CN106370206B - The scaling method and system of Gyro constant value drift - Google Patents
The scaling method and system of Gyro constant value drift Download PDFInfo
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- CN106370206B CN106370206B CN201611076068.3A CN201611076068A CN106370206B CN 106370206 B CN106370206 B CN 106370206B CN 201611076068 A CN201611076068 A CN 201611076068A CN 106370206 B CN106370206 B CN 106370206B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The present invention discloses a kind of scaling method of Gyro constant value drift, and this method includes: the measured value of Gyro three orthogonal gyro gauge outfits of acquisition；According to the constant value drift of the measured value of Gyro three orthogonal gyro gauge outfits gyro gauge outfit orthogonal with the Relation acquisition Gyro three of earth rotation revolving speed.Scaling method of the invention is put relationship with Gyro to earth rotation revolving speed and is not strict with, it is not required to profession and accurate technological equipment carrys out component value of the clear earth rotation revolving speed in tested gyro gauge outfit sensitive axes, the requirement to test guarantee condition is looser；After being conducive to Gyro delivery, the convenient calibration of constant value drift parameter is realized under the conditions of satellite control system or whole-satellite experiment, parameter changes after access control system or zero degree are powered again after the Gyro for avoiding constant value drift repeatability index not high has surveyed constant value drift on special process equipment, and the easy measurement after satellite control system or dress star are delivered especially suitable for Gyro needs.
Description
Technical field
The present invention relates to Gyro test methods, and in particular to a kind of spaceborne Gyro delivery satellite control subsystem
Or fill the Experimental Calibration method and system of constant value drift parameter after star.
Background technique
With the reduction and quick commercialized development trend of space technology threshold, each scientific research institutions, colleges and universities and private public affairs
Department steps into the development and application field of business small satellite.In not high reliability, long-life and harsh index
Under conditions of demand, low investment is generally pursued in such satellite research and development and manufacture, and relatively low cost, functional performance is often selected to meet
The parts and auxiliary products of use demand.
For satellite platform, Gyro is the core component of control system, provides inertial reference for it, loses this
Benchmark often means that catastrophic accident, therefore to the application method research of Gyro data and its verifying of effect, is
One work that must be completed of satellite control system.
After Gyro delivers satellite control system or dress star, when carrying out some test items, need to deduct it first
Constant value drift.However, due to cost control, repeatability index requirement of the selected Gyro to its constant value drift
Can not be too high, constant value drift when constant value drift data and control system (or whole star) when Gyro factory inspection and acceptance are tested
Real data deviation, the data after being switched on sometimes or even twice also have significant difference.On the other hand, Gyro is before factory,
When testing constant value drift parameter, often relies on accurate tooling facility or equipment and guarantee tested gyro and earth rotation speed side
To positional relationship, these conditions are that control system or whole star test site can not provide.In system test, if used
The gyroscopic drift data of inaccuracy, Gyro with turntable when moving, it may appear that each gauge outfit output data not can accurately reflect
Situations such as system control situation, orthogonal gauge outfit and angle mount gauge outfit data extrapolating deviation are judged to error in data greatly and stop control, cause
Test the validity that can not be gone on or cannot be guaranteed test result.Therefore, in control system or whole-satellite experiment, how fastly
Speed easily demarcates the constant value drift parameter of Gyro, is a problem for needing to solve.
Summary of the invention
The present invention provides the scaling method and system of a kind of Gyro constant value drift, can not fill by external precision
Under conditions of standby, the constant value drift parameter of current Gyro is rapidly measured by testing simplicity.
To achieve the above object, the present invention provides a kind of scaling method of Gyro constant value drift, its main feature is that, the party
Method includes:
Acquire the measured value of Gyro three orthogonal gyro gauge outfits；
According to the Relation acquisition Gyro of the measured value of Gyro three orthogonal gyro gauge outfits and earth rotation revolving speed
The constant value drift of three orthogonal gyro gauge outfits.
The relationship of the measured value and earth rotation revolving speed of the orthogonal gyro gauge outfit of above-mentioned Gyro three includes:
Component of the earth rotation revolving speed in three orthogonal gyro gauge outfit sensitive axes X, Y, Z-direction meets formula (1):
X2+Y2+Z2=ωe 2 (1)
In formula (1), ωeFor earth rotation revolving speed；
Introduce the constant value drift of gyro gauge outfit in formula (1), then such as formula (2):
(x-a)2+(y-b)2+(z-c)2=ωe 2 (2)
In formula (2), x gyro gauge outfit X measured value, y gyro gauge outfit Y measured value, z gyro gauge outfit Z measured value, a gyro gauge outfit X
Normal drift value, the normal drift value of b gyro gauge outfit Y, the normal drift value of c gyro gauge outfit Z；
Formula (2) simplifies such as formula (3):
In formula (3),For a constant value, then set in formula (3)Then there is formula
(4):
The method of the constant value drift of the orthogonal gyro gauge outfit of above-mentioned acquisition Gyro three includes:
Place Gyro makes Gyro be in different orientation in different orientation or rotation satellite；
The measured value x, y, z value for obtaining Gyro three orthogonal gyro gauge outfits is tested by multiple groups, according to formula (4) to obtain the final product
Constant value drift value a, b, c under three gauge outfit current states of Gyro out.
The high-precision method that mentions of the constant value drift of the orthogonal gyro gauge outfit of above-mentioned acquisition Gyro three includes:
When test obtains the measured value of Gyro three orthogonal gyro gauge outfits, the test number of acquisition half an hour or more
According to, seek the mean value of three gauge outfit output datas, and take the lesser test data of variance as gauge outfit measured value true value x, y,
z。
The high-precision method that mentions of the constant value drift of the orthogonal gyro gauge outfit of above-mentioned acquisition Gyro three includes:
Before carrying out the acquisition of constant value drift nominal data, when Gyro being selected to put orientation, pass through telemetry first
Observe the measured value x, y, z of three gyro gauge outfits；
In the measured value x, y, z of three gyro gauge outfits, maxima and minima gap is less than or equal to 4 times, then acquisition should
Group measured value x, y, z.
In the measured value x, y, z of three gyro gauge outfits, maxima and minima gap is greater than four times, then does not acquire the group
Measured value x, y, z.
A kind of calibration system of Gyro constant value drift, its main feature is that, which includes:
Measured value acquisition module acquires the measured value of Gyro three orthogonal gyro gauge outfits；
Constant value drift obtains module, the measured value of Gyro three orthogonal gyro gauge outfits is received, according to Gyro
The measured value of three orthogonal gyro gauge outfits and the orthogonal gyro gauge outfit of the Relation acquisition Gyro three of earth rotation revolving speed it is normal
Value drift.
Above-mentioned calibration system also includes that measured value true value chooses module, connects the output end of measured value acquisition module, connects
The test data for receiving measured value acquisition module acquisition half an hour or more, seeks the mean value of three gauge outfit output datas, and take
The lesser test data of variance, which is exported as the true value of the gauge outfit measured value of Gyro three orthogonal gyro gauge outfits to constant value, floats
It moves and obtains module.
Above-mentioned calibration system also includes measured value Observation Blocks, and output end connects measured value acquisition module, and measured value is seen
It examines module and works as the measured value of first three gyro gauge outfit by telemetry observation, if working as the measured value of first three gyro gauge outfit most
Big value is less than or equal to 4 times with minimum value gap, then triggers measured value acquisition module and acquire three orthogonal tops of current Gyro
The gauge outfit measured value of spiral shell gauge outfit.
Above-mentioned calibration system also includes Gyro orientation control module, and control Gyro is placed on different orientation
Or control satellite rotation makes Gyro be in different orientation.
Compared to the prior art the scaling method and system of Gyro constant value drift of the present invention, the advantage is that, this hair
Bright scaling method carries out calibration test compared with the constant value drift measuring technology taken as Gyro product export is previous
When, relationship is put with Gyro to earth rotation revolving speed and is not strict with, is not required to as the gyro of profession develops manufacturer,
It is equipped with and using profession and component of the accurate technological equipment come clear earth rotation revolving speed in tested gyro gauge outfit sensitive axes
Value, the requirement to test guarantee condition are looser；After being conducive to Gyro delivery, in satellite control system or whole-satellite experiment item
The convenient calibration of constant value drift parameter is realized under part, the Gyro for avoiding constant value drift repeatability index not high is in special process
Surveyed after constant value drift access control system again on equipment or zero degree be powered after parameter change, especially suitable for Gyro
It delivers satellite control system or fills the easy measurement needs after star.
Detailed description of the invention
Fig. 1 is the flow chart of the scaling method of Gyro constant value drift of the present invention；
Fig. 2 is the relation schematic diagram of Gyro three orthogonal gyro gauge outfits and earth rotation revolving speed.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention are further illustrated.
As shown in Figure 1, a kind of embodiment of the scaling method for Gyro constant value drift, this method specifically includes following
Step:
S1, the measured value for acquiring Gyro three orthogonal gyro gauge outfits.
The measured value x, y, z of three gauge outfits of Gyro is can be continuous under satellite control system or whole star test condition
The telemetry value of acquisition.Therefore, it places Gyro and makes Gyro different in different orientation or rotation satellite
Orientation is tested by multiple groups, and at least 4 groups, to obtain the measured value x, y, z of three gauge outfits of Gyro.
S2, according to the Relation acquisition gyro group of the measured values of Gyro three orthogonal gyro gauge outfits and earth rotation revolving speed
Close the constant value drift of three orthogonal gyro gauge outfits.
As shown in Fig. 2, the relationship of Gyro three orthogonal gyro gauge outfits and earth rotation revolving speed, earth rotation revolving speed exist
Component on three orthogonal gyro gauge outfit sensitive axes X, Y, Z-direction meets formula (1):
X2+Y2+Z2=ωe 2 (1)
In formula (1), ωeFor earth rotation revolving speed；
Introduce the constant value drift of gyro gauge outfit in formula (1), then such as formula (2):
(x-a)2+(y-b)2+(z-c)2=ωe 2 (2)
In formula (2), x gyro gauge outfit X measured value, y gyro gauge outfit Y measured value, z gyro gauge outfit Z measured value, a gyro gauge outfit X
Normal drift value, the normal drift value of b gyro gauge outfit Y, the normal drift value of c gyro gauge outfit Z；
Formula (2) simplifies such as formula (3):
In formula (3), according to the physical significance of each parameter, it is known thatFor a constant value, then set in formula (3)Then there are formula (4):
In formula (4), a, b, c, m are 4 unknown numbers to be asked.
According to the measured value x, y, z value of Gyro three orthogonal gyro gauge outfits of S1 acquisition, convolution (4) obtains top
Spiral shell combines constant value drift value a, b, c under three gauge outfit current states.
Further, precision is sought for raising Gyro constant value drift, in acquisition three orthogonal gyros of Gyro
Following measure can be taken in the measured value of gauge outfit:
Measure one:
Using the method for data statistics, when test obtains the measured value of Gyro three orthogonal gyro gauge outfits, acquisition half
The test data of a hour or more, seeks the mean value of three gauge outfit output datas, and takes the lesser test data conduct of variance
The true value x, y, z of gauge outfit measured value.
Measure two:
From formula (4) as can be seen that gauge outfit measured value x, y, z is the coefficient of constant value drift a, b, c respectively.Assuming that certain puts feelings
Under condition, x value is significantly less than y, z, then in formula (4), weight shared by unknown number a is too small, may cause the bigger error finally sought.
So when Gyro being selected to put orientation, passing through telemetering first before carrying out the acquisition of constant value drift nominal data
Data observe the measured value x, y, z of three gyro gauge outfits, judge that the maxima and minima of the measured value of three gyro gauge outfits is poor
Away from whether being more than preset threshold value, the measured value is not acquired if the maxima and minima gap of measured value is greater than threshold value, if
The maxima and minima gap of measured value is less than or equal to threshold value and then acquires current measured value, so that it is guaranteed that 3 value differences are not away from
It is too big.In the present embodiment, specific decision procedure is as follows:
In the measured value x, y, z of three gyro gauge outfits, maxima and minima gap is less than or equal to 4 times, then acquisition should
Group measured value x, y, z.
In the measured value x, y, z of three gyro gauge outfits, maxima and minima gap is greater than four times, then does not acquire the group
Measured value x, y, z.
The invention also discloses a kind of calibration systems of Gyro constant value drift, which includes: measured value acquires mould
Block, constant value drift obtain module, measured value true value chooses module, measured value Observation Blocks and Gyro orientation control module.
Measured value acquisition module is used to acquire the measured value of Gyro three orthogonal gyro gauge outfits.
Constant value drift obtains the measured value that module is used to receive Gyro three orthogonal gyro gauge outfits, according to Gyro
The measured value of three orthogonal gyro gauge outfits and the orthogonal gyro gauge outfit of the Relation acquisition Gyro three of earth rotation revolving speed it is normal
Value drift.
Mapping magnitude true value chooses the output end of module connection measured value acquisition module, for receiving measured value acquisition module
The test data for acquiring half an hour or more, seeks the mean value of three gauge outfit output datas, and take the lesser test number of variance
It exports according to the true value of the gauge outfit measured value as Gyro three orthogonal gyro gauge outfits to constant value drift and obtains module.
Measured value Observation Blocks output end connects measured value acquisition module, passes through telemetry for measured value Observation Blocks
The measured value of first three gyro gauge outfit is worked as in observation, if when the maxima and minima gap of the measured value of first three gyro gauge outfit is small
In being equal to preset threshold value, such as 4 times, then triggers measured value acquisition module and acquire the orthogonal gyro table of current Gyro three
The gauge outfit measured value of head, it is on the contrary then do not acquire current gauge outfit measured value.
Gyro orientation control module is used to control Gyro and is placed on different orientation or control satellite rotation
Gyro is set to be in different orientation.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of scaling method of Gyro constant value drift, which is characterized in that this method includes:
Acquire the measured value of Gyro three orthogonal gyro gauge outfits；
According to the measured value of Gyro three orthogonal gyro gauge outfits and Relation acquisition Gyro three of earth rotation revolving speed
The constant value drift of orthogonal gyro gauge outfit；
The relationship of the measured value and earth rotation revolving speed of the orthogonal gyro gauge outfit of the Gyro three includes:
Component of the earth rotation revolving speed in three orthogonal gyro gauge outfit sensitive axes X, Y, Z-direction meets formula (1):
X2+Y2+Z2=ωe 2 (1)
In formula (1), ωeFor earth rotation revolving speed；
Introduce the constant value drift of gyro gauge outfit in formula (1), then such as formula (2):
(x-a)2+(y-b)2+(z-c)2=ωe 2 (2)
In formula (2), x gyro gauge outfit X measured value, y gyro gauge outfit Y measured value, z gyro gauge outfit Z measured value, a gyro gauge outfit X's is normal
Drift value, the normal drift value of b gyro gauge outfit Y, the normal drift value of c gyro gauge outfit Z；
Formula (2) simplifies such as formula (3):
In formula (3),For a constant value, then set in formula (3)Then there are formula (4):
2. the scaling method of Gyro constant value drift as described in claim 1, which is characterized in that the acquisition Gyro
The method of the constant value drift of three orthogonal gyro gauge outfits includes:
Place Gyro makes Gyro be in different orientation in different orientation or rotation satellite；
The measured value x, y, z value for obtaining Gyro three orthogonal gyro gauge outfits is tested by multiple groups, and top is obtained according to formula (4)
Spiral shell combines constant value drift value a, b, c under three gauge outfit current states.
3. the scaling method of Gyro constant value drift as claimed in claim 1 or 2, which is characterized in that the acquisition gyro
The high-precision method that mentions for combining the constant value drift of three orthogonal gyro gauge outfits includes:
When test obtains the measured value of Gyro three orthogonal gyro gauge outfits, the test data of acquisition half an hour or more,
The mean value of three gauge outfit output datas is sought, and takes the lesser test data of variance as the true value x, y, z of gauge outfit measured value.
4. the scaling method of Gyro constant value drift as claimed in claim 1 or 2, which is characterized in that the acquisition gyro
The high-precision method that mentions for combining the constant value drift of three orthogonal gyro gauge outfits includes:
Before carrying out the acquisition of constant value drift nominal data, when Gyro being selected to put orientation, observed first by telemetry
The measured value x, y, z of three gyro gauge outfits；
In the measured value x, y, z of three gyro gauge outfits, maxima and minima gap is less than or equal to 4 times, then acquires group survey
Magnitude x, y, z.
5. the scaling method of Gyro constant value drift as claimed in claim 4, which is characterized in that when three gyro gauge outfits
In measured value x, y, z, maxima and minima gap is greater than four times, then does not acquire this group of measured value x, y, z.
6. a kind of calibration side suitable for the Gyro constant value drift as described in any one of claim 1 to 5 claim
The calibration system of the Gyro constant value drift of method, which is characterized in that the system includes:
Measured value acquisition module acquires the measured value of Gyro three orthogonal gyro gauge outfits；
Constant value drift obtains module, the measured value of Gyro three orthogonal gyro gauge outfits is received, according to Gyro three
The constant value of the measured value of orthogonal gyro gauge outfit and the orthogonal gyro gauge outfit of the Relation acquisition Gyro three of earth rotation revolving speed is floated
It moves.
7. the calibration system of Gyro constant value drift as claimed in claim 6, which is characterized in that the calibration system also wraps
True value containing measured value chooses module, connects the output end of measured value acquisition module, receives measured value acquisition module and acquires half
Hour or more test data, seek the mean value of three gauge outfit output datas, and take the lesser test data of variance as top
The true value that spiral shell combines the gauge outfit measured value of three orthogonal gyro gauge outfits exports to constant value drift and obtains module.
8. the calibration system of Gyro constant value drift as claimed in claim 6, which is characterized in that the calibration system also wraps
Observation Blocks containing measured value, output end connect measured value acquisition module, and measured value Observation Blocks are worked as by telemetry observation
The measured value of first three gyro gauge outfit, if when the maxima and minima gap of the measured value of first three gyro gauge outfit is less than or equal to
4 times, then trigger the gauge outfit measured value that measured value acquisition module acquires the orthogonal gyro gauge outfit of current Gyro three.
9. the calibration system of Gyro constant value drift as claimed in claim 6, which is characterized in that the calibration system also wraps
The control module of orientation containing Gyro, control Gyro, which is placed on different orientation or control satellite rotation, makes gyro group
It closes and is in different orientation.
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| CN1314946C (en) * | 2005-11-04 | 2007-05-09 | 北京航空航天大学 | Mixed calibration method for inertial measurement unit capable of eliminating gyro constant drift |
| CN101936745B (en) * | 2010-08-19 | 2012-05-09 | 中国航空工业第六一八研究所 | Platform inertial navigation gyro constant drift calibration method |
| CN102221372B (en) * | 2011-03-25 | 2012-10-10 | 北京航空航天大学 | Method for calibrating error of inertia measurement unit by using centrifugal machine and turntable |
| CN102564452B (en) * | 2011-12-09 | 2014-12-10 | 北京理工大学 | On-line self-calibrating method based on inertial navigation system |
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