CN105547325B - A kind of optical fiber based on K mean cluster is used to a group temperature model coefficient and determines method - Google Patents
A kind of optical fiber based on K mean cluster is used to a group temperature model coefficient and determines method Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
It is used to a group temperature model coefficient the invention discloses a kind of optical fiber based on K mean cluster and determines method.It is used to a group situation for temperature model coefficient single order segmentation for optical fiber, if division number determines, 1. the straight line determined first according to adjacent temperature spot obtains its slope, 2. classified using K mean cluster algorithm to gained slope and determine its classification number, 3. obtaining whole waypoints according to classification number and division number to combine, best waypoint is 4. determined by the residual error after fitting；If division number is not known, division number press by 1 to most probable number MPN sequence, using it is above-mentioned 1.~4. method calculate the best waypoint under each division number, until meet residual error requirement after then no longer subsequently calculated.The last temperature model coefficient for being used to group according to obtained best waypoint fitting optical fiber.This method searches best waypoint automatically using K mean cluster algorithm, overcomes random error and the repetitive operation of manual segmentation, effectively increases the computational efficiency and its reliability of product temperature model coefficient.
Description
Technical field
It is used to a group temperature model coefficient the present invention relates to a kind of optical fiber based on K mean cluster and determines method, belongs to optical fiber and be used to
Group calibration testing field.
Background technology
Optical fibre gyro inertia combination has reliability height, long lifespan, startup is fast, low in energy consumption, production technology is relatively easy etc.
Advantage, thus there are extensive promotion and application in military equipment and civil field.In the production process for being used to group in optical fibre gyro,
It is step essential before used group is dispatched from the factory to adjust test session, and the link is important other than filtering out underproof product
One work is the calibration to used group, and a job the most complicated in demarcating for optical fiber be used to the foundation of group temperature model with
The calculating of temperature model coefficient, this is to ensure the steps necessary that used group can be stablized, reliably export in complete warm range.Temperature and its
Change rate is one of essential environmental factors for causing optical fibre gyro inertia combination error, in the mistake of optical fibre gyro inertia combination product
In difference modeling, rate of temperature change when normally only working for product models the constant multiplier or zero-bit of inertia type instrument,
It obtains optical fiber and is used to group constant multiplier or zero-bit temperature model equation.
It criticizes production model and is used to group when carrying out Temperature Modeling, inertia type instrument is generally calculated using multistage or single order fit approach
Each term coefficient of temperature model that constant multiplier or zero-bit vary with temperature.It is used to a group scale when calculating optical fiber using single order fit approach
When factor or zero-bit model coefficient, need to be used to optical fiber the constant multiplier of group or the relation curve of zero-bit and temperature be segmented,
Single order is carried out using temperature section point and its corresponding constant multiplier or zero-bit to be fitted to obtain temperature model coefficient, the prior art
Middle waypoint is usually required for technical staff to be obtained by experience artificial judgment, and then is fitted calculating, abundant for possessing
For the people of experience, artificial range estimation differentiates that the time that waypoint needs is shorter, may be once can obtain more suitably tying twice
Fruit, but for being unfamiliar with the people of the properties of product and this operation, it is often necessary to by comparing for several times, it can just obtain meeting and want
The temperature section point asked calculates the match value closest to actual value.In addition, no matter whether staged operation is familiar with, it is artificial to estimate
Waypoint is constantly filled with uncertain and random error, and the not homogeneous judgement of different personnel and same personnel can all exist centainly
Difference can not fundamentally ensure the accuracy and consistency of staged operation, so as to constrain the meter of product temperature model coefficient
Efficiency and reliability is calculated, there are certain hidden danger to product quality.
Invention content
The technology of the present invention solves the problems, such as：Overcome the deficiencies of the prior art and provide a kind of optical fiber based on K mean cluster
Used group temperature model coefficient determines method, and this method is efficient and segmentation result is accurately reliable, avoids the random of manual segmentation
Computational efficiency and reliability that optical fiber is used to group temperature model coefficient has been effectively ensured in error and repetitive operation, to realize that optical fiber is used to
Group is stablized in complete warm range, reliable output lays the foundation.
The present invention technical solution be：1st, a kind of optical fiber based on K mean cluster is used to a group temperature model coefficient and is determined
The division number of constant multiplier or the relation curve of zero-bit and temperature that method, wherein optical fiber are used to group gives in advance, including following
Step：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through acceleration
The constant multiplier and zero-bit that optical fiber is used to group is calculated in the output of degree meter and gyroscope, is used to the constant multiplier and temperature of group according to optical fiber
Degree relationship establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature mould
Type obtains optical fiber and is used to the constant multiplier organized and the relation curve and zero-bit of temperature and the relation curve of temperature；
(2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot institute
The slope of determining straight line, and obtained slope is numbered by sequence of the straight line in relation curve；
(3) using K mean cluster algorithm, the slope obtained to step (2) carries out cluster meter according to given division number
It calculates, obtains the classification number of each slope, according to the classification number and number of each slope, obtain possible temperature section point, it is described
Possible temperature section point forms temperature section point array；
(4) according to obtained temperature section point array and given division number, various segmentation situations is traversed, are corresponded to
Constant multiplier or zero-bit combination D under each segmentationg, wherein each segmentation situation corresponds to a kind of temperature section point and combines；
(5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting, meter with corresponding temperature section point
Calculation obtains the lower optical fiber of each segmentation and is used to group constant multiplier temperature model or zero-bit temperature model coefficient；
(6) it is used to group constant multiplier temperature model or zero-bit temperature model coefficient and temperature spot meter using the lower optical fiber of each segmentation
It calculates and obtains the match value under each segmentation, and then obtain the residual error Dif of the match value and original value under each segmentation；
(7) residual error obtained according to step (6) asks for least residual minDif, this group of temperature corresponding to least residual point
Section point is the combination of optimum temperature waypoint, and one is carried out using this group of temperature section point and its corresponding constant multiplier or zero-bit
Rank is fitted, and obtained temperature coefficient is that best optical fiber is used to group constant multiplier temperature model or zero-bit temperature model coefficient.
2nd, a kind of optical fiber based on K mean cluster is used to a group temperature model coefficient and determines method, and wherein optical fiber is used to the scale of group
The division number of factor or the relation curve of zero-bit and temperature is not known, and is included the following steps：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through acceleration
The constant multiplier and zero-bit that optical fiber is used to group is calculated in the output of degree meter and gyroscope, is used to the constant multiplier and temperature of group according to optical fiber
Degree relationship establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature mould
Type obtains optical fiber and is used to the constant multiplier of group or the relation curve of zero-bit and temperature；
(2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot institute
The slope of determining straight line, and obtained slope is numbered by sequence of the straight line in relation curve；
(3) using K mean cluster algorithm, cluster calculation is carried out according to division number N to the slope that step (2) obtains, is obtained
To the classification number of each slope, possible temperature section point is obtained according to the classification number of each slope and number, it is described possible
Temperature section point forms temperature section point array；The initial value of the N is 1, is entered step (4)；
(4) the temperature section point array obtained according to step (3), various segmentation situations when traversal division number is N, obtains
Constant multiplier or zero-bit combination D under to each segmentationg, (5) are entered step, wherein each segmentation situation corresponds to a kind of temperature point
Section point combination；
(5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting, meter with corresponding temperature section point
Calculation obtains the lower optical fiber of each segmentation and is used to group constant multiplier temperature model or zero-bit temperature model coefficient, enters step (6)；
(6) it is used to group constant multiplier temperature model or zero-bit temperature model coefficient and temperature spot meter using the lower optical fiber of each segmentation
It calculates and obtains the match value under each segmentation, and then obtain the residual error Dif of the match value and original value under each segmentation, enter step
(7)；
(7) residual error obtained according to step (6) asks for least residual minDif, judges whether least residual meets the requirements,
If satisfied, then this group of temperature section point corresponding to the least residual is qualified optimum temperature waypoint, enter step
(9)；If being unsatisfactory for requiring, current fragment number is not up to standard, enters step (8)；
(8) value of N adds 1, judges whether N is more than M-1, and M is temperature spot number, if being not more than, enters step (3),
Qualified optimum temperature waypoint is found under new division number, otherwise, it is determined that without satisfactory temperature section point,
Terminate；
(9) one is carried out using the optimum temperature waypoint and its corresponding constant multiplier or zero-bit obtained in step (7)
Rank is fitted, and obtained temperature coefficient is that best optical fiber is used to group constant multiplier temperature model or zero-bit temperature model coefficient.
The implementation method of straight slope is determined by the two neighboring temperature spot of calculating in the step (2)：
If each temperature spot one output valve of lower correspondence,
Wherein KiFor i-th of temperature spot and the slope of the determining straight line of i+1 temperature spot, DiFor i-th temperature spot is right
The zero-bit or constant multiplier answered, Di+1For the zero-bit or constant multiplier corresponding to i+1 temperature spot, TiFor i-th temperature spot
Temperature, Ti+1Temperature for i+1 temperature spot；
Two neighboring temperature spot is calculated if corresponding one group of output valve under each temperature spot, in the step (2) to determine
The implementation method of straight slope be：Straight slope determined by two neighboring temperature spot is calculated by the way of single order fitting,
One group of corresponding output of two neighboring temperature spot is subjected to single order fitting, the Monomial coefficient fitted is required straight
The slope of line.
The realization method that the step (3) obtains waypoint array according to the classification number and number of each slope is：
(4.1) judge whether the classification number for numbering two adjacent straight slopes is identical, if identical, between this two straight lines
Without waypoint；If it is different, the endpoint that then this two straight lines share is a temperature section point；
(4.2) step (4.1) is repeated, until the classification number for completing all adjacent straight slopes compares, obtained all temperature
It spends waypoint and forms temperature section point array.
The advantages of the present invention over the prior art are that：
(1) straight line of the invention when division number determines, determined adjacent temperature spot first with K mean cluster algorithm
Slope classifies and records the classification number of each slope, then obtains all possible waypoint according to classification number, using traversal mode
All waypoints are combined and are passed through and judge that residual error obtains the optimum temperature waypoint under current fragment number.Compared to manual
Need to attempt just to obtain the mode of optimal solution during segmentation for several times, efficient and accuracy is ensured, avoids manual segmentation
Repetitive operation and random error, the computational efficiency and reliability of temperature model coefficient has been effectively ensured.
(2) present invention, according to the sequence of division number from small to large, finds each segments when division number is not known
Now best waypoint selects the waypoint that residual error is met the requirements and division number is minimum to combine and is segmented as final temperature
Point.Need to attempt just to obtain the mode of optimal solution during compared to manual segmentation for several times, efficient and accuracy is ensured, is avoided
The repetitive operation of manual segmentation and random error, have been effectively ensured the computational efficiency and reliability of product temperature model coefficient.
(3) present invention numbers in order first for each slope, then according to the class for numbering two adjacent straight slopes
Whether alias is identical to determine possible temperature section point, and this method is simple and reliable, does not omit, it is easy to accomplish.
Description of the drawings
Fig. 1 is used to a group temperature model coefficient for the optical fiber that division number determines and determines method；
Fig. 2 is used to a group temperature model coefficient for the uncertain optical fiber of division number and determines method.
Specific embodiment
The calibration that optical fiber is used to group is that optical fiber is made to be used to group stabilization, the steps necessary reliably exported in complete warm range, and optical fiber
The calculating of used group constant multiplier temperature model or zero-bit temperature model coefficient is one of most important link in calibration.Needle of the present invention
To calculating the problem of optical fiber is used to group temperature model coefficient using single order fit approach, according to determining curve segmentation number and uncertain
Two kinds of situations of curve segmentation number, it is proposed that be used to a group temperature model coefficient based on the optical fiber of K mean cluster and determine method.Pass through K
The best waypoint of means clustering algorithm automatic identification, compared to manual segmentation when, need to attempt for several times just obtain the side of optimal solution
Formula, efficiency is higher and accuracy is ensured, avoids the random error of manual segmentation.
Thinking of the present invention is：If waypoint determines, adjacent temperature spot determined first with K mean cluster algorithm straight
Line slope classifies and records the classification number of each slope, then obtains all possible segmentation according to the number of classification number and slope
Point, then all waypoints are combined using traversal mode and are passed through and judge that residual error obtains the best temperature under current fragment number
Spend waypoint；If waypoint is not known, according to the sequence that segmentation is counted out from small to large, each point is calculated using the above method
The best waypoint combination that section is counted out lower, select to meet residual error requirement and the best waypoint of division number at least combine as
Final temperature waypoint.It finally chooses final waypoint combination and calculates the temperature model coefficient that optical fiber is used to group.
Optical fiber is used to group in temperature model calibration, the zero-bit and constant multiplier of gyro and accelerometer and temperature change
Relationship is obtained if single order fit approach, then the relationship of zero-bit and constant multiplier and temperature can be described as：D=D0+D1·T
In formula, T represents temperature output during modeling；
D represents the zero-bit or constant multiplier of gyro or accelerometer output during modeling；
D0The zero-bit or the zero degree term coefficient of constant multiplier that expression single order is fitted；
D1The zero-bit or the Monomial coefficient of constant multiplier that expression single order is fitted.
Wherein zero degree term coefficient and Monomial coefficient are temperature model coefficient to be determined.
As shown in Figure 1, when optical fiber be used to group constant multiplier or the relation curve of zero-bit and temperature division number in advance to
Periodically, a group temperature model coefficient is used to based on the optical fiber of K mean cluster and determines method, realize that step is as follows：
(1.1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, by adding
The output of speedometer and gyroscope be calculated optical fiber be used to group constant multiplier or zero-bit, according to optical fiber be used to group constant multiplier and
Temperature relation establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature mould
Type obtains optical fiber and is used to the constant multiplier of group or the relation curve of zero-bit and temperature；
(1.2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot
The slope of identified straight line, and obtained slope is numbered by sequence of the straight line in relation curve；
Implementation method is as follows：
If Temperature Modeling during share M temperature spot T, wherein M >=3 and be positive integer, T=[T1,T2,...,TM], it can
Determining straight line number is M-1 items, and the slope of straight line is set as K determined by two neighboring temperature spoti, i=1 ..., M-1, from
First temperature spot starts to calculate, until the last one temperature spot, by obtained slope by straight line in relation curve
Sequence be numbered after be stored in slope array K,.
If each temperature spot one output valve of lower correspondence,
Wherein KiFor i-th of temperature spot and the slope of the determining straight line of i+1 temperature spot, DiFor i-th temperature spot is right
The zero-bit or constant multiplier answered, Di+1For the zero-bit or constant multiplier corresponding to i+1 temperature spot, TiFor i-th temperature spot
Temperature, Ti+1Temperature for i+1 temperature spot；
If corresponding one group of output valve under each temperature spot, two neighboring temperature spot institute is calculated by the way of single order fitting
One group of corresponding output of two neighboring temperature spot is carried out single order fitting by determining straight slope, what is fitted is primary
Term coefficient is the slope of required straight line.
(1.3) using K mean cluster algorithm, to the slope that step (1.2) obtains according to given division number N1 (1≤
N1≤M-1) cluster calculation is carried out, obtain each slope KiClassification number, according to the classification number and number of each slope, obtaining can
The temperature section point of energy, the possible temperature section point form temperature section point array.
Specific method is as follows：
By K mean cluster algorithm, cluster calculation is carried out to slope matrix K, obtains the classification number composition of M-1 slope
Classification number array Idx=[Idx1,Idx2,...,IdxM-1], by slope KiIt is divided into N1 classes.The rope of the classification number of wherein each slope
It is corresponding with the number of the slope to draw value (subscript).
Judge whether the classification number for numbering two adjacent straight slopes is identical, that is, compares adjacent category number in classification array
IdxiAnd Idxi+1Whether (i=1,2 ..., M-2) be identical, if identical, continues to compare, can if all categories number are all identical
Judgement is without waypoint, i.e., without segmentation；If it is different, then different the two classification numbers IdxiAnd Idxi+1Corresponding two straight lines
Shared endpoint (i.e. i+1 temperature spot) is a temperature section point.
Cycle proceeds as described above, and until completeer all classification numbers, obtains all possible temperature section point.
(1.4) obtained temperature section point according to curve segmentation requirement is combined, is opened from first temperature section point
Begin, until last temperature section point, traverse the combination of various temperature section points, obtain corresponding to scale under each segmentation because
Number or zero-bit combination；Wherein each segmentation situation corresponds to a kind of temperature section point combination.
(1.5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting with corresponding temperature section point,
The lower optical fiber of each segmentation is calculated and is used to group constant multiplier or zero-bit temperature model coefficient；
(1.6) it is used to group temperature model coefficient using the lower optical fiber of each segmentation and each plan under being segmented is calculated in temperature spot
Conjunction value, and then obtain the residual error Dif of the match value and original value under each segmentation；
(1.7) residual error obtained according to step (1.6) asks for least residual minDif, the group temperature corresponding to least residual
Degree waypoint is the combination of optimum temperature waypoint, using this group of temperature section point and its corresponding constant multiplier or zero-bit into
The temperature coefficient that row single order is fitted is that best optical fiber is used to group constant multiplier or zero-bit temperature model coefficient.
As shown in Fig. 2, when the division number of constant multiplier or the relation curve of zero-bit and temperature that optical fiber is used to group is not known
When, it is used to a group temperature model coefficient based on the optical fiber of K mean cluster and determines method, realizes that step is as follows：
(2.1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, by adding
The output of speedometer and gyroscope be calculated optical fiber be used to group constant multiplier or zero-bit, according to optical fiber be used to group constant multiplier and
Temperature relation establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature mould
Type obtains optical fiber and is used to the constant multiplier of group or the relation curve of zero-bit and temperature；
(2.2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot
The slope of identified straight line, and obtained slope is numbered by sequence of the straight line in relation curve.
Implementation method is as follows：
If Temperature Modeling during share M temperature spot T, wherein M >=3 and be positive integer, T=[T1,T2,...,TM], it can
Determining straight line number is M-1 items, and the slope of straight line is set as K determined by two neighboring temperature spoti, i=1 ..., M-1, from
First temperature spot starts to calculate, until the last one temperature spot, by obtained slope by straight line in relation curve
Sequence be numbered after be stored in slope array K,.
If each temperature spot one output valve of lower correspondence,
Wherein KiFor i-th of temperature spot and the slope of the determining straight line of i+1 temperature spot, DiFor i-th temperature spot is right
The zero-bit or constant multiplier answered, Di+1For the zero-bit or constant multiplier corresponding to i+1 temperature spot, TiFor i-th temperature spot
Temperature, Ti+1Temperature for i+1 temperature spot；
If corresponding one group of output valve under each temperature spot, two neighboring temperature spot institute is calculated by the way of single order fitting
One group of corresponding output of two neighboring temperature spot is carried out single order fitting by determining straight slope, what is fitted is primary
Term coefficient is the slope of required straight line.
(2.3) using K mean cluster algorithm, the slope obtained to step (2.2) carries out cluster meter according to division number N
Calculate, obtain the classification number of each slope, possible temperature section point is obtained according to the classification number of each slope and number, it is described can
The temperature section point of energy forms temperature section point array；The initial value of the N is 1, is entered step (2.4)；
Specific method is as follows：
By K mean cluster algorithm, cluster calculation is carried out to slope matrix K, obtains the classification number composition of M-1 slope
Classification number array Idx=[Idx1,Idx2,...,IdxM-1], by slope KiIt is divided into N classes.The rope of the classification number of wherein each slope
It is corresponding with the number of the slope to draw value (subscript).
Judge whether the classification number for numbering two adjacent straight slopes is identical, that is, compares adjacent category number in classification array
IdxiAnd Idxi+1Whether (i=1,2 ..., M-2) be identical, if identical, continues to compare, can if all categories number are all identical
Judgement is without waypoint, i.e., without segmentation；If it is different, then different the two classification numbers IdxiAnd Idxi+1Corresponding two straight lines
Shared endpoint (i.e. i+1 temperature spot) is a temperature section point.
Cycle proceeds as described above, and until completeer all classification numbers, obtains all possible temperature section point.
(2.4) obtained temperature section point according to curve segmentation requirement is combined, is opened from first temperature section point
Begin, until last temperature section point, traverse all temperature section point combinations, obtain the constant multiplier under each segmentation
Or zero-bit combination, (2.5) are entered step, wherein each segmentation situation corresponds to a kind of temperature section point combination；
(2.5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting with corresponding temperature section point,
The lower optical fiber of each segmentation is calculated and is used to a group temperature model coefficient, enters step (2.6)；
(2.6) it is used to group temperature model coefficient using the lower optical fiber of each segmentation and each plan under being segmented is calculated in temperature spot
Conjunction value, and then the residual error Dif of the match value and original value under each segmentation is obtained, it enters step (2.7)；
(2.7) residual error obtained according to step (2.6) asks for least residual minDif, judges whether least residual meets and wants
It asks, if satisfied, then this group of temperature section point corresponding to the least residual is qualified optimum temperature waypoint, into step
Suddenly (2.9)；If being unsatisfactory for requiring, current fragment number is not up to standard, enters step (2.8)；
(2.8) value of N adds 1, judges whether N is more than M-1, (2.3) if being not more than, is entered step, in new segments
Now qualified temperature section point combination is found, no satisfactory temperature section point is otherwise judged, terminates；
(2.9) temperature being fitted using optimum temperature waypoint and its corresponding constant multiplier or zero-bit progress single order
It is that best optical fiber is used to group gyroscope scale factor or zero-bit temperature model coefficient to spend coefficient.
Embodiment：
For optical fiber be used to group gyro zero-bit or the division number of constant multiplier and the relation curve of temperature it is given in advance
Situation：
1. to have 9 temperature spots, need relation curve being divided into 3 sections and carry out single orders fitting and ask for gyro constant multiplier temperature
The optical fiber of degree model coefficient is used to for group modeling, and optical fiber is used to a group gyroscope scale factor temperature model coefficient and determines method
It is as follows to implement step：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through gyro
The constant multiplier that optical fiber is used to group gyroscope is calculated in the output of instrument, is used to the constant multiplier of group gyroscope according to optical fiber and temperature is closed
System establishes optical fiber and is used to a group gyroscope scale factor temperature model, obtains optical fiber and is used to group gyroscope scale factor and the relationship song of temperature
Line；
(2) it calculates optical fiber first to be used in group gyroscope scale factor and the relation curve of temperature, two neighboring temperature spot
The slope of identified straight line, circular are as follows：
Known temperature, which models, shares 9 temperature spots, respectively -45 DEG C, -20 DEG C, 0 DEG C, 20 DEG C, 30 DEG C, 40 DEG C, 50 DEG C,
60 DEG C, 70 DEG C, if this 9 temperature spots are Ti, i=1,2 ..., 9, this confirmable straight line number of 9 temperature spots is 8, if
The slope of straight line determined by two neighboring temperature spot is Ki, each temperature spot corresponds to one output valve of gyro constant multiplier, top
Spiral shell constant multiplier is set as Kfogi, then slopeI=1,2 ..., 8, from first temperature spot-
45 DEG C start to calculate, and until 70 DEG C, the slope calculated is numbered, and press by sequence of the straight line in relation curve
According to being sequentially stored in slope array K, K=[K1,K2,...,K8]；
(3) using K mean cluster algorithm, cluster meter is carried out according to given division number 3 to the slope that step (2) obtains
It calculates, obtains the classification number Idx of 8 slopes, wherein, Idx=1,2,3, by slope KiIt is divided into 3 classes, each slope KiClassification number
IdxiIndex value i it is consistent with the number i of the slope, if classification number form array be Idx=[Idx1,Idx2,...,
Idx8]；
Compare adjacent category Idx in classification array IdxiAnd Idxi+1(i=1,2 ..., 7) whether identical, if identical,
Then continue to compare；If it is different, then different the two classification numbers IdxiAnd Idxi+1The endpoint that corresponding two straight lines share is (i.e.
I+1 temperature spot) it is a temperature section point, temperature section point thus can be determined as Ti+1, the index of the temperature section point
Value i+1 namely corresponding constant multiplier Kfogi+1Index value；
Cycle proceeds as described above, until completeer all classification number Idx1-Idx8, obtain all temperature section point Tf,
If obtained temperature section point number is Q, then the array of temperature section point composition can be expressed as Tf=[Tf1,Tf2,...,
Tfq], constant multiplier corresponding with temperature section point is Kfogf=[Kfogf1,Kfogf2,...,Kfogfq]；
(4) since model curve requires to be divided into 3 sections, it is therefore desirable to have 2 temperature section points, thus obtained possibility is deposited
Temperature section point combination of two, from first waypoint Tf1Start, to a last waypoint TfQUntil, after traversal
T is combined to all temperature section pointsg, traverse various temperature section point combination Tg, it is corresponding to obtain all constant multiplier combinations
Kfogg；
(5) each constant multiplier obtained in (4) is combined and carries out single order fitting, calculate the temperature system after fitting
Number；
(6) using calculate each combination temperature coefficient and temperature spot calculated, you can obtain fitting scale because
Obtained match value and original value are calculated residual error Dif by number according to modeling demand, and residual computations mode required herein is each
The difference of fitting constant multiplier and practical constant multiplier corresponding to temperature spot, the maximum value that 9 groups of absolute differences are obtained are
Residual error under the combination；
(7) residual error obtained according to step (6) asks for least residual minDif, this group of temperature corresponding to least residual point
Section point is the combination of optimum temperature waypoint, and single order fitting is carried out using this group of temperature section point and its corresponding constant multiplier
Obtained temperature coefficient is that best optical fiber is used to a group constant multiplier temperature model coefficient.
The zero-bit of group or the uncertain situation of the division number of constant multiplier and the relation curve of temperature are used to for optical fiber：
There are 6 temperature spots and relation curve division number is not known, carry out single order fitting and asks for gyro zero-bit temperature
The optical fiber of model coefficient is used to for group modeling, and optical fiber is used to the specific implementation that group gyro zero-bit temperature model coefficient determines method
Step is as follows：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through gyro
The zero-bit that optical fiber is used to group gyroscope is calculated in the output of instrument, establishes optical fiber according to zero-bit and temperature relation and is used to a group gyroscope zero-bit
Temperature model obtains optical fiber and is used to the zero-bit of group gyroscope and the relation curve of temperature；
(2) it calculates optical fiber first to be used in the relation curve of group gyroscope zero-bit and temperature, two neighboring temperature spot institute is really
The slope of fixed straight line, circular are as follows：
Known temperature modeling shares 6 temperature spots, respectively -40 DEG C, -20 DEG C, 0 DEG C, 25 DEG C, 45 DEG C, 60 DEG C, if this 6
A temperature spot is Ti, i=1,2 ..., 6, this confirmable straight line number of 6 temperature spots is 5, the division number of model curve
N is set as, then the possible values of N are 1,2,3,4,5, if the slope of straight line is set as K determined by two neighboring temperature spoti, each
Corresponding gyro zero-bit is set as F under temperature spoti, FiIt is exported for one group of zero-bit under the temperature spot, then slope Ki(i=1,2 ...,
5) Monomial coefficient that the one group output single order corresponding for two neighboring temperature spot fits, from first temperature spot -40
DEG C start to calculate, until 60 DEG C, the slope calculated is stored in slope array K, K=[K in sequence1,K2,...,
K5]；
(3) using K mean cluster algorithm, cluster calculation is carried out according to division number N to slope, obtains the class of each slope
Alias obtains possible temperature section point according to the classification number of each slope and number, and the possible temperature section point is formed
Temperature section point array；The initial value of N is 1, is entered step (3)；
Specific method is as follows：
By K mean cluster algorithm, cluster calculation is carried out to slope array K, obtains the classification number Idx of 5 slopes,
In, Idx=1 ..., N, KiIt is divided into N classes, each slope KiClassification number IdxiIndex value i it is consistent with the number i of the slope,
If the array that classification number is formed is Idx=[Idx1,Idx2,...,Idx5]；
Compare adjacent category Idx in classification array IdxiAnd Idxi+1(i=1,2 ..., 4) whether identical, if identical,
Then continue to compare；If it is different, then different the two classification numbers IdxiAnd Idxi+1The endpoint (i.e. i-th that two straight lines answered share
+ 1 temperature spot) it is a temperature section point, temperature section point thus can be determined as Ti+1, the index value i of the temperature section point
+ 1 namely corresponding gyro zero-bit Fi+1Index value；
Cycle proceeds as described above, until completeer all classification number Idx1-Idx5, obtain all temperature section points
TffIf obtained temperature section point number is p, then the array of temperature section point composition can be expressed as Tff=[Tff1,
Tff2,...,Tffp], gyro zero-bit corresponding with temperature section point is Ff=[Ff1,Ff2,...,Ffq]；
(4) since model curve requires to be divided into N sections, it is therefore desirable to have N-1 temperature section point, the temperature that thus will be obtained
Waypoint is combined, from first waypoint Tff1Start, to a last waypoint TffpUntil, it is obtained after traversal all
Temperature section point combines Tg, traverse all temperature section point combination Tg, it is corresponding to obtain all gyro zero-bit combination Fg；
(5) each combination obtained in (4) is subjected to single order fitting, calculates the temperature coefficient after fitting；
(6) it is calculated using the temperature coefficient and temperature spot of each combination calculated, you can fitting zero-bit is obtained, it will
Obtained match value calculates residual error Dif with original value according to modeling demand；
(7) least residual minDif is asked for, judges whether least residual meets the requirements, if satisfied, the then least residual institute
Corresponding this group of temperature section point is qualified optimum temperature waypoint, is entered step (9)；If being unsatisfactory for requiring, when
Preceding division number is not up to standard, enters step (8)；
(8) value of N adds 1, judges whether N is more than 5, if being not more than, enters step (3), is sought under new division number
Qualified optimum temperature waypoint is looked for, otherwise, it is determined that without satisfactory temperature section point, is terminated；
(9) one is carried out using the qualified optimum temperature waypoint obtained in (7) and its corresponding gyro zero-bit
Rank is fitted, and obtained temperature coefficient is that best optical fiber is used to a group gyroscope zero-bit temperature model coefficient.
After obtaining temperature model coefficient, its programming is used into optical fiber in group, realizes the mark being used to optical fiber in the complete warm range of group
The compensation of factor and zero-bit is spent, amendment optical fiber is used to group constant multiplier and varies with temperature the error of generation with zero-bit, ensures that optical fiber is used to
Stabilization of the group in complete warm range, reliable output.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (4)
1. a kind of optical fiber based on K mean cluster, which is used to a group temperature model coefficient, determines method, wherein optical fiber is used to the constant multiplier of group
Or the division number of the relation curve of zero-bit and temperature gives in advance, it is characterised in that includes the following steps：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through accelerometer
The constant multiplier and zero-bit that optical fiber is used to group is calculated in output with gyroscope, is used to the constant multiplier of group according to optical fiber and temperature is closed
System establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature model, obtains
It is used to the constant multiplier organized and the relation curve or zero-bit of temperature and the relation curve of temperature to optical fiber；
(2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot and determine
Straight line slope, and obtained slope is numbered by sequence of the straight line in relation curve；
(3) using K mean cluster algorithm, cluster calculation is carried out according to given division number to the slope that step (2) obtains, is obtained
To the classification number of each slope, according to the classification number and number of each slope, possible temperature section point is obtained, it is described possible
Temperature section point forms temperature section point array；
(4) according to obtained temperature section point array and given division number, various segmentation situations is traversed, obtain corresponding to each
Constant multiplier or zero-bit combination D under segmentationg, wherein each segmentation situation corresponds to a kind of temperature section point and combines；
(5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting with corresponding temperature section point, calculated
It is used to group constant multiplier temperature model or zero-bit temperature model coefficient to the lower optical fiber of each segmentation；
(6) it is used to group constant multiplier temperature model or zero-bit temperature model coefficient using the lower optical fiber of each segmentation and temperature spot calculates
Match value under each segmentation, and then obtain the residual error Dif of the match value and original value under each segmentation；
(7) residual error obtained according to step (6) asks for least residual minDif, this group of temperature section point corresponding to least residual
As optimum temperature waypoint combines, and single order plan is carried out using this group of temperature section point and its corresponding constant multiplier or zero-bit
It closes, obtained temperature coefficient is that best optical fiber is used to group constant multiplier temperature model or zero-bit temperature model coefficient.
2. a kind of optical fiber based on K mean cluster, which is used to a group temperature model coefficient, determines method, wherein optical fiber is used to the constant multiplier of group
Or the division number of the relation curve of zero-bit and temperature is not known, it is characterised in that is included the following steps：
(1) it is used to a group energization for optical fiber, acquisition optical fiber is used to output and the temperature of group accelerometer and gyroscope, passes through accelerometer
The constant multiplier and zero-bit that optical fiber is used to group is calculated in output with gyroscope, is used to the constant multiplier of group according to optical fiber and temperature is closed
System establishes optical fiber and is used to a group constant multiplier temperature model, establishes optical fiber according to zero-bit and temperature relation and is used to a group zero-bit temperature model, obtains
It is used to the constant multiplier of group or the relation curve of zero-bit and temperature to optical fiber；
(2) it is used in the constant multiplier of group or the relation curve of zero-bit and temperature in optical fiber, calculates two neighboring temperature spot and determine
Straight line slope, and obtained slope is numbered by sequence of the straight line in relation curve；
(3) using K mean cluster algorithm, cluster calculation is carried out according to division number N to the slope that step (2) obtains, is obtained every
The classification number of a slope obtains possible temperature section point, the possible temperature according to the classification number of each slope and number
Waypoint forms temperature section point array；The initial value of the N is 1, is entered step (4)；
(4) the temperature section point array obtained according to step (3), various segmentation situations when traversal division number is N obtain every
Constant multiplier or zero-bit combination D under kind segmentationg, (5) are entered step, wherein each segmentation situation corresponds to a kind of temperature section point
Combination；
(5) constant multiplier under each segmentation or zero-bit combination are subjected to single order fitting with corresponding temperature section point, calculated
It is used to group constant multiplier temperature model or zero-bit temperature model coefficient to the lower optical fiber of each segmentation, enters step (6)；
(6) it is used to group constant multiplier temperature model or zero-bit temperature model coefficient using the lower optical fiber of each segmentation and temperature spot calculates
Match value under each segmentation, and then the residual error Dif of the match value and original value under each segmentation is obtained, it enters step (7)；
(7) residual error obtained according to step (6) asks for least residual minDif, judges whether least residual meets the requirements, if full
Foot, then this group of temperature section point corresponding to the least residual is qualified optimum temperature waypoint, is entered step (9)；
If being unsatisfactory for requiring, current fragment number is not up to standard, enters step (8)；
(8) value of N adds 1, judges whether N is more than M-1, and M is temperature spot number, (3) if being not more than, is entered step, new
Qualified optimum temperature waypoint is found under division number, otherwise, it is determined that without satisfactory temperature section point, knot
Beam；
(9) single order plan is carried out using the optimum temperature waypoint and its corresponding constant multiplier or zero-bit obtained in step (7)
It closes, obtained temperature coefficient is that best optical fiber is used to group constant multiplier temperature model or zero-bit temperature model coefficient.
3. a kind of optical fiber based on K mean cluster according to claim 1 or 2, which is used to a group temperature model coefficient, determines method,
It is characterized in that：The implementation method of straight slope is determined by the two neighboring temperature spot of calculating in the step (2)：
If each temperature spot one output valve of lower correspondence,
Wherein KiFor i-th of temperature spot and the slope of the determining straight line of i+1 temperature spot, DiFor corresponding to i-th of temperature spot
Zero-bit or constant multiplier, Di+1For the zero-bit or constant multiplier corresponding to i+1 temperature spot, TiTemperature for i-th of temperature spot
Degree, Ti+1Temperature for i+1 temperature spot；
If corresponding one group of output valve under each temperature spot, calculated in the step (2) straight determined by two neighboring temperature spot
The implementation method of line slope is：Straight slope determined by calculating two neighboring temperature spot in a manner that single order is fitted, will
One group of corresponding output of two neighboring temperature spot carries out single order fitting, and the Monomial coefficient fitted is required straight line
Slope.
4. a kind of optical fiber based on K mean cluster according to claim 1 or 2, which is used to a group temperature model coefficient, determines method,
It is characterized in that：The realization method that the step (3) obtains waypoint array according to the classification number and number of each slope is：
(4.1) judge whether the classification number for numbering two adjacent straight slopes is identical, if identical, nothing point between this two straight lines
Duan Dian；If it is different, the endpoint that then this two straight lines share is a temperature section point；
(4.2) step (4.1) is repeated, until the classification number for completing all adjacent straight slopes compares, obtained all temperature are divided
Section point forms temperature section point array.
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| CN107621269B (en) * | 2016-07-15 | 2020-08-04 | 北京计算机技术及应用研究所 | Temperature drift error compensation method for fiber optic gyroscope |
| CN109839124A (en) * | 2017-11-24 | 2019-06-04 | 北京自动化控制设备研究所 | A kind of MEMS gyroscope constant multiplier temperature-compensation method |
| CN108154181A (en) * | 2017-12-25 | 2018-06-12 | 深圳大学 | The determining method and device of temperature coefficient |
| CN109211219B (en) * | 2018-10-23 | 2021-02-05 | 中船航海科技有限责任公司 | Temperature compensation method for optical fiber gyroscope |
| CN114061559B (en) * | 2021-11-16 | 2023-05-16 | 湖北三江航天万峰科技发展有限公司 | Compensation method, system and computer storage medium for zero offset drift of fiber optic gyroscope |
| CN114184212B (en) * | 2021-12-27 | 2023-09-26 | 北京计算机技术及应用研究所 | Zero temperature compensation method for inertial instrument |
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