CN105547294A - Assessment method for optimal installation configuration of inertial measurement unit with two-frequency mechanically-dithered laser gyroscopes - Google Patents
Assessment method for optimal installation configuration of inertial measurement unit with two-frequency mechanically-dithered laser gyroscopes Download PDFInfo
- Publication number
- CN105547294A CN105547294A CN201610023818.4A CN201610023818A CN105547294A CN 105547294 A CN105547294 A CN 105547294A CN 201610023818 A CN201610023818 A CN 201610023818A CN 105547294 A CN105547294 A CN 105547294A
- Authority
- CN
- China
- Prior art keywords
- laser gyroscope
- frequency
- install
- machine laser
- shakings
- 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
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- 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
- G01C19/66—Ring laser gyrometers
Abstract
The invention discloses a dithering sensitivity-based assessment method for the dithering sensitivities of two-frequency mechanically-dithered laser gyroscopes, and belongs to the field of inertial navigation, guidance and control. The method comprises the steps that 1, the target dithering amplitudes of the two-frequency mechanically-dithered laser gyroscopes are set; 2, the driving voltage of the two-frequency mechanically-dithered laser gyroscopes is collected; 3, the actual dithering amplitudes of the two-frequency mechanically-dithered laser gyroscopes are collected; 4, the dithering sensitivities of the two-frequency mechanically-dithered laser gyroscopes installed on an inertial measurement unit under the different installation configurations are calculated; 5, the dithering sensitivities of the two-frequency mechanically-dithered laser gyroscopes under the different configurations are compared, and then the optimal installation configuration scheme of the inertial measurement unit with the two-frequency mechanically-dithered laser gyroscopes is obtained. When the method is used for designing the inertial measurement unit composed of the two-frequency mechanically-dithered laser gyroscopes, the configuration scheme with the most suitable dithering frequency and installation positions is selected, it is guaranteed that the inertial measurement unit can work in the best state, the using precision of the two-frequency mechanically-dithered laser gyroscopes is improved, and the service life of the two-frequency mechanically-dithered laser gyroscopes is prolonged.
Description
Technical field
The present invention relates to a kind of appraisal procedure of the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units based on jitter sensitivity, belong to inertial navigation, guidance and control field.
Background technology
Lasergyro is the device of the measured angular speed be made up of loop laser resonance cavity based on Sagner (Sagnac) effect and angle.In the error source of lasergyro, lock district effect is one of main error source of restriction laser gyro practical application.Lock district effect refers under low input angle rate conditions, and the output of lasergyro is the phenomenon of zero.The method overcoming lock district effect has multiple, as rate biased, mechanical shaking offset frequency, Zeeman offset frequency, magnetic mirror bias and faraday's offset frequency etc., its basic thought makes the duty of laser gyro cross over lock district fast or not pass through lock district, and wherein mechanical shaking offset frequency method is the most frequently used a kind of offset frequency method.Two frequency machine laser gyroscope shakings are exactly the lasergyro adopting mechanical shaking offset frequency method to overcome lock district effect.
Originally a series of little Suo districts be slit near the integral multiple being positioned at shake angular frequency distinguished by the lock concentrating on zero crossings by mechanical shaking offset frequency method, formative dynamics lock district, in order to eliminate the dynamic latch-up error that dynamic Guo Suo district causes, good way injects random noise in shake drive singal, can reduce to pass in and out the error brought in lock district by the method for time domain average like this.
Shake control system will complete resonance frequency tracking usually, jitter amplitude is stablized, pseudo-random noise injection three pieces of functions, as shown in Figure 1.
Document 1 (" dither controller of Dithered Ring Laser Gyro ", " application laser ", 2000,20th volume the 1st phase, National University of Defense technology's applicating physical system, Tang Jianxun etc.) on the basis overcoming traditional dither controller shortcoming, devise the shake drive singal of a kind of sine wave utilizing loop self-excited vibration to produce as mechanical shaking offset frequency mechanism, and angular rate sensor and amplitude demodulation circuit are formed the dither controller that backfeed loop carries out automatic growth control.The chattering frequency of the mechanical shaking offset frequency mechanism that the method obtains is based upon on the resonant frequency point of mechanical shaking offset frequency mechanism, is the self-excited oscillatory frequency of system and strictly follows the change of mechanical shaking offset frequency mechanism resonance frequency and change.This circuit arrangement is very ripe at present, but mimic channel discrete component is many, volume large, lacks dirigibility and extendability.Another kind of resonance frequency tracking mode adopts analog or digital phaselocked loop, but realize still more loaded down with trivial details based on the shake control system of phaselocked loop.
Document 2 (" RLG Digital vibration control method and characteristic ", " National University of Defense technology's journal ", 2006, 28th volume the 5th phase, National University of Defense technology's electromechanical engineering and Automation Institute, Pan Xianfei etc.) devise a kind of SCM Based two frequency machine laser gyroscope shaking Digital dither control methods, establish the mathematical model of two frequency machine laser gyroscope shaking mechanical shaking offset frequency mechanisms, comparative studies analog sine drives and the jittering characteristic of Digital Square-Wave driving device Dithered mechanism, indicate that the latter is different from the former jitter amplitude Changing Pattern and nonlinear pseudo-random noise injection mode.Based on the digital control circuit of powerful digital processing unit, by function i ntegration such as the Dithered of two frequency machine laser gyroscope shakings, the long control in chamber and state-detection on a central processing unit, greatly reduce circuit volume, enhance circuit function, improve the dirigibility of circuit and extendability.The shortcoming of the Digital dither control system of square wave shake is that square wave shake has abundant higher hamonic wave, is easy to disturb other circuit.
But above-mentioned document is all control to start with from the single two frequently shakes of machine laser gyroscope shakings, for be how to make two frequently machine laser gyroscope shakings mechanical shaking offset frequency institution staff in normal state.And when actual implementation two frequency machine laser gyroscope shaking strapdown inertial navigation system, two frequency machine laser gyroscope shakings always will be arranged on the same mounting base in Inertial Measurement Unit, and be generally the redundancy installation of three orthogonal installations or more than three, like this, the high frequency angular oscillation of each two frequently mechanical shaking offset frequency mechanism of machine laser gyroscope shaking can be inspired each other generation coupled vibrations, simultaneously, the high frequency angular oscillation of the mechanical shaking offset frequency mechanism of two frequency machine laser gyroscope shakings also can encourage mounting base to produce coupled vibrations, when these coupled vibrations amplitudes are larger, namely when any two the chattering frequency of machine laser gyroscope shaking is close with the natural frequency of mounting base frequently, the shake drive singal of two frequency machine laser gyroscope shakings will be caused to become large, when the upper limit that shake drive singal reaches setting still cannot normally work, even can damage the mechanical shaking offset frequency mechanism of two frequency machine laser gyroscope shakings, reduce the serviceable life of two frequency machine laser gyroscope shakings.
In order to better by the products application of two frequently these high precision of machine laser gyroscope shaking, high performance-price ratios to field widely, especially particular/special requirement is had to volume, weight and field to vibration & noise rdativery sensitive, just need one for by the two frequently total evaluation methods of the optimum Install and configure scheme of Inertial Measurement Unit that form of machine laser gyroscope shakings, thus solve and to work long hours the problem that reliability decrease, precision reduce owing to installing arbitrarily or only installing by rule of thumb the inertial navigation system caused at present.
Summary of the invention
The object of the invention is the Inertial Measurement Unit for being made up of two frequency machine laser gyroscope shakings, a kind of appraisal procedure of the optimum Install and configure scheme based on jitter sensitivity is provided, improve navigation accuracy and the reliability of the strapdown inertial navigation system be made up of two frequency machine laser gyroscope shakings, reduce the impact of shake excitation on other vibration sensing equipment of carrier of two frequency machine laser gyroscope shakings.
Object of the present invention is achieved through the following technical solutions:
An appraisal procedure for the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units, the method comprises the following steps:
Step 1. carries out permutation and combination to each installation position in two frequently machine laser gyroscope shaking Inertial Measurement Unit from the different two Install and configure schemes that machine laser gyroscope shaking forms frequently of taking turns model of trembling:
1.1) for two frequency machine laser gyroscope shaking Inertial Measurement Units of orthogonal installation, defining three installation positions is X, Y, Z-direction; Define three kinds of differences tremble wheel model two frequently machine laser gyroscope shakings be followed successively by A, B, C type according to the height of shake natural frequency; According to arrangement mode
knownly have 6 kinds of different Install and configure schemes;
1.2) for the two frequency machine laser gyroscope shaking Inertial Measurement Units that more than three redundancies are installed, definition installation position is X
1, X
2... X
ndirection; The different two frequency machine laser gyroscope shakings trembling wheel model of definition are followed successively by A according to the height of shake natural frequency
1, A
2... A
ntype.According to permutation and combination
known, total n! Plant different Install and configure schemes, be designated as k, k>=6;
The jitter sensitivity of step 2. to two frequency machine laser gyroscope shakings is tested:
2.1) by two frequently machine laser gyroscope shakings according to the i-th (i=1 in step 1,2, ..., k) individual Install and configure scheme is assembled, shake drived control (concrete mode list of references 1 or document 2) that is that simulate the Inertial Measurement Units be made up of two frequency machine laser gyroscope shakings or numeral;
2.2) set jth (j=1,2 ..., n) the target jitter amplitude of individual two frequently machine laser gyroscope shakings, and being designated as
M
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.3) gather jth (j=1,2 ..., n) individual two shake drive singal frequently in machine shaking laser gyroscope shaking control system, and being designated as
D
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.4) jth (j=1 is gathered, 2 ..., actual jitter amplitude n) in individual two frequency machine shaking laser gyroscope shaking control system, this actual jitter amplitude obtains from the dither feedback signal the shake control system of two frequency machine laser gyroscope shakings, and be designated as
M′
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.5) calculate i-th (i=1,2 ..., the k) jitter sensitivity of corresponding two machine laser gyroscope shakings frequently in individual Install and configure scheme
In normal working conditions, shake control loop is stable, and actual jitter amplitude is identical with the target jitter amplitude of setting, and jitter sensitivity is inversely proportional to the intensity of shake drive singal, and the intensity of shake drive singal is less, and jitter sensitivity is higher; Under extreme conditions, when natural frequency as high/low temperature, mounting base is coupled with the chattering frequency of two frequency machine laser gyroscope shakings, shake control loop is semi-stability or instability, under setting shake drives the condition of the upper limit, actual jitter amplitude is different from the target jitter amplitude of setting, and the ratio of jitter sensitivity and target jitter amplitude and actual jitter amplitude is inversely proportional to.
2.6) step 2.1 is repeated) to 2.5) complete the measurement of the jitter sensitivity of n in all k Install and configure scheme two frequency machine laser gyroscope shakings;
K the different Install and configure of step 3. to two frequency machine laser gyroscope shaking Inertial Measurement Units is assessed, and obtains optimum Install and configure scheme:
3.1) by the jitter sensitivity S of corresponding two machine laser gyroscope shakings frequently in i-th Install and configure scheme calculating in step 2
ijbe multiplied and obtain the evaluation index of i-th Install and configure scheme:
3.2) the evaluation index E of Install and configure scheme is compared
i, E
ithe Install and configure scheme that the maximum is corresponding is optimum Install and configure scheme:
E
best＝max(E
i),(i＝1,2,......,k)。
The present invention has following technique effect:
1) invention defines the concept of the jitter sensitivity for assessment of the optimum Install and configure of Inertial Measurement Unit be made up of two frequency machine laser gyroscope shakings, the shake drive singal in shake control system and target and actual jitter amplitude is utilized to measure the jitter sensitivity of two frequency machine laser gyroscope shakings easily, principle is simple, workable;
2) test process of the present invention only need change the Install and configure of two frequency machine laser gyroscope shakings in Inertial Measurement Unit, do not need to introduce other means of testing, just can complete the assessment of the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units, the time is short, with a high credibility;
3) assessing through the present invention the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units obtained can as the important references of two machine laser gyroscope shaking strapdown inertial navigation systems designs frequently, promote service precision and the reliability of two frequency machine laser gyroscope shakings, extend the serviceable life of two frequency machine laser gyroscope shakings, ensure the application of strapdown inertial navigation system when various high precision, long boat under condition be made up of two frequency machine laser gyroscope shakings.
Accompanying drawing explanation
Fig. 1 is the principle schematic of two frequency machine laser gyroscope shaking mechanical shaking offset frequency mechanism shake control system described in document 1 and document 2;
Fig. 2 is an orthogonal installation embodiment schematic diagram of the optimum Install and configure of Inertial Measurement Unit be made up of two frequency machine laser gyroscope shakings of the present invention;
Fig. 3 is specific embodiments of the present invention process flow diagram.
Embodiment
The specific embodiments adopted for realizing the object of the invention is:
Example is designed to the Inertial Measurement Unit of an orthogonal installation, this Inertial Measurement Unit as shown in Figure 2, mounting base 100 in Inertial Measurement Unit there is the installed surface that three orthogonal, the normal direction of installed surface is defined as X respectively, Y, Z tri-directions, three two height that machine laser gyroscope shaking shakes natural frequency according to the model foundation of trembling wheel are frequently defined as A respectively, B, C type, Fig. 2 is a kind of Install and configure scheme: A type two frequently machine laser gyroscope shaking 201 is arranged on the Z-direction of mounting base 100, Type B two frequently machine laser gyroscope shaking 202 is arranged on the X-direction of mounting base 100, C type two frequently machine laser gyroscope shaking 203 is arranged on the Y-direction of mounting base 100.，
It is X, Y that step 1. defines three installation positions, Z-direction; Define three kinds of differences tremble wheel model two frequently machine laser gyroscope shakings be followed successively by A, B, C type according to the height of shake natural frequency.According to arrangement mode
knownly have 6 kinds of different Install and configure schemes, as shown in table 1;
Table 1 three kinds of differences tremble the allocation plan of two frequency machine laser gyroscope shakings at three installation positions of wheel model
The jitter sensitivity of step 2. to two frequency machine laser gyroscope shakings is tested:
2.1) by two frequently machine laser gyroscope shakings according to i-th in step 1 (i=1,2 ..., 6) individual Install and configure scheme assembles,
2.2) set the target jitter amplitude of the individual two frequency machine laser gyroscope shakings of jth (j=1,2,3), and be designated as
M
ij,(i＝1,2,......,6,j＝1,2,3)；
2.3) gather the shake drive singal in the individual two frequency machine shaking laser gyroscope shaking control system of jth (j=1,2,3), and be designated as
D
ij,(i＝1,2,......,6,j＝1,2,3)；
2.4) jth (j=1 is gathered, 2 ..., actual jitter amplitude n) in individual two frequency machine shaking laser gyroscope shaking control system, this actual jitter amplitude obtains in the dither feedback signal of system from the shake of two frequency machine laser gyroscope shakings controls, and be designated as M
ij'
M′
ij,(i＝1,2,......,6,j＝1,2,3)；
2.5) calculate i-th (i=1,2 ..., 6) jitter sensitivity of corresponding two machine laser gyroscope shakings frequently in individual Install and configure scheme
2.6) step 2.1 is repeated) to 2.5) to complete in all 6 Install and configure schemes the measurement of 3 two jitter sensitivity of machine laser gyroscope shakings frequently.
The data calculating gained are as shown in table 2;
Two frequently the jitter sensitivity result of calculation of machine laser gyroscope shakings and scheme evaluation indexs under the different Install and configure scheme of table 2
6 the different Install and configure of step 3. to two frequency machine laser gyroscope shaking Inertial Measurement Units are assessed, and obtain optimum Install and configure scheme:
3.1) by the jitter sensitivity S of corresponding two machine laser gyroscope shakings frequently in i-th Install and configure scheme calculating in step 2
ijbe multiplied and obtain the evaluation index of i-th Install and configure scheme:
3.2) the evaluation index E of Install and configure scheme is compared
i, get the maximum and be optimum Install and configure scheme.
E
best＝max(E
i),(i＝1,2,......,6)
Through calculating, as shown in table 2, final optimum Install and configure scheme is No. 2 Install and configure scheme, i.e. X, Y, it is A, C that Z-direction installs dithering-wheel model respectively, B two frequently machine laser gyroscope shaking time, by two frequency machine laser gyroscope shakings each in two Inertial Measurement Units that machine laser gyroscope shakings forms frequently jitter sensitivity be combined as optimum.
The principle of the invention is simple, workable, and can assess the optimum Install and configure of the Inertial Measurement Unit be made up of two frequency machine laser gyroscope shakings easily, the used time is short, with a high credibility.Assessing through the present invention the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units obtained can as the important references of two machine laser gyroscope shaking strapdown inertial navigation systems designs frequently, promote service precision and the reliability of two frequency machine laser gyroscope shakings, extend the serviceable life of two frequency machine laser gyroscope shakings, ensure the application of strapdown inertial navigation system when various high precision, long boat under condition be made up of two frequency machine laser gyroscope shakings.
Claims (1)
1. an appraisal procedure for the optimum Install and configure of two frequency machine laser gyroscope shaking Inertial Measurement Units, it is characterized in that, the method comprises the following steps:
Step 1. carries out permutation and combination to each installation position in two frequently machine laser gyroscope shaking Inertial Measurement Unit from the different two Install and configure schemes that machine laser gyroscope shaking forms frequently of taking turns model of trembling:
1.1) for two frequency machine laser gyroscope shaking Inertial Measurement Units of orthogonal installation, defining three installation positions is X, Y, Z-direction; Define three kinds of differences tremble wheel model two frequently machine laser gyroscope shakings be followed successively by A, B, C type according to the height of shake natural frequency; According to arrangement mode
knownly have 6 kinds of different Install and configure schemes;
1.2) for the two frequency machine laser gyroscope shaking Inertial Measurement Units that more than three redundancies are installed, definition installation position is X
1, X
2... X
ndirection; The different two frequency machine laser gyroscope shakings trembling wheel model of definition are followed successively by A according to the height of shake natural frequency
1, A
2... A
ntype; According to permutation and combination
known, total n! Plant different Install and configure schemes, be designated as k, k>=6;
The jitter sensitivity of step 2. to two frequency machine laser gyroscope shakings is tested:
2.1) by two frequently machine laser gyroscope shakings according to the i-th (i=1 in step 1,2, ..., k) individual Install and configure scheme is assembled, shake drived control that is that simulate the Inertial Measurement Units be made up of two frequency machine laser gyroscope shakings or numeral;
2.2) set jth (j=1,2 ..., n) the target jitter amplitude of individual two frequently machine laser gyroscope shakings, and being designated as
M
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.3) gather jth (j=1,2 ..., n) individual two shake drive singal frequently in machine shaking laser gyroscope shaking control system, and being designated as
D
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.4) jth (j=1 is gathered, 2 ..., actual jitter amplitude n) in individual two frequency machine shaking laser gyroscope shaking control system, this actual jitter amplitude obtains from the dither feedback signal the shake control system of two frequency machine laser gyroscope shakings, and be designated as
M′
ij,(i＝1,2,......,k,j＝1,2,......,n)；
2.5) calculate i-th (i=1,2 ..., the k) jitter sensitivity of corresponding two machine laser gyroscope shakings frequently in individual Install and configure scheme
In normal working conditions, shake control loop is stable, and actual jitter amplitude is identical with the target jitter amplitude of setting, and jitter sensitivity is inversely proportional to the intensity of shake drive singal, and the intensity of shake drive singal is less, and jitter sensitivity is higher; Under extreme conditions, when natural frequency as high/low temperature, mounting base is coupled with the chattering frequency of two frequency machine laser gyroscope shakings, shake control loop is semi-stability or instability, under setting shake drives the condition of the upper limit, actual jitter amplitude is different from the target jitter amplitude of setting, and the ratio of jitter sensitivity and target jitter amplitude and actual jitter amplitude is inversely proportional to;
2.6) step 2.1 is repeated) to 2.5) complete the measurement of the jitter sensitivity of n in all k Install and configure scheme two frequency machine laser gyroscope shakings;
K the different Install and configure of step 3. to two frequency machine laser gyroscope shaking Inertial Measurement Units is assessed, and obtains optimum Install and configure scheme:
3.1) by the jitter sensitivity S of corresponding two machine laser gyroscope shakings frequently in i-th Install and configure scheme calculating in step 2
ijbe multiplied and obtain the evaluation index of i-th Install and configure scheme:
3.2) the evaluation index E of Install and configure scheme is compared
i, E
ithe Install and configure scheme that the maximum is corresponding is optimum Install and configure scheme:
E
best＝max(E
i),(i＝1,2,......,k)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023818.4A CN105547294B (en) | 2016-01-14 | 2016-01-14 | The appraisal procedure of the optimal installation configuration of two frequency machine laser gyroscope shaking Inertial Measurement Units |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023818.4A CN105547294B (en) | 2016-01-14 | 2016-01-14 | The appraisal procedure of the optimal installation configuration of two frequency machine laser gyroscope shaking Inertial Measurement Units |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105547294A true CN105547294A (en) | 2016-05-04 |
| CN105547294B CN105547294B (en) | 2018-02-23 |
Family
ID=55826649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610023818.4A Active CN105547294B (en) | 2016-01-14 | 2016-01-14 | The appraisal procedure of the optimal installation configuration of two frequency machine laser gyroscope shaking Inertial Measurement Units |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105547294B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153029A (en) * | 2016-08-17 | 2016-11-23 | 中国船舶重工集团公司第七0七研究所 | Two frequency machine shaking laser gyroscope shaking signal cancellation devices |
| CN106500680A (en) * | 2017-01-10 | 2017-03-15 | 上海航天控制技术研究所 | A kind of configuration switching method of the axially measured amount of Gyro |
| CN107167134A (en) * | 2017-06-22 | 2017-09-15 | 中国人民解放军国防科学技术大学 | Redundant configuration laser gyro navigation inertial navigation co-located method |
| CN109682366A (en) * | 2017-12-15 | 2019-04-26 | 西安邮电大学 | Adaptive tracing for digital laser gyro shakes control system and implementation method |
| CN109931921A (en) * | 2017-12-15 | 2019-06-25 | 西安邮电大学 | It is a kind of to automatically track shake control system and implementation method for laser gyro |
| CN110940330A (en) * | 2019-12-06 | 2020-03-31 | 中国船舶重工集团公司第七一七研究所 | Self-adaptive matching method and device for control parameters of laser gyroscope dithering mechanism |
| CN111457941A (en) * | 2020-04-01 | 2020-07-28 | 湖南二零八先进科技有限公司 | Gyro installation effect evaluation method and device based on sound spectrum analysis |
| CN114636412A (en) * | 2022-05-17 | 2022-06-17 | 湖南亿诺胜精密仪器有限公司 | Mechanical shaking space three-axis laser gyroscope with electromagnetic shaking detection function and assembly method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5331402A (en) * | 1988-12-05 | 1994-07-19 | Honeywell Inc. | Dither signal remover for a dithered ring laser angular rate sensor utilizing an adaptive digital filter |
| US5347359A (en) * | 1987-10-19 | 1994-09-13 | Litton Systems, Inc. | Apparatus and method for correcting ring laser gyroscope phase angle errors induced by lock-in |
| CN101281036A (en) * | 2008-05-15 | 2008-10-08 | 哈尔滨工程大学 | Machine shaking laser gyroscope shaking demodulating device and demodulating method based on FPGA |
| CN102169127A (en) * | 2010-12-22 | 2011-08-31 | 北京航空航天大学 | Method for eliminating dithering of dithered ring laser gyro with adaptive ability in real time |
| CN102175237A (en) * | 2011-01-07 | 2011-09-07 | 谢元平 | Laser gyro shaking stripping device |
| CN102620729A (en) * | 2012-04-19 | 2012-08-01 | 北京航空航天大学 | Design method for digital filter of inertial measurement unit (IMU) of mechanically-dithered laser gyroscope |
-
2016
- 2016-01-14 CN CN201610023818.4A patent/CN105547294B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347359A (en) * | 1987-10-19 | 1994-09-13 | Litton Systems, Inc. | Apparatus and method for correcting ring laser gyroscope phase angle errors induced by lock-in |
| US5331402A (en) * | 1988-12-05 | 1994-07-19 | Honeywell Inc. | Dither signal remover for a dithered ring laser angular rate sensor utilizing an adaptive digital filter |
| CN101281036A (en) * | 2008-05-15 | 2008-10-08 | 哈尔滨工程大学 | Machine shaking laser gyroscope shaking demodulating device and demodulating method based on FPGA |
| CN102169127A (en) * | 2010-12-22 | 2011-08-31 | 北京航空航天大学 | Method for eliminating dithering of dithered ring laser gyro with adaptive ability in real time |
| CN102175237A (en) * | 2011-01-07 | 2011-09-07 | 谢元平 | Laser gyro shaking stripping device |
| CN102620729A (en) * | 2012-04-19 | 2012-08-01 | 北京航空航天大学 | Design method for digital filter of inertial measurement unit (IMU) of mechanically-dithered laser gyroscope |
Non-Patent Citations (4)
| Title |
|---|
| 于旭东等: "机抖激光陀螺安装盒优化设计", 《红外与激光工程》 * |
| 吴赛成等: "应用Kalman滤波器提高机抖激光陀螺姿态测量系统瞬时精度的方法", 《仪器仪表学报》 * |
| 汤建勋等: "抖动偏频激光陀螺的抖动控制器", 《应用激光》 * |
| 潘献飞等: "激光陀螺数字抖动控制方法与特性", 《国防科技大学学报》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153029A (en) * | 2016-08-17 | 2016-11-23 | 中国船舶重工集团公司第七0七研究所 | Two frequency machine shaking laser gyroscope shaking signal cancellation devices |
| CN106153029B (en) * | 2016-08-17 | 2019-02-12 | 中国船舶重工集团公司第七0七研究所 | Two frequency machine shaking laser gyroscope shaking signal cancellation devices |
| CN106500680A (en) * | 2017-01-10 | 2017-03-15 | 上海航天控制技术研究所 | A kind of configuration switching method of the axially measured amount of Gyro |
| CN106500680B (en) * | 2017-01-10 | 2019-05-17 | 上海航天控制技术研究所 | A kind of configuration switching method of the axially measured amount of Gyro |
| CN107167134A (en) * | 2017-06-22 | 2017-09-15 | 中国人民解放军国防科学技术大学 | Redundant configuration laser gyro navigation inertial navigation co-located method |
| CN107167134B (en) * | 2017-06-22 | 2019-06-14 | 中国人民解放军国防科学技术大学 | Redundant configuration laser gyro navigation inertial navigation co-located method |
| CN109682366A (en) * | 2017-12-15 | 2019-04-26 | 西安邮电大学 | Adaptive tracing for digital laser gyro shakes control system and implementation method |
| CN109931921A (en) * | 2017-12-15 | 2019-06-25 | 西安邮电大学 | It is a kind of to automatically track shake control system and implementation method for laser gyro |
| CN110940330A (en) * | 2019-12-06 | 2020-03-31 | 中国船舶重工集团公司第七一七研究所 | Self-adaptive matching method and device for control parameters of laser gyroscope dithering mechanism |
| CN110940330B (en) * | 2019-12-06 | 2021-09-14 | 中国船舶重工集团公司第七一七研究所 | Self-adaptive matching method and device for control parameters of laser gyroscope dithering mechanism |
| CN111457941A (en) * | 2020-04-01 | 2020-07-28 | 湖南二零八先进科技有限公司 | Gyro installation effect evaluation method and device based on sound spectrum analysis |
| CN114636412A (en) * | 2022-05-17 | 2022-06-17 | 湖南亿诺胜精密仪器有限公司 | Mechanical shaking space three-axis laser gyroscope with electromagnetic shaking detection function and assembly method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105547294B (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105547294A (en) | Assessment method for optimal installation configuration of inertial measurement unit with two-frequency mechanically-dithered laser gyroscopes | |
| Leland | Mechanical-thermal noise in MEMS gyroscopes | |
| Prikhodko et al. | What is MEMS gyrocompassing? Comparative analysis of maytagging and carouseling | |
| CN106052667B (en) | Resonator and the system of Coriolis axis control, device, method in vibratory gyroscope | |
| EP1970669B1 (en) | Self-calibration of scale factor for dual resonator class II coriolis vibratory gyros | |
| CN101133331B (en) | Inertial measurement system and method with bias cancellation | |
| Dong et al. | On control system design for the conventional mode of operation of vibrational gyroscopes | |
| TWI482946B (en) | Vibrationskompensation fuer drehratensensoren | |
| EP3043145B1 (en) | High bandwidth coriolis vibratory gyroscope (cvg) with in-situ bias self calibration | |
| JP2008122371A (en) | Force rebalancing and parametric amplification for mems inertial sensor | |
| US20170023364A1 (en) | Gyroscope that Compensates for Fluctuations in Sensitivity | |
| Hu et al. | Extended Kalman filtering based parameter estimation and drift compensation for a MEMS rate integrating gyroscope | |
| CN101949710A (en) | Rapid online dynamic calibration method for zero offset of GNSS (Global Navigation Satellite System) auxiliary MEMS (Micro Electro Mechanical Systems) inertial sensor | |
| EP1972892A2 (en) | Inertial measurement system and method with sensor bias cancellation | |
| Hiller et al. | Noise contributions in a closed-loop MEMS gyroscope for automotive applications | |
| Park et al. | Adaptive control for Z-axis MEMS gyroscopes | |
| CN114383590A (en) | Phase error identification and compensation method of rate integral gyroscope | |
| US10310132B2 (en) | Absolute vector gravimeter and methods of measuring an absolute gravity vector | |
| Dos Santos | Differential phase extraction in an atom gradiometer | |
| Liu et al. | Digital closed-loop control based on adaptive filter for drive mode of a MEMS gyroscope | |
| JP4166245B2 (en) | Method for determining zero point error in Coriolis angular velocity meter | |
| Ding et al. | In-run mode-matching of mems gyroscopes based on power symmetry of readout signal in sense mode | |
| Ren et al. | Optimization of the resonant frequency servo loop technique in the resonator micro optic gyro | |
| EP3043146B1 (en) | Approach for control redistribution of coriolis vibratory gyroscope ("cvg") for performance improvement | |
| Zhang et al. | Fiber optic gyroscope dynamic north-finder algorithm modeling and analysis based on Simulink |
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 |