CN106441362A - Method for inhibiting error divergence in circling lifting motion of deep water compass system - Google Patents
Method for inhibiting error divergence in circling lifting motion of deep water compass system Download PDFInfo
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- CN106441362A CN106441362A CN201610852678.1A CN201610852678A CN106441362A CN 106441362 A CN106441362 A CN 106441362A CN 201610852678 A CN201610852678 A CN 201610852678A CN 106441362 A CN106441362 A CN 106441362A
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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
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Abstract
The invention discloses a method for inhibiting error divergence in the circling lifting motion of a deep water compass system. A three-shaft system gyroscope of the deep water compass system is tested at different angular velocities, and the data are acquired; and the rotational angular velocity of the earth is coupled to an output quantity of the gyroscope regardless of forward rotation or reverse rotation, and therefore, the sum of increment outputs of forward rotation and reverse rotation of the gyroscope is used to access the corresponding index, the corresponding increment produced by the coupled rotational angular velocity of the earth is deducted and then added to obtain a difference value of forward rotation and reverse rotation, and the gyroscope with the minimum difference value is chosen and installed on a shaft system subjected to rotational motion, so that the error divergence in the circling lifting motion of the deep water compass system is effectively inhibited.
Description
Technical field
The invention belongs to field of inertia technology and in particular to a kind of suppression deep water compass system spirals elevating movement time error
The method dissipating.
Background technology
Deep water compass system can provide the navigation informations such as position, speed and attitude for underwater installation.General, set under water
For not being provided that reference position information, not high very in the confidence level rising the velocity information providing with the Doppler during dive
Extremely unavailable, so pure inertia resolving can only be carried out in this process.
In original discrete calibration technique, the output of the comprehensive both forward and reverse directions of meeting calculates a constant multiplier value, on the one hand
Can not embody the asymmetry of constant multiplier, on the other hand, this scaling method is affected greatly by random noise, stated accuracy also and
The precision of turntable has very big relation.Original technology also has estimates constant multiplier asymmetry using Kalman filter,
But this technology not solve the problems, such as to cause error big from source.
Content of the invention
In view of this, the present invention is spiraled elevating movement characteristic for deep water compass, starts with from parts selection, there is provided a kind of
Suppression deep water compass system spirals the method that elevating movement time error dissipates.
A kind of suppression deep water compass system spirals the method that elevating movement time error dissipates, and comprises the steps：
1st, gyroscope to be measured is arranged on deep water compass system, then deep water compass system is arranged on three-axle table,
First thermal balance is reached to gyroscope to be measured energising preheating before test；
2nd, setting three-axle table is incremental mode, controls turntable to distinguish forward and backward rotation one about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn, admission
Static data with the gyroscope output of forward and backward equal length time；
3rd, setting three-axle table is incremental mode, controls three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn two weeks, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
4th, setting three-axle table is incremental mode, controls three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn surrounding, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
5th, setting three-axle table is incremental mode, controls three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn eight weeks, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
6th, being respectively provided with speed is 2 °/s, 4 °/s, 8 °/s, repeats 2～5, and enrolls the data of gyroscope output；
7th, control three-axle table to rotate around Y-axis, using the method for step 2～6, and enroll the number of corresponding Y-axis gyroscope
According to；
8th, control three-axle table to rotate around X-axis, using the method for step 2～6, and enroll the number of corresponding X-axis gyroscope
According to；
9th, it is directed to three-axle table around one of reference axis, when the specific number of turns is rotated with one of which speed, to gyroscope
Rotate forward data summation in the data of output, be defined as wz；To reversal data summation in the data of gyro output, it is defined as wf；Right
Static data is sued for peace, and is defined as wj, obtains positive and negative slip value：W=wz-wj+ (wf-wj)；For three-axle table around different coordinates
Axle, when rotating the different number of turns with friction speed, data asks for positive and negative slip value respectively；
10th, select multiple gyros to be measured to carry out the test of step 1 to 9, and obtain each gyro to rotate in different angular speed
The positive and negative slip value of different all numbers；When revolution number same angular velocity is different, difference is less to represent that the symmetry of gyroscope is better；
When angular velocity of rotation identical revolution number is different, the bigger linearity representing gyroscope of the degree that difference is directly proportional to revolution number
Better, consider symmetrical performance and the linearity, select the gyroscope of best performance, be arranged in the rotary shaft of system.
The present invention has the advantages that：
The present invention is tested by being respectively adopted different angular speed to the gyroscope of three shaftings of deep water compass system, and
It is contemplated that either rotating forward or inverting, rotational-angular velocity of the earth all can be coupled in the output quantity of gyroscope gathered data, because
Increment output phase Calais for the rotating of gyroscope to be utilized examines corresponding index, so needing the earth that will be coupled into coming certainly
The tarnsition velocity corresponding increment of generation is subtracted out and is added, obtains positive and negative slip value, thus selects the minimum gyroscope of difference
It is arranged on the shafting of rotary motion, thus can effectively suppress the deep water compass system elevating movement time error that carries out spiraling to dissipate.
Specific embodiment
Describe the present invention below.
Step 1, by gyro installation to be measured on deep water compass system, at least select 3 gyroscopes to be measured, be separately mounted to
On X, Y and Z axis of deep water compass system；Again deep water compass system is arranged on three-axle table, because gyro not yet carries out temperature
Degree compensates, and when just having gone up electricity, device is not up to thermal balance, and before test, first energising is fully warmed-up 4 hours and reaches thermal balance, device
Part difference preheating time would also vary from, and mainly reaches the stable time and determines according to after upper electricity；
Step 2, setting turntable are incremental mode, control turntable to distinguish forward and backward rotation one about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging turntable again is station-keeping mode, controls turntable not turn, enrolls and forward and backward
The static data of the gyroscope output of equal length time；Wherein, only it is arranged on the gyro to be measured on deep water compass system Z axis
Instrument has data output, and other two gyroscopes do not have data output；
Step 3, setting turntable are incremental mode, control turntable to distinguish forward and backward rotation two about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging turntable again is station-keeping mode, controls turntable not turn, enrolls and forward and backward
The static data of the gyroscope output of equal length time；
Step 4, setting turntable are incremental mode, control turntable to distinguish forward and backward rotation four about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging turntable again is station-keeping mode, controls turntable not turn, enrolls and forward and backward
The static data of the gyroscope output of equal length time；
Step 5, setting turntable are incremental mode, control turntable to distinguish forward and backward rotation eight about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging turntable again is station-keeping mode, controls turntable not turn, enrolls and forward and backward
The static data of the gyroscope output of equal length time；
Step 6, be respectively provided with speed be 2 °/s, 4 °/s, 8 °/s, repeat 2～5, and enroll gyroscope output data；
Step 7, control turntable rotate around Y-axis, using the method for step 2～6, and enroll the number of corresponding Y-axis gyroscope
According to；Wherein, the gyroscope to be measured being only arranged in deep water compass system Y-axis has data output, and other two gyroscopes do not have
Data output；
Step 8, control turntable rotate around X-axis, using the method for step 2～6, and enroll the number of corresponding X-axis gyroscope
According to；Wherein, the gyroscope to be measured being only arranged in deep water compass system X-axis has data output, and other two gyroscopes do not have
Data output；
Step 9, for turntable around one of reference axis, when the specific number of turns is rotated with one of which speed, to gyroscope
Rotate forward data summation in the data of output, be defined as wz, to reversal data summation in the data of gyro output, be defined as wf, right
Static data is sued for peace, and is defined as wj, obtains positive and negative slip value：W=wz-wj+ (wf-wj), w reflect this gyroscope in respective corners
Symmetric quality under speed.For turntable around different reference axis, when rotating the different number of turns with friction speed, data is asked respectively
Take positive and negative slip value；
Step 10, step 1 can measure three gyros to 9 step one cycles, if gyro quantity to be measured is more than three, can
It is repeated several times and carries out step 1 to 9, each gyro of Zhongdao is in the positive and negative slip value of numbers of different angular speed rotation different week.Rotation
When all number same angular velocity are different, the symmetry of difference less explanation gyroscope is preferable；Angular velocity of rotation identical revolution number
When different, the linearity of the explanation gyroscope that difference is directly proportional to revolution number is good, selects symmetry and line at comprehensive above 2 points
Property all reasonable gyroscope of degree be arranged in the rotary shaft of system (deep water compass system is rotated about the z axis, thus peace
It is contained on Z axis).
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (1)
1. a kind of suppression deep water compass system spirals the method that elevating movement time error dissipates it is characterised in that including following walking
Suddenly：
Step 1, gyroscope to be measured is arranged on deep water compass system, then deep water compass system is arranged on three-axle table,
First thermal balance is reached to gyroscope to be measured energising preheating before test；
Step 2, setting three-axle table are incremental mode, control turntable to distinguish forward and backward rotation one about the z axis with the angular speed of 1 °/s
Week, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn, admission
Static data with the gyroscope output of forward and backward equal length time；
Step 3, setting three-axle table are incremental mode, control three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn two weeks, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
Step 4, setting three-axle table are incremental mode, control three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn surrounding, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
Step 5, setting three-axle table are incremental mode, control three-axle table to rotate so that the angular speed of 1 °/s is positive and negative respectively about the z axis
Turn eight weeks, and the data of admission gyroscope output respectively；Arranging three-axle table again is station-keeping mode, controls three-axle table not turn,
The static data of the gyroscope output of admission and forward and backward equal length time；
Step 6, be respectively provided with speed be 2 °/s, 4 °/s, 8 °/s, repeat 2～5, and enroll gyroscope output data；
Step 7 controls three-axle table to rotate around Y-axis, using the method for step 2～6, and enrolls the number of corresponding Y-axis gyroscope
According to；
Step 8, control three-axle table rotate around X-axis, using the method for step 2～6, and enroll the number of corresponding X-axis gyroscope
According to；
Step 9, for three-axle table around one of reference axis, when the specific number of turns is rotated with one of which speed, to gyroscope
Rotate forward data summation in the data of output, be defined as wz；To reversal data summation in the data of gyro output, it is defined as wf；Right
Static data is sued for peace, and is defined as wj, obtains positive and negative slip value：W=wz-wj+ (wf-wj)；For three-axle table around different coordinates
Axle, when rotating the different number of turns with friction speed, data asks for positive and negative slip value respectively；
Step 10, select multiple gyros to be measured to carry out the test of step 1 to 9, and obtain each gyro to rotate in different angular speed
The positive and negative slip value of different all numbers；When revolution number same angular velocity is different, difference is less to represent that the symmetry of gyroscope is better；
When angular velocity of rotation identical revolution number is different, the bigger linearity representing gyroscope of the degree that difference is directly proportional to revolution number
Better, consider symmetrical performance and the linearity, select the gyroscope of best performance, be arranged on the rotary shaft of deep water compass system
On.
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Citations (3)
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|---|---|---|---|---|
| CN1763477A (en) * | 2005-11-04 | 2006-04-26 | 北京航空航天大学 | Mixed calibration method for Inertial measurement unit capable of eliminating gyro constant drift |
| CN102393210A (en) * | 2011-08-23 | 2012-03-28 | 北京航空航天大学 | Temperature calibration method of laser gyro inertia measurement unit |
| CN104931069A (en) * | 2014-03-19 | 2015-09-23 | 日本电气株式会社 | Method, apparatus and system for calibrating gyroscope |
-
2016
- 2016-09-27 CN CN201610852678.1A patent/CN106441362A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1763477A (en) * | 2005-11-04 | 2006-04-26 | 北京航空航天大学 | Mixed calibration method for Inertial measurement unit capable of eliminating gyro constant drift |
| CN102393210A (en) * | 2011-08-23 | 2012-03-28 | 北京航空航天大学 | Temperature calibration method of laser gyro inertia measurement unit |
| CN104931069A (en) * | 2014-03-19 | 2015-09-23 | 日本电气株式会社 | Method, apparatus and system for calibrating gyroscope |
Non-Patent Citations (1)
| Title |
|---|
| 国防科学技术工业委员会: "光纤陀螺仪测试方法", 《GJB 2426A－2004光纤陀螺仪测试方法》 * |
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