CN104034347A - Index system measurement method for satellite hemispherical resonator gyro combination - Google Patents
Index system measurement method for satellite hemispherical resonator gyro combination Download PDFInfo
- Publication number
- CN104034347A CN104034347A CN201310069428.7A CN201310069428A CN104034347A CN 104034347 A CN104034347 A CN 104034347A CN 201310069428 A CN201310069428 A CN 201310069428A CN 104034347 A CN104034347 A CN 104034347A
- Authority
- CN
- China
- Prior art keywords
- gyro
- frock
- reference field
- stir
- measure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses an index system measurement method for a satellite hemispherical resonator gyro combination. The method comprises the steps of: utilizing a base level turning tooling to measure performance indexes of single gyro; using a triaxial rate turntable to measure the output data of the hemispherical resonator gyro combination; and calculating the setting angle deviation of gyros. The method provided by the invention can eliminate the influence of ground speed on calibrated error, avoids tedious calculation, solves the precision calibration problem of a satellite three-orthogonal one-oblique installed gyro combination, and improves the attitude control precision of an attitude control system.
Description
?
Technical field
The present invention relates to attitude of satellite control technology, especially the attitude of satellite is controlled ground test technology, specifically for the hemispherical reso nance gyroscope combination measurement method of satellite.
Background technology
Hemispherical reso nance gyroscope combination is the important Sensitive Apparatus of Satellite attitude and orbit control subsystem, inertia angular velocity for responsive satellite celestial body, export its component on celestial body coordinate system, for each mode of operation of satellite and mission phase provide three continuous axle inertia angular velocity informations.The measuring method of Gyro is mainly divided two levels, the one, the measurement to the technical indicator of single gyro, the 2nd, the measurement to gyro drift angle, installation site in combination.In the Gyro of existing routine, the installation of gyro in combination is consistent with the sensitive axes of Gyro, therefore can by directly stir the mode of Gyro make the output shaft of gyro and the input shaft of turntable parallel.Along with hemispherical reso nance gyroscope combines the mounting means that mounting means changes over three quadrature one angle mounts, therefore, existing measuring method is inapplicable, simultaneously, in the method that Gyro mounting shift angle is measured of routine, owing to having ignored the impact of rotational-angular velocity of the earth, thereby when measuring star with Gyro, there is certain deviation.
Summary of the invention
The technical problem to be solved in the present invention is to provide hemispherical reso nance gyroscope combined index system measuring method for a kind of star, it can measure the established angle deviation of single gyroscope in Gyro, can be convenient to the rotational angular velocity of Satellite attitude and orbit control computer-solution celestial body, and revise combining gyrostatic output zero-bit.
?for solving the problems of the technologies described above, hemispherical reso nance gyroscope combined index system measuring method for a kind of star of the present invention, it comprises the steps:
Step 1, utilizes reference field to stir frock, measures single gyro
The bottom surface that the reference field of take stirs frock is benchmark, by being equipped with the gyrostatic Gyro of three quadrature one angle mounts, being installed to reference field and stirring on the inclined-plane of frock, makes to be arranged on a single gyro on inclined-plane and surface level in plumbness;
Step 2, measures single gyro performance index
1) axis of tested single gyro must be with surface level in plumbness;
2) measure and be arranged on single gyrostatic performance index on inclined-plane;
3) stir two sides, the bottom surface that reference field stirs frock, make the axis of its excess-three tested single gyro and surface level in plumbness;
4) often stir reference field and stir frock once, single gyro performance index are measured once.
Step 3, utilizes three axle rate tables, measures hemispherical reso nance gyroscope combination
1) measure the output data of Gyro
Three axles of three axles and three axle rate tables of the instrument coordinates system of Gyro are parallel, and three axles of turntable carry out uniform rotation within the scope of desired location, measure the output data that Gyro is clockwise at turntable and rotate counterclockwise;
2) calculate the established angle deviation of gyro
According to output data, calculate, obtain the established angle deviation of each gyro.By measurement, combine the output data of three axles under fixing positive and negative angular velocity, and the cosine square of the vector of unit length of gyrostatic mounting shift angle and built-up shaft angle and be 1, gyro output divides magnitude relation in sensitive axes, resolves gyrostatic established angle deviation.
The method that the present invention adopts, its advantage and beneficial effect are:
Can avoid the impact of rotational-angular velocity of the earth, avoided loaded down with trivial details calculating, effectively raise the stated accuracy of gyroscope alignment error, can promote the measuring accuracy of Satellite attitude and orbit control system to attitude angular velocity, thereby improve the attitude control accuracy of posture control system.
?
Accompanying drawing explanation
Fig. 1 is that the reference field that the present invention utilizes stirs frock schematic diagram;
Fig. 2 is the turntable turned position schematic diagram that gyro installation angular displacement of the present invention is measured.
In figure, lightening hole 11, inclined-plane 22, lightening hole 33, side 44.
?
Embodiment
Below with reference to drawings and Examples, method step of the present invention is described further.
Step 1, utilizes reference field to stir frock, measures single gyro
As shown in Figure 1, be that the reference field that the present invention utilizes stirs frock schematic diagram,
The bottom surface that the reference field of take stirs frock is benchmark, by being equipped with the gyrostatic Gyro of three quadrature one angle mounts, being installed to reference field and stirring on the inclined-plane 22 of frock, makes to be arranged on a single gyro on inclined-plane 22 and surface level in plumbness;
Step 2, measures single gyro performance index
1) axis of tested single gyro must be with surface level in plumbness;
2) measure the performance index that are arranged on a single gyro on inclined-plane;
3) stir two sides 44, the bottom surface that reference field stirs frock, make the axis of its excess-three tested single gyro and surface level in plumbness;
4) often stir reference field and stir frock once, single gyro performance index are measured once;
Step 3, utilizes three axle rate tables, measures hemispherical reso nance gyroscope combination
Gyro is fixed on rate table, by adjusting the position of encircling in ring in turntable, makes combination
three axles respectively with horizontal vertical, rotating table outer shroud, respectively to Gyro
the angular velocity of ± 2 °/s of axle input, tests Gyro.
1) measure the output data of Gyro
Three axles of three axles and three axle rate tables of the instrument coordinates system of Gyro are parallel, and three axles of turntable carry out uniform rotation within the scope of desired location, measure the output data that Gyro is clockwise at turntable and rotate counterclockwise;
Combination
axle is vertical with surface level, and turntable outer shroud makes zero, and then rotates counterclockwise
angle-60 °, are parked in P2 position; Turntable with
(2 °/s) rotate, and forward to
during angle (30 °, P2 position), start to record gyro output data, forward to
angle (30 °, P4 position) stops record, and the cycle in sampling time is 100ms;
2) calculate the established angle deviation of gyro
According to output data, calculate, obtain the established angle deviation of each gyro.
The umber of pulse that four gyros 1,2,3 and 4 are obtained is divided by integral time, and the corresponding data recording obtaining is
,
,
,
;
In formula,
,
,
,
be 4 gyros of three quadrature one angle mounts output valves when Gyro X-axis has forward turning rate input;
In like manner, Gyro starts to rotate from P1, and record combination is the gyro output valve to P5 position through P4, after processing, obtains
,
,
,
;
，
；
In like manner, can obtain
with
;
Meanwhile, the output of gyro
,
with
there is following relation:
Wherein,
;
;
for the folder cosine of an angle of gyroscope i to combination j axle;
constant multiplier for gyroscope i.
Mounting shift angle and combination due to gyro
the quadratic sum of folder cosine of an angle is 1, can solve
.
With gyroscope 1 and combination
the mounting shift angle of axle is example, and process is as follows:
1. gyro output
;
2. give respectively combination
input angular velocity ±
, ±
with ±
;
3. by above-mentioned test method and data processing method, obtain following formula:
Meanwhile, the character by vector of unit length can obtain
, can obtain gyro 1 and combination
the established angle of axle
,
with
.
In like manner, can try to achieve
,
,
,
,
,
,
,
with
.
Claims (2)
1. a hemispherical reso nance gyroscope combined index system measuring method for star, is characterized in that: comprise the steps:
Step 1, utilizes reference field to stir frock, measures single gyro
The bottom surface that the reference field of take stirs frock is benchmark, by being equipped with the gyrostatic combination of three quadrature one angle mounts, being installed to reference field and stirring on the inclined-plane of frock, makes to be arranged on a single gyro on inclined-plane and surface level in plumbness;
Step 2, measures single gyro performance index
1) axis of tested single gyro must be with surface level in plumbness;
2) measure and be arranged on single gyro performance index on inclined-plane;
3) stir two sides, the bottom surface that reference field stirs frock, make the axis of its excess-three tested single gyro and surface level in plumbness;
4) often stir reference field and stir frock once, single gyro performance index are measured once;
Step 3, utilizes three axle rate tables, measures hemispherical reso nance gyroscope combination
1) measure the output data of Gyro
Three axles of three axles and three axle rate tables of the instrument coordinates system of Gyro are parallel, and three axles of turntable carry out uniform rotation within the scope of desired location, measure the output data that Gyro is clockwise at turntable and rotate counterclockwise;
2) calculate the established angle deviation of gyro
According to output data, calculate, obtain the established angle deviation of each gyro.
2. hemispherical reso nance gyroscope combined index system measuring method for star according to claim 1, is characterized in that: in described step 3, and the character that the quadratic sum of having utilized vector of unit length direction cosine while measuring the established angle deviation of gyro in Gyro is 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069428.7A CN104034347B (en) | 2013-03-05 | 2013-03-05 | A kind of star hemispherical reso nance gyroscope combined index system measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069428.7A CN104034347B (en) | 2013-03-05 | 2013-03-05 | A kind of star hemispherical reso nance gyroscope combined index system measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104034347A true CN104034347A (en) | 2014-09-10 |
| CN104034347B CN104034347B (en) | 2018-07-20 |
Family
ID=51465211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310069428.7A Active CN104034347B (en) | 2013-03-05 | 2013-03-05 | A kind of star hemispherical reso nance gyroscope combined index system measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104034347B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931050A (en) * | 2015-06-04 | 2015-09-23 | 北京控制工程研究所 | Integrative structure of MEMS (micro electro mechanical system) inertial posture sensor |
| CN109945894A (en) * | 2019-04-08 | 2019-06-28 | 哈尔滨工业大学 | The installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame |
| CN113551660A (en) * | 2021-07-21 | 2021-10-26 | 哈尔滨工业大学 | Method for acquiring vibration mode angle of hemispherical resonator gyroscope when electrode angle has error |
| CN114894188A (en) * | 2022-07-14 | 2022-08-12 | 中国船舶重工集团公司第七0七研究所 | Table body for hemispherical resonator gyroscope inertial navigation system and processing method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1763477A (en) * | 2005-11-04 | 2006-04-26 | 北京航空航天大学 | Mixed calibration method for Inertial measurement unit capable of eliminating gyro constant drift |
| CN101029902A (en) * | 2007-03-26 | 2007-09-05 | 北京航空航天大学 | Non-oriented multi-position and high-precision calibrating method for inertial measuring unit |
| EP2175236A2 (en) * | 2008-09-11 | 2010-04-14 | Northrop Grumman Guidance and Electronics Company, Inc. | Self calibrating gyroscope system |
| CN102278108A (en) * | 2011-05-13 | 2011-12-14 | 重庆华渝电气仪表总厂 | Calibration method for continuous measurement mode of small-bore directional gyro inclinometer |
-
2013
- 2013-03-05 CN CN201310069428.7A patent/CN104034347B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1763477A (en) * | 2005-11-04 | 2006-04-26 | 北京航空航天大学 | Mixed calibration method for Inertial measurement unit capable of eliminating gyro constant drift |
| CN101029902A (en) * | 2007-03-26 | 2007-09-05 | 北京航空航天大学 | Non-oriented multi-position and high-precision calibrating method for inertial measuring unit |
| EP2175236A2 (en) * | 2008-09-11 | 2010-04-14 | Northrop Grumman Guidance and Electronics Company, Inc. | Self calibrating gyroscope system |
| CN102278108A (en) * | 2011-05-13 | 2011-12-14 | 重庆华渝电气仪表总厂 | Calibration method for continuous measurement mode of small-bore directional gyro inclinometer |
Non-Patent Citations (1)
| Title |
|---|
| 马云峰等: "微小型惯性测量组合的标定方法研究", 《潍坊学院学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931050A (en) * | 2015-06-04 | 2015-09-23 | 北京控制工程研究所 | Integrative structure of MEMS (micro electro mechanical system) inertial posture sensor |
| CN109945894A (en) * | 2019-04-08 | 2019-06-28 | 哈尔滨工业大学 | The installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame |
| CN113551660A (en) * | 2021-07-21 | 2021-10-26 | 哈尔滨工业大学 | Method for acquiring vibration mode angle of hemispherical resonator gyroscope when electrode angle has error |
| CN114894188A (en) * | 2022-07-14 | 2022-08-12 | 中国船舶重工集团公司第七0七研究所 | Table body for hemispherical resonator gyroscope inertial navigation system and processing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104034347B (en) | 2018-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106525073B (en) | A kind of inertial space Gyro Calibration test method based on three-axle table | |
| CN103808331B (en) | A kind of MEMS three-axis gyroscope error calibrating method | |
| CN105180968B (en) | A kind of IMU/ magnetometers installation misalignment filters scaling method online | |
| CN100565115C (en) | The scaling method of multi-position strapping north-seeking system direction effect | |
| CN106289246B (en) | A kind of flexible link arm measure method based on position and orientation measurement system | |
| CN107655493B (en) | SINS six-position system-level calibration method for fiber-optic gyroscope | |
| CN108051866B (en) | Based on strap down inertial navigation/GPS combination subsidiary level angular movement isolation Gravimetric Method | |
| CN101975872B (en) | Method for calibrating zero offset of quartz flexible accelerometer component | |
| Guo et al. | The soft iron and hard iron calibration method using extended Kalman filter for attitude and heading reference system | |
| CN102003968B (en) | Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system | |
| CN108363078B (en) | Dynamic positioning error testing device, system and method for navigation positioning system | |
| CN101290326A (en) | Rock quartz flexibility accelerometer measuring component parameter identification calibration method | |
| CN108562288A (en) | A kind of Laser strapdown used group of system-level online self-calibration system and method | |
| CN103900607B (en) | Rotation type strapdown inertial navigation system transposition method based on inertial system | |
| CN107121707A (en) | A kind of error calibration method of magnetic sensor measuring basis and structure benchmark | |
| CN105865490B (en) | A kind of inertially stabilized platform fixed pedestal multiposition is from method of sight | |
| CN104165638A (en) | Multi-position self-calibration method for biaxial rotating inertial navigation system | |
| CN102168989B (en) | Ground testing method for position accuracy and orientation accuracy of POS (Position and Orientation System) | |
| CN101701824A (en) | High-precision uniaxial rotation attitude measuring system based on laser gyro | |
| CN107677292B (en) | Vertical line deviation compensation method based on gravity field model | |
| CN104034347A (en) | Index system measurement method for satellite hemispherical resonator gyro combination | |
| CN103411623A (en) | Rate gyroscope calibrating method | |
| CN102207380B (en) | High-precision horizontal axis tilt error compensation method | |
| CN104697521A (en) | Method for measuring posture and angle speed of high-speed rotating body by gyro redundant oblique configuration mode | |
| Wang et al. | A new Multi-position calibration method for gyroscope's drift coefficients on centrifuge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |