CN104006828B - A kind of inertia device axial system error scaling method - Google Patents
A kind of inertia device axial system error scaling method Download PDFInfo
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- CN104006828B CN104006828B CN201410270654.6A CN201410270654A CN104006828B CN 104006828 B CN104006828 B CN 104006828B CN 201410270654 A CN201410270654 A CN 201410270654A CN 104006828 B CN104006828 B CN 104006828B
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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
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- 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
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- Power Engineering (AREA)
- Gyroscopes (AREA)
Abstract
The invention provides the scaling method of a kind of inertia device axial system error, comprise the steps: S1: be arranged in position table by inertia device to be measured, and position of rotation platform makes the rotary shaft of position table overlap with the OZ axle of navigation system；Inertia device to be measured includes the first inertia device and the second inertia device, and the second inertia device provides angular speed benchmark for the first inertia device；S2: gather the first digital quantity U of the first inertia device output in inertia device to be measuredaThe second digital quantity U with the second inertia device outputb；S3: after position table rotates the odd-multiple of 180 ° or 180 °, gathers the 3rd digital quantity U ' of the first inertia device outputaThe 4th digital quantity U ' with the second inertia device outputb；S4: obtain the axial system error of inertia device to be measured according to the first digital quantity, the second digital quantity, the 3rd digital quantity and the 4th digital quantity.The present invention can calibrate the axial system error of inertia device, and stated accuracy is high.
Description
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 fiber optic loop and other opticses and the entity of circuit block composition, can be only
Measurement and the output of respective digital amount of rate of acceleration are stood；Noun " fiber optic loop " refers in particular to form optical fiber
The important sensing unit of gyro.In principle, just there is the concept of sensitive axes in only optical fibre gyro, one
A fiber optic loop can only be had in optical fibre gyro.But " optical fibre gyro that dicyclo is nested " referred to herein,
Be in an optical fibre gyro, contain one big (fiber lengths is more than 2000 meters), one little (optical fiber is long
Degree is shorter than 200 meters) two fiber optic loop, when this optical fibre gyro normally works, only corresponding quick of macro ring
Sense information can be output on external test facility (such as calibrating table etc.).But herein it is considered that two
Produced axial system error when fiber optic loop is installed, as it is shown in figure 1, therefore, is carrying out axial system error mark
Regularly, by revising the signal processing software of optical fibre gyro, angular speed macro ring and little ring sensitivity arrived
Information exports on external test facility together.Like this, it is possible to think and there are two optical fiber tops
(gyro that macro ring is corresponding is high-precision optical fiber gyro to spiral shell, and the gyro that little ring is corresponding is low-precision optical fiber top
Spiral shell).
It is said that in general, in fiber-optic inertial field, it is believed that the bias instaility optical fiber top more than 0.1 °/h
Spiral shell is low-precision optical fiber gyro；Bias instaility optical fibre gyro between 0.01 °/h and 0.1 °/h
For middle precision optical fiber gyro；The bias instaility optical fibre gyro higher than 0.01 °/h is high-precision optical fiber top
Spiral shell.
Optical fibre gyro is a kind of all solid state angular-rate sensor, have that volume is little, low in energy consumption, life-span length,
The outstanding advantages such as dynamic range is big, fast response time, anti-vibrating and impact, have got most of the attention since coming out.
Development over nearly 40 years, has been widely used for aircraft, naval vessel, armored vehicle, oil survey
The fields such as well, and continue to higher precision, the fast development of smaller size of direction.Employing dicyclo is nested
The high accuracy of design, wide range optical fibre gyro, taken into account optical fibre gyro high accuracy and the demand of wide range,
Also solve the quick starting problem of high-precision optical fiber gyro high dynamic environment simultaneously, there is the highest answering
By value.But in actual applications, due to the alignment error existed when two sensing rings are installed, such as Fig. 1
Shown in, cause high-precision optical fiber gyro and the sensitive axes of low-precision optical fiber gyro not parallel, and this axle
It is that error can reflect in the reference angle speed that low-precision optical fiber gyro is given, easily causes high accuracy light
Fine gyro is abnormal across striped work.
For example, high-precision optical fiber gyro/fiber optic loop first order striped and the angular speed of second level striped
Separation is 40 °/s, if current outside input angle speed is 40.1 °/s, if high-precision optical fiber top
If the sensitive axes of spiral shell and low-precision optical fiber gyro is completely superposed, the angle speed that low-precision optical fiber gyro is given
Rate benchmark should be 40.1 °/s, high-precision optical fiber gyro should be designated as the current work of gyro across striped mechanism
Make in the striped of the second level.If but existed between high-precision optical fiber gyro and low-precision optical fiber gyro
One angle, the angular speed benchmark that low-precision optical fiber gyro is given is less than 40 °/s, then light in high precision
Being designated as gyro across striped mechanism and being currently operating in first order striped of fine gyro, can cause high accuracy
There is mistake in the output of optical fibre gyro and actual corners speed.
Accordingly, it would be desirable to be given between high-precision optical fiber ring and low-precision optical fiber ring by the method demarcated
Axial system error.Traditional scaling method, be generally directed to IMU (or be called for short IMU:Inertial
Measurment Unit, comprises three gyros being mutually perpendicular to install, and three coaxial with gyro
Accelerometer) and design, need just to calibrate two by the information of accelerometer and be mutually perpendicular to peace
The axial system error of the optical fibre gyro of dress, therefore, in the case of not by external information, is pointed to same
Two optical fibre gyro axial system errors of axle are demarcated, and not yet find similar scheme.
Summary of the invention
For defect and the technical need of prior art, it is an object of the invention to provide a kind of optical fiber top
Spiral shell axial system error scaling method, it is intended to solution prior art, in reality processing installation process, can not be kept away
Exempting to introduce the error of two axle systems, the rate reference causing low-precision optical fiber ring to directly give can not be true
The technical problem of the actual corners speed that real reflection is current.
The invention provides the scaling method of a kind of inertia device axial system error, comprise the steps:
S1: inertia device to be measured is arranged in position table, and rotate described position table and make institute's rheme
The OZ axle of the rotary shaft and navigation system of putting platform overlaps；Described inertia device to be measured includes the first inertia device
With the second inertia device, described second inertia device provides angular speed benchmark for described first inertia device；
S2: gather the first digital quantity U of the first inertia device output described in described inertia device to be measureda
The second digital quantity U with described second inertia device outputb；
S3: after described position table is rotated the odd-multiple of 180 ° or 180 °, gather described first inertia
3rd digital quantity U ' of device outputaThe 4th digital quantity U ' with described second inertia device outputb；
S4: according to described first digital quantity, described second digital quantity, described 3rd digital quantity and described
4th digital quantity obtains the axial system error of described inertia device to be measured.
Wherein, in step s 4 according to formulaObtain described inertia to be measured
The axial system error of device；E1bConstant multiplier for described second inertia device；D0bFor described second inertia
The zero of device is inclined；E1aConstant multiplier for described first inertia device；D0aFor described first inertia device
The zero of part is inclined.
In traditional scaling method, (pass for calibrating two errors being mutually perpendicular to axially go up inertia device
System scaling method is not directed to the situation of this coaxial demarcation), need multiple position static information and
Fixed angles rate information, is output as benchmark with accelerometer or turntable and calculates, and the time is the longest
Reach several hours, demarcate flow process complicated.Compared with prior art, it is an advantage of the current invention that: this
Bright carry out the timing signal of axial system error between two coaxial inertia devices, all rely on these inertia devices
The information of self is demarcated and is resolved, and (traditional scaling method needs to be not introduced into extra external reference
Want the information of accelerometer), decrease calibrated error source (error only with the positional precision of position table
Relevant, as the most accurate in 180 ° of rotations), (two positions is demarcated, and needs to improve demarcation efficiency
Time shorter).
Accompanying drawing explanation
Fig. 1 is the optical fibre gyro structure scheme of installation of the dicyclo nesting that the embodiment of the present invention provides；
Fig. 2 is the coordinate schematic diagram of the navigation system that the embodiment of the present invention provides；
Fig. 3 is the theory diagram of the caliberating device that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically
Embodiment only in order to explain the present invention, is not intended to limit the present invention.Additionally, it is disclosed below
Just may be used as long as technical characteristic involved in each embodiment of the present invention does not constitutes conflict each other
To be mutually combined.
The present invention is applicable not only to the high-precision optical fiber gyro axial system error of dicyclo nested structure and demarcates, with
Sample is also applied for the single gyro such as inclinometer or double tops orienting device.In disclosed document and data,
Not yet find similar scheme without practicable techniques.
High accuracy based on dicyclo nested structure, wide range optical fibre gyro structure scheme of installation such as Fig. 1
Shown in.For the sake of simplicity, figure only gives the relative position of fiber optic loop and installation base surface.For style of writing
Convenient, 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, O ' Z '
Sensitive axes for low-precision optical fiber ring.(installation base surface A is the most smooth, fiber optic loop in the ideal case
Body is without alignment error etc.), OZ//O ' Z '.But in reality processing installation process, unavoidably introduce two
The error of individual axle system, the rate reference causing low-precision optical fiber ring to directly give can not truly reflect works as
Front actual corners speed.This problem is analyzed by we below.
Use local geographic coordinate system as navigation system (change in coordinate axis direction is ENU), it is assumed that in high precision
Fiber optic loop sensitive axes overlaps with Z axis, and low-precision optical fiber ring sensitive axes to be calibrated and Z axis angle are α,
Projection on XOY plane and Y-axis angle are β.
The high-precision optical fiber gyro of dicyclo nested designs is combined and is placed on high precision position platform, make height
The rotary shaft of precision position platform is that OZ axle overlaps with navigation.The output valve that high-precision optical fiber gyro is static
For: (unit is unified is converted to ^/s, pulse/sec) Ua=E1a(D0a+ωez)(1)；U in formulaaFor high-precision
The output of degree optical fibre gyro；D0aConstant zero for high-precision optical fiber gyro is worth partially, and unit is °/h；ωez
For local rotational-angular velocity of the earth, unit be °/h, spend/hour；E1aMark for high-precision optical fiber gyro
Degree factor, unit is ^/(" s), pulse/(the rad second).
Owing to the sensitive axes of low-precision optical fiber gyro all has projection on OX, OY, OZ tri-is axial,
Therefore the output valve of low-precision optical fiber gyro is: (unit is unified is converted to ^/s, pulse/sec)
Ub=E1b(D0b+ωexsinαsinβ+ωeysinαcosβ+ωezcosα)(2)；U in formulabFor low-precision optical fiber
The output of gyro；E1bFor the constant multiplier of low-precision optical fiber gyro, unit is ^/(" s)；D0bFor low essence
The constant zero of degree optical fibre gyro is worth partially, and unit is °/h；ωex、ωeyFor earth rotation angular speed in navigation
It is the component on OX, OY axle, ωezMeaning ibid, unit is °/h.
Around OZ axle, high precision position platform is rotated 180 °, then the output of low-precision optical fiber gyro becomes:
Ub'=E1b(D0b-ωexsinαsinβ-ωeysinαcosβ+ωezcosα)(3)。
Can be obtained by formula (2) and formula (3): Ub+Ub'=2E1b(D0b+ωezcosα) (4)
And then can obtain:
For improving precision, optional more multiposition, repeatedly demarcation are averaged and are demarcated.
In embodiments of the present invention, as it is shown on figure 3, dicyclo axial system error caliberating device includes at data
Reason unit, gyro collection/power supply unit, dicyclo nesting high-precision optical fiber gyro, high precision position platform and
Position table controls rack；Carrying out timing signal, the annexation of each device is as it is shown on figure 3, dicyclo is nested
High-precision optical fiber gyro in position table, dicyclo nesting high-precision optical fiber gyro passes through switching tooling；
Being arranged on the table top of high precision position platform, optical fibre gyro is by cable with gyro collection/power supply unit even
Connecing, gyro test data are finally transferred to data calculating and processing unit carries out error resolving.In high precision
The control of position table is controlled rack by position table and completes.
In embodiments of the present invention, concrete demarcation flow process is as follows:
(1) instrument prepared is needed: (as shown below, this frock comprises light to fiber optic loop test fixture
The fine gyro all parts in addition to 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 debugs
Complete, form high-precision optical fiber gyro 1；
(3) optical fibre gyro of composition in step (2) is placed on turntable, measures high-precision optical fiber top
The constant multiplier E of spiral shell 11a；
(4) optical fibre gyro of composition in step (2) is placed in marble platform, test high accuracy
The zero of optical fibre gyro 1 D partially0a；
(5) high-precision optical fiber ring (or fiber optic loop 1) is pulled down, equally from fiber optic loop test fixture
Low-precision optical fiber ring (or fiber optic loop 2) is loaded onto in position, and has debugged, and forms low-precision optical fiber gyro
2:
(6) by the optical fibre gyro of composition in step (5), it is placed on turntable, measures low-precision optical fiber
The constant multiplier E of gyro 21b；
(7) by the optical fibre gyro of composition in step (5), it is placed in marble platform, tests low essence
The zero inclined D of degree optical fibre gyro 20b；
(8) high-precision optical fiber ring (or fiber optic loop 1) and low-precision optical fiber ring (or fiber optic loop 2) are pacified
Install to (i.e. the optical fibre gyro of dicyclo nested designs) in formal gyro, and debugged, form one by
Fiber optic loop 2 provides the high-precision optical fiber gyro 3 of angular speed benchmark for fiber optic loop 1；
(9) high-precision optical fiber gyro 3 is arranged on high precision position platform, position of rotation platform, makes position
The rotary shaft putting platform is that OZ axle overlaps with navigation；
(10) it is energized to high-precision optical fiber gyro 3, and (this output valve comprises to gather gyro 3 output valve
High-precision optical fiber gyro 1 and the output of low-precision optical fiber gyro 2)；
(11) position of rotation platform 180 ° (or odd-multiple of 180 °), and gather gyro 3 output valve (this
Output valve comprises high-precision optical fiber gyro 1 and the output of low-precision optical fiber gyro 2)；
(12) using formula (5) to calculate the angle of two fiber optic loop place axle systems, this angle is light
The axial system error of fine gyro 3.
Although the embodiment of the present invention only gives the axial system error mark of this kind of inertia device of optical fibre gyro
Determine method, but as long as those of ordinary skill in the art according to existing technological know-how it is recognised that
It is (such as two optical fibre gyros, optical fibre gyro and at the same type inertia device of nonopiate installation
Individual flexible gyroscope, two quartz flexible accelerometers, a quartz flexible accelerometer and a microcomputer
Electricity accelerometers etc., as long as same type of nonopiate installation, all can adopt and mark in this way
Fixed)；Inertia device can use above-mentioned scaling method to realize the demarcation of axial system error；In order to save a piece
Width, does not repeats them here.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention,
Not in order to limit the present invention, all made within the spirit and principles in the present invention any amendment, etc.
With replacement and improvement etc., should be included within the scope of the present invention.
Claims (2)
1. the scaling method of an inertia device axial system error, it is characterised in that comprise the steps:
S1: inertia device to be measured is arranged in position table, and rotate described position table and make institute's rheme
The OZ axle of the rotary shaft and navigation system of putting platform overlaps；Described inertia device to be measured includes the first inertia device
With the second inertia device, described second inertia device provides angular speed benchmark for described first inertia device；
Use local geographic coordinate system as navigation system；
S2: gather the first digital quantity U of the first inertia device output described in described inertia device to be measureda
The second digital quantity U with described second inertia device outputb；
S3: after described position table is rotated the odd-multiple of 180 ° or 180 °, gather described first inertia
3rd digital quantity U' of device outputaThe 4th digital quantity U' with described second inertia device outputb；
S4: according to described first digital quantity, described second digital quantity, described 3rd digital quantity and described
4th digital quantity obtains the axial system error of described inertia device to be measured.
2. scaling method as claimed in claim 1, it is characterised in that in step s 4 according to public affairs
FormulaObtain the axial system error of described inertia device to be measured；
E1bConstant multiplier for described second inertia device；D0bFor described second inertia device zero is inclined；
E1aConstant multiplier for described first inertia device；D0aFor described first inertia device zero is inclined.
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| CN107741239B (en) * | 2017-09-26 | 2020-03-17 | 北京晨晶电子有限公司 | System and method for testing scale factor of gyroscope |
| 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 |
| CN112362078B (en) * | 2020-10-29 | 2023-01-24 | 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 |
| CN112484633B (en) * | 2020-11-20 | 2022-03-25 | 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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| CN101852817A (en) * | 2010-05-06 | 2010-10-06 | 哈尔滨工业大学 | Method for calibrating double orthogonal high-precision accelerometers |
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| US8117888B2 (en) * | 2009-02-11 | 2012-02-21 | Perception Digital Limited | Method and apparatus of improving accuracy of accelerometer |
| 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 |
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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 |
| CN101852817A (en) * | 2010-05-06 | 2010-10-06 | 哈尔滨工业大学 | Method for calibrating double orthogonal high-precision accelerometers |
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