CN105277210B - A kind of any installation multiaxis Gyro scaling method - Google Patents
A kind of any installation multiaxis Gyro scaling method Download PDFInfo
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Abstract
The invention belongs to Gyro Calibration technical field, is specially that a kind of sensitive number of axle and mounting means to gyro does not have the multiaxis Gyro scaling method of any restrictions.By designing a kind of any installation multiaxis Gyro calibration technique, utilize the symmetrical rotary of three coordinate system axial directions, realize the payment of part error coefficient, and then realize the separation of the established angle, constant multiplier, zero bias, acceleration related coefficient of each gyro sensitive axes.Gyro calibration is carried out using this scaling method, not only solves limitation of the conventional Gyro scaling method for the sensitive number of axle and sensitive axes mounting means, and possesses very high stated accuracy, the applicability of this scaling method is very extensive.
Description
Technical field
The invention belongs to Gyro Calibration technical field, is specially that a kind of sensitive number of axle and mounting means to gyro does not have
The multiaxis Gyro scaling method of any restrictions.
Background technology
Traditional orthogonal installation form of three axis of Gyro generally use, its scaling method is more, and technology is highly developed.With
The development of technology, for redundancy either otherwise technology consider the Gyro of some four axis or more number of axle by
Gradually occur, and the installation form change of gyro is various.This any installation multiaxis Gyro technology is newer, and scaling method is carried
Brand-new requirement is gone out.
In published technical data, the calibration for Gyro all gives certain solution, while these
All there are a common limitation for scaling method --- the three axis accelerometer combination calibration that is only applicable to routinely to install (or IMU
Gyro part, the same below) it is the angular speed born for measuring carrier in space, establish coordinate with three mutually orthogonal axis
System.Conventional design employs the mentality of designing of gyro sensitive axes and product coordinate system overlapping of axles, i.e., with three mutually orthogonal installations
Gyro carry out angular speed on three coordinate system axis of sensitive carrier.Such scaling method by rotating table make Gyro according to
Certain angle is rotated, so as to inspire every error coefficient of product.In Project Realization, this kind of scaling method requires top
Spiral shell sensitive axes and carrier reference axis less parallel, must also control the depth of parallelism within the specific limits when stated accuracy requires high.
But this kind of scaling method is not particularly suited for gyro sensitive axes and carrier reference axis is misaligned, i.e., the gyro group that gyro is arbitrarily installed
The calibration of conjunction, while this kind of scaling method is only applicable to the calibration of three axis accelerometer combination, is not suitable for any axis of Redundancy Design
The calibration of Gyro.
To sum up, there is presently no the disclosed multiaxis Gyro scaling method without any restrictions, therefore, there is an urgent need for develop
A kind of brand-new scaling method, to meet the requirement of the Gyro of more number of axle calibration.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of any installation multiaxis Gyro scaling method, solve any
The problem of calibrating of the multiaxis Gyro of installation, while meet higher stated accuracy.
In order to realize this purpose, the present invention adopts the technical scheme that：
A kind of any installation multiaxis Gyro scaling method, comprises the following steps：
(1) error model of single gyro is determined
Gyro is defined relative to optical reference and the established angle of mechanical references by two attitude angles：
Course angle fa：Projection and the angle of OZ axis of the sensitive axes in product ontology coordinate system ZOY planes, are clockwise negative
Counterclockwise for just, scope is -180 °~+180 °；
Pitch angle si：The angle of sensitive axes and product ontology coordinate system ZOY planes, scope are -90 °~+90 °；
The error model of single gyro is as follows：
Ng_A1=K0+D1x × ax+D1y×ay+D1z×az+K1×[cos(si)×cos(fa)×wz+sin(si)×
wx-cos(si)×sin(fa)×wy]…………(1)
In formula：
The original pulse number that A1 gyros export in Ng_A1-- Gyros；
K0-- gyro zero-bits；
Continuous item of D1x, D1y, D1z-- gyro on x, y, z axis with gravity acceleration g；
ax、ay、az-- acceleration of gravity of the product ontology coordinate system on x, y, z axis；
K1-- gyro constant multipliers；
wz、wx、wy-- the angular speed on product ontology coordinate system x, y, z axis；
(2) zero bias of Gyro are demarcated
Ignore the vertical error between two rotation axis of double axle table, two rotation axis of setting are orthogonal, wherein OXb,
OYb is respectively two rotation axis of turntable, for any one gyro, sets any initial position as position one：
In position for the moment, set earth rate that this gyro arrived in space sensitive as
Rotate 180 ° around Xb axis, then this gyro has rotated to position two, it is sensitive at this time to earth rate be
Around Yb axis rotate 180 ° then this gyro rotated to position three, it is sensitive at this time to earth rate be
Rotate 180 ° around Xb axis, then this gyro has rotated to position four, it is sensitive at this time to earth rate be
Due to one~position of position, four sensitivity to acceleration of gravity vector sum be zero, determine the calculating side of gyro zero bias
Method is：
Wherein K0_j (j=1~4) is umber of pulse output of the gyro j-th of position；
(3) Gyro body X-axis leveling
(3.1) on three axis rate tables, leveling is carried out to product optical reference mirror X faces；
(3.2) with speed w rotating table outline borders, whole N circles, N >=1 are rotated after turntable velocity-stabilization；Gyro output is taken
Average is Ng_x_1；
(3.3) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_x_2；
(3.4) inside casing upset 180 degree, center upset 180 degree；
(3.5) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_x_3；
(3.6) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_x_4；
(4) Gyro body Y face leveling
(4.1) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_y_1；
(4.2) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_y_2；
(4.3) inside casing upset 180 degree, center upset 180 degree；
(4.4) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_y_3；
(4.5) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_y_4；
(5) Gyro body Z face leveling
(5.1) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_z_1；
(5.2) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_z_2；
(5.3) inside casing upset 180 degree, center upset 180 degree；
(5.4) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_z_3；
(5.5) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_z_4；
(6) each error term calculation formula is determined
Further, installation multiaxis Gyro scaling method as described above a kind of any, in step (3)~(5), turns
Platform velocity-stabilization refers to turntable output pulsation≤0.01 °/s.
Gyro calibration is carried out using this scaling method, not only solves conventional Gyro scaling method for sensitivity
The limitation of the number of axle and sensitive axes mounting means, and possess very high stated accuracy, the applicability of this scaling method is very
Extensively.
Embodiment
Technical solution of the present invention is described in detail with reference to specific embodiment.
The mentality of designing of technical solution of the present invention is, by designing a kind of any installation multiaxis Gyro calibration technique,
Using the symmetrical rotary of three coordinate system axial directions, the payment of part error coefficient is realized, and then realize each gyro sensitive axes
Established angle, constant multiplier, zero bias, acceleration related coefficient separation.Specifically include following steps：
(1) error model of single gyro is determined
Gyro is defined relative to optical reference and the established angle of mechanical references by two attitude angles：
Course angle fa：Projection and the angle of OZ axis of the sensitive axes in product ontology coordinate system ZOY planes, are clockwise negative
Counterclockwise for just, scope is -180 °~+180 °；
Pitch angle si：The angle of sensitive axes and product ontology coordinate system ZOY planes, scope are -90 °~+90 °；
The error model of single gyro is as follows：
Ng_A1=K0+D1x × ax+D1y×ay+D1z×az+K1×[cos(si)×cos(fa)×wz+sin(si)×
wx-cos(si)×sin(fa)×wy]…………(1)
In formula：
The original pulse number that A1 gyros export in Ng_A1-- Gyros；
K0-- gyro zero-bits；
Continuous item of D1x, D1y, D1z-- gyro on x, y, z axis with gravity acceleration g；
ax、ay、az-- acceleration of gravity of the product ontology coordinate system on x, y, z axis；
K1-- gyro constant multipliers；
wz、wx、wy-- the angular speed on product ontology coordinate system x, y, z axis；
(2) zero bias of Gyro are demarcated
Ignore the vertical error between two rotation axis of double axle table, two rotation axis of setting are orthogonal, wherein OXb,
OYb is respectively two rotation axis of turntable, for any one gyro, sets any initial position as position one：
v
In position for the moment, earth rate that this gyro is arrived in space sensitive is set as X1；
Rotate 180 ° around Xb axis, then this gyro has rotated to position two, it is sensitive at this time to earth rate be
Around Yb axis rotate 180 ° then this gyro rotated to position three, it is sensitive at this time to earth rate be
Rotate 180 ° around Xb axis, then this gyro has rotated to position four, it is sensitive at this time to earth rate be
Due to one~position of position, four sensitivity to acceleration of gravity vector sum be zero, determine the calculating side of gyro zero bias
Method is：
Wherein K0_j (j=1~4) is umber of pulse output of the gyro j-th of position；
(3) Gyro body X-axis leveling
(3.1) on three axis rate tables, leveling is carried out to product optical reference mirror X faces；
(3.2) with speed w rotating table outline borders, whole N circles, N >=1 are rotated after turntable velocity-stabilization；Gyro output is taken
Average is Ng_x_1；
In this particular embodiment, in this step and following each steps, turntable velocity-stabilization refers to turntable output pulsation
≤0.01°/s。
(3.3) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_x_2；
(3.4) inside casing upset 180 degree, center upset 180 degree；
(3.5) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_x_3；
(3.6) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_x_4；
(4) Gyro body Y face leveling
(4.1) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_y_1；
(4.2) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_y_2；
(4.3) inside casing upset 180 degree, center upset 180 degree；
(4.4) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_y_3；
(4.5) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_y_4；
(5) Gyro body Z face leveling
(5.1) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_z_1；
(5.2) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_z_2；
(5.3) inside casing upset 180 degree, center upset 180 degree；
(5.4) with speed w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
For Ng_z_3；
(5.5) with speed-w rotating table outline borders, whole N circles is rotated after turntable velocity-stabilization, gyro output is averaged
Number is Ng_z_4；
(6) each error term calculation formula is determined
Claims (2)
1. a kind of any installation multiaxis Gyro scaling method, it is characterised in that comprise the following steps：
(1) error model of single gyro is determined
Gyro is defined relative to optical reference and the established angle of mechanical references by two attitude angles：
Course angle fa：Projection and the angle of OZ axis of the sensitive axes in product ontology coordinate system ZOY planes, are clockwise the negative inverse time
Pin is just, scope is -180 °~+180 °；
Pitch angle si：The angle of sensitive axes and product ontology coordinate system ZOY planes, scope are -90 °~+90 °；
The error model of single gyro is as follows：
Ng_A1=K0+D1x × ax+D1y×ay+D1z×az+K1×[cos(si)×cos(fa)×wz+sin(si)×wx-cos
(si)×sin(fa)×wy]…………(1)
In formula：
The original pulse number that A1 gyros export in Ng_A1-- Gyros；
K0-- gyro zero-bits；
Continuous item of D1x, D1y, D1z-- gyro on x, y, z axis with gravity acceleration g；
ax、ay、az-- acceleration of gravity of the product ontology coordinate system on x, y, z axis；
K1-- gyro constant multipliers；
wz、wx、wy-- the angular speed on product ontology coordinate system z, x, y-axis；
(2) zero bias of Gyro are demarcated
Ignore the vertical error between two rotation axis of double axle table, two rotation axis of setting are orthogonal, wherein OXb, OYb points
Not Wei turntable two rotation axis, for any one gyro, set any initial position as position one：
In position for the moment, set earth rate that this gyro arrived in space sensitive as
Rotate 180 ° around OXb axis, then this gyro has rotated to position two, it is sensitive at this time to earth rate be
Around OYb axis rotate 180 ° then this gyro rotated to position three, it is sensitive at this time to earth rate be
Rotate 180 ° around OXb axis, then this gyro has rotated to position four, it is sensitive at this time to earth rate be
Due to one~position of position, four sensitivity to acceleration of gravity vector sum be zero, determine the computational methods of gyro zero bias
For：
Wherein K0_j (j=1~4) is umber of pulse output of the gyro j-th of position；
(3) Gyro body X-axis leveling
(3.1) on three axis rate tables, leveling is carried out to product optical reference mirror X faces；
(3.2) with speed w rotating table outline borders, whole N circles, N >=1 are rotated after turntable velocity-stabilization；Gyro output is averaged
Number is Ng_x_1；
(3.3) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_x_2；
(3.4) inside casing upset 180 degree, center upset 180 degree；
(3.5) with speed w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_x_3；
(3.6) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_x_4；
(4) Gyro body Y face leveling
(4.1) with speed w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_y_1；
(4.2) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_y_2；
(4.3) inside casing upset 180 degree, center upset 180 degree；
(4.4) with speed w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_y_3；
(4.5) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_y_4；
(5) Gyro body Z face leveling
(5.1) with speed w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_z_1；
(5.2) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_z_2；
(5.3) inside casing upset 180 degree, center upset 180 degree；
(5.4) with speed w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_z_3；
(5.5) with speed-w rotating table outline borders, whole N circles are rotated after turntable velocity-stabilization, gyro output is averaged for
Ng_z_4；
(6) each error term calculation formula is determined
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A kind of 2. any installation multiaxis Gyro scaling method as claimed in claim 1, it is characterised in that step (3)~
(5) in, turntable velocity-stabilization refers to turntable output pulsation≤0.01 °/s.
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| CN106017507B (en) * | 2016-05-13 | 2019-01-08 | 北京航空航天大学 | A kind of used group quick calibrating method of the optical fiber of precision low used in |
| CN106052714B (en) * | 2016-05-23 | 2019-04-16 | 浙江大学 | The test method of the tilting optical fibre gyro combination constant multiplier performance of multiaxis |
| CN106525073B (en) * | 2016-09-27 | 2019-07-12 | 北京控制工程研究所 | A kind of inertial space Gyro Calibration test method based on three-axle table |
| CN109827593B (en) * | 2018-09-11 | 2020-12-18 | 广东星舆科技有限公司 | Error self-calibration method, system and storage medium based on multiple IMUs |
| CN110987008B (en) * | 2019-12-10 | 2023-08-11 | 上海航天控制技术研究所 | Low-precision MEMS gyroscope combined zero bias quick calibration method |
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