ° of rotations), improved demarcation efficiency (two positions is demarcated, and the time needing is shorter).
Accompanying drawing explanation
Fig. 1 is the nested optical fibre gyro structure scheme of installation of dicyclo that the embodiment of the present invention provides;
Fig. 2 is the coordinate schematic diagram of the navigation system that provides of the embodiment of the present invention;
Fig. 3 is the theory diagram of the caliberating device that provides of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
The present invention is not only applicable to the high-precision optical fiber gyro axial system error of dicyclo nested structure and demarcates, and is equally applicable to single gyros such as tiltmeter or double tops orienting device yet.In disclosed document and data, not yet find similarly without feasibility technical scheme.
High precision based on dicyclo nested structure, wide range optical fibre gyro structure scheme of installation are as shown in Figure 1.For the sake of simplicity, in figure, only provided the relative position of fiber optic loop and installation base surface.For composing a piece of writing conveniently, hereinafter high-precision optical fiber ring is equal to high-precision optical fiber gyro, and low-precision optical fiber ring is equal to low-precision optical fiber gyro.In figure, A is installation base surface, and OZ is the sensitive axes of high-precision optical fiber ring, and O ' Z ' is the sensitive axes of low-precision optical fiber ring.(installation base surface A is definitely smooth, optical fiber ring body without alignment error etc.) in the ideal case, OZ//O ' Z '.But in reality processing installation process, unavoidably introduce the error of two axle systems, cause the speed benchmark that low-precision optical fiber ring directly provides can not truly reflect current actual corners speed.Below we analyze this problem.
Use local geographic coordinate system as navigation system (change in coordinate axis direction is ENU), suppose that high-precision optical fiber ring sensitive axes overlaps with Z axis, low-precision optical fiber ring sensitive axes and Z axis angle to be calibrated are α, and the projection in XOY plane and Y-axis angle are β.
The high-precision optical fiber gyro combination of dicyclo nested designs is placed on high precision position platform, and making the turning axle of high precision position platform is that OZ axle overlaps with navigation.The output valve of high-precision optical fiber gyro static state is: (unit unification is converted to ^/s, pulse/sec) U a=E 1a(D 0a+ ω ez) (1); U in formula aoutput for high-precision optical fiber gyro; D 0afor the constant zero of high-precision optical fiber gyro is worth partially, unit is °/h; ω ezfor local rotational-angular velocity of the earth, unit is °/h, degree/hour; E 1afor the constant multiplier of high-precision optical fiber gyro, unit is ^/(" s), pulse/(rad second).
Because the sensitive axes of low-precision optical fiber gyro all has projection tri-of OX, OY, OZ on axially, so the output valve of low-precision optical fiber gyro is: (unit unification is converted to ^/s, pulse/sec) U b=E 1b(D 0b+ ω exsin α sin β+ω eysin α cos β+ω ezcos α) (2); U in formula boutput for low-precision optical fiber gyro; E 1bfor the constant multiplier of low-precision optical fiber gyro, unit is ^/(" s); D 0bfor the constant zero of low-precision optical fiber gyro is worth partially, unit is °/h; ω ex, ω eyfor earth rotation angular speed is the component on OX, OY axle in navigation, ω ezmeaning the same, unit is °/h.
By high precision position platform, around OZ axle Rotate 180 °, the output of low-precision optical fiber gyro becomes: U b'=E 1b(D 0b-ω exsin α sin β-ω eysin α cos β+ω ezcos α) (3).
By formula (2) and formula (3), can be obtained: U b+ U b'=2E 1b(D 0b+ ω ezcos α) (4)
And then can obtain:
α = arccos [ U b + U b ′ 2 E 1 b - D 0 b U a E 1 a - D 0 a ] - - - ( 5 )
For improving precision, can select more multiposition, repeatedly demarcate to average and demarcate.
In embodiments of the present invention, as shown in Figure 3, dicyclo axial system error caliberating device comprises data processing unit, gyro collection/power supply unit, the nested high-precision optical fiber gyro of dicyclo, high precision position platform and position table control rack; Carry out timing signal, as shown in Figure 3, the nested high-precision optical fiber gyro of dicyclo is in position table for annexation of each device, and the nested high-precision optical fiber gyro of dicyclo passes through switching tooling; Be arranged on the table top of high precision position platform, optical fibre gyro is connected with gyro collection/power supply unit by cable, and gyro test data are finally transferred to that data are calculated and processing unit carries out error and resolves.The control of high precision position platform is controlled rack by position table and is completed.
In embodiments of the present invention, concrete demarcation flow process is as follows:
(1) need the instrument of preparation: fiber optic loop test fixture (as shown below, this frock comprises all parts of optical fibre gyro except fiber optic loop), twin shaft speed position table, collecting device etc.
(2) high-precision optical fiber ring (or fiber optic loop 1) is fused on fiber optic loop test fixture, and has debugged, form high-precision optical fiber gyro 1;
(3) optical fibre gyro forming in step (2) is placed on turntable, measures the constant multiplier E of high-precision optical fiber gyro 1 1a;
(4) optical fibre gyro forming in step (2) is placed on marble platform to zero inclined to one side D of test high-precision optical fiber gyro 1 0a;
(5) high-precision optical fiber ring (or fiber optic loop 1) is pulled down from fiber optic loop test fixture, in same position, is loaded onto low-precision optical fiber ring (or fiber optic loop 2), and debugged, form low-precision optical fiber gyro 2:
(6) by the optical fibre gyro forming in step (5), be placed on turntable, measure the constant multiplier E of low-precision optical fiber gyro 2 1b;
(7) by the optical fibre gyro forming in step (5), be placed on marble platform zero inclined to one side D of test low-precision optical fiber gyro 2 0b;
(8) high-precision optical fiber ring (or fiber optic loop 1) and low-precision optical fiber ring (or fiber optic loop 2) are installed to (being the optical fibre gyro of dicyclo nested designs) in formal gyro, and debugged, forming one provides the high-precision optical fiber gyro 3 of angular speed benchmark by fiber optic loop 2 for fiber optic loop 1;
(9) high-precision optical fiber gyro 3 is arranged on high precision position platform, position of rotation platform, making the turning axle of position table is that OZ axle overlaps with navigation;
(10) give high-precision optical fiber gyro 3 energisings, and gather gyro 3 output valves (output that this output valve comprises high-precision optical fiber gyro 1 and low-precision optical fiber gyro 2);
(11) 180 ° of position of rotation platforms (or odd-multiple of 180 °), and gather gyro 3 output valves (output that this output valve comprises high-precision optical fiber gyro 1 and low-precision optical fiber gyro 2);
(12) adopt formula (5) to calculate the angle of two fiber optic loop place axle systems, this angle is the axial system error of optical fibre gyro 3.
Although only provided the axial system error scaling method of this kind of inertia device of optical fibre gyro in the embodiment of the present invention, but those of ordinary skill in the art can know according to existing technical know-how, so long as at the inertia device of the same type of nonopiate installation (as two optical fibre gyros, optical fibre gyro and a flexible gyroscope, two quartz flexible accelerometers, a quartz flexible accelerometer and a micro electronmechanical accelerometer etc., so long as the nonopiate installation of same type all can be adopted in this way and demarcate); Inertia device can adopt above-mentioned scaling method to realize the demarcation of axial system error; In order to save space, do not repeat them here.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (2)

1. a scaling method for inertia device axial system error, is characterized in that, comprises the steps:
S1: inertia device to be measured is arranged in position table, and rotates the turning axle that described position table makes described position table and overlap with the OZ axle of navigation system; Described inertia device to be measured comprises the first inertia device and the second inertia device, and described the second inertia device provides angular speed benchmark for described the first inertia device;
S2: the first digital quantity U that gathers the first inertia device output described in described inertia device to be measured athe second digital quantity U with described the second inertia device output b;
S3: by after the odd-multiple of described position table Rotate 180 ° or 180 °, gather the 3rd digital quantity U ' of described the first inertia device output athe 4th digital quantity U ' with described the second inertia device output b;
S4: the axial system error that obtains described inertia device to be measured according to described the first digital quantity, described the second digital quantity, described the 3rd digital quantity and described the 4th digital quantity.
2. scaling method as claimed in claim 1, is characterized in that, in step S4 according to formula obtain the axial system error of described inertia device to be measured;
E 1bconstant multiplier for described the second inertia device; D 0bfor described the second inertia device zero partially; E 1aconstant multiplier for described the first inertia device; D 0afor described the first inertia device zero partially.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107741239A (en) * 2017-09-26 2018-02-27 北京晨晶电子有限公司 Gyroscope scale factor test system and method
CN108871309A (en) * 2018-06-27 2018-11-23 湖北三江航天红峰控制有限公司 A kind of across striped modification method of optical fibre gyro
CN112362078A (en) * 2020-10-29 2021-02-12 中国兵器装备集团自动化研究所 Method for measuring sensitive error of photoelectric turntable double-shaft fiber-optic gyroscope shafting
CN112484633A (en) * 2020-11-20 2021-03-12 重庆华渝电气集团有限公司 Device and method for measuring quadrature error of torquer coil

Family Cites Families (5)

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US6640609B1 (en) * 2001-07-27 2003-11-04 Trimble Navigation Limited Spectral method for calibrating accelerometers
US8117888B2 (en) * 2009-02-11 2012-02-21 Perception Digital Limited Method and apparatus of improving accuracy of accelerometer
CN101852817B (en) * 2010-05-06 2012-07-04 哈尔滨工业大学 Method for calibrating double orthogonal high-precision accelerometers
CN102003968B (en) * 2010-09-03 2012-03-14 哈尔滨工程大学 Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system
CN103743411A (en) * 2013-12-20 2014-04-23 河北汉光重工有限责任公司 Method for calibrating strapdown inertial navigation system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107741239A (en) * 2017-09-26 2018-02-27 北京晨晶电子有限公司 Gyroscope scale factor test system and method
CN108871309A (en) * 2018-06-27 2018-11-23 湖北三江航天红峰控制有限公司 A kind of across striped modification method of optical fibre gyro
CN108871309B (en) * 2018-06-27 2020-10-23 湖北三江航天红峰控制有限公司 Cross-stripe correction method of fiber-optic gyroscope
CN112362078A (en) * 2020-10-29 2021-02-12 中国兵器装备集团自动化研究所 Method for measuring sensitive error of photoelectric turntable double-shaft fiber-optic gyroscope shafting
CN112484633A (en) * 2020-11-20 2021-03-12 重庆华渝电气集团有限公司 Device and method for measuring quadrature error of torquer coil

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