CN106705997A - Fiber optic gyroscope north-seeking start error suppression method - Google Patents
Fiber optic gyroscope north-seeking start error suppression method Download PDFInfo
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- CN106705997A CN106705997A CN201611094955.3A CN201611094955A CN106705997A CN 106705997 A CN106705997 A CN 106705997A CN 201611094955 A CN201611094955 A CN 201611094955A CN 106705997 A CN106705997 A CN 106705997A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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Abstract
The invention discloses a fiber optic gyroscope north-seeking start error suppression method. The method includes: firstly performing coarse north-seeking to find out current test orientation, then turning the test orientation to a position near a 45-degree or 225-degree azimuth, and finally correcting the coarse north-seeking result according to the precise north-seeking result, and giving out a final north-seeking result. The method provided by the invention provides the final north-seeking result to suppress the north-seeking error introduced by fiber optic gyroscope output drift, thereby suppressing the fiber optic gyroscope north-seeking start error.
Description
Technical field
Start error suppression the present invention relates to inertial navigation, guidance and control field, more particularly to a kind of north-seeking of fiber optic gyroscope
Method processed.
Background technology
Gyroscope north searching instrument, is to determine earth rotation angular speed in local level projecting direction (i.e. true north using gyro
Position) a kind of inertial measurement system.Gyroscope north searching instrument is a kind of accurate inertia measurement instrument, is widely used in for cannon, ground-to-ground
The mobile weapon system such as guided missile and ground radar provides direction reference.Optical fibre gyro (Fiber Optical Gyroscope,
FOG it is) the new all solid state gyroscope based on Sagnac effects, with impact resistance, sensitivity high, long lifespan, low in energy consumption, integrated
Reliable the advantages of, it is particularly well-suited to seek north orientation application.
Currently, north-seeking of fiber optic gyroscope mode both domestic and external mainly has the methods such as two position methods, four position methods.Optical fibre gyro four
Position is sought northern method and is sought because of it and any external information is independent of during north, seeks northern result by geography dimensionality, gyro zero partially and mark
The influence of factor is spent, and is widely adopted.The position method of north-seeking of fiber optic gyroscope four is respectively mutually orthogonal and right with tested direction
Rotational-angular velocity of the earth component is measured on the position of title, and then calculates the azimuth in tested direction.Optical fibre gyro is placed in
On indexing mechanism, the sensitive axes level of optical fibre gyro is kept, the initial position for seeking north is designated as position 1, and controls indexing mechanism essence
True 90 ° of rotation, 180 °, 270 °, position 2,3,4 is designated as successively.Then ideal of the optical fibre gyro at four positions exports Gi(i
=1,2,3,4) be respectively:
Wherein：K is optic fiber gyroscope graduation factor；ωeIt is rotational-angular velocity of the earth；It is the geographic latitude of measurement point；θ is
The azimuth in tested direction, that is, be tested the angle in direction and real north；D0For optical fibre gyro zero is inclined.Now, easily derive
The azimuth solution formula in tested direction：
According to the fiber gyro north seeker that above-mentioned principle is made, stabilization sub stage north finding precision is higher.But due to optical fiber top
During spiral shell electrifying startup, its internal components self-heating so that interior temperature distribution is uneven, and optical fiber loop is used as in optical fibre gyro
Most important sensitive core, is easily influenceed by temperature change with temperature, is caused when input angle speed is constant, optical fibre gyro measurement
The output valve deviation that larger tendency is first presented interior for a period of time, then gradually tends towards stability.Exactly optical fibre gyro is this
Starting characteristic causes the startup error of north-seeking of fiber optic gyroscope, i.e., seek northern bigger error first after electricity on fiber gyro north seeker.
At present, the position north finding precision of internal optical fiber gyrocontrol stage four is up to 0.04 ° -0.06 °, but starts section comprising optical fibre gyro
North finding precision be then down to 0.09 ° -0.1 °.It can be seen that north-seeking of fiber optic gyroscope starts error causes the electric initial stage on fiber gyro north seeker
North finding precision drastically deteriorates, the serious time for elongating fiber gyro north seeker.
The content of the invention
It is not enough it is an object of the invention to be directed to above-mentioned prior art, there is provided a kind of north-seeking of fiber optic gyroscope starts error and suppresses
Method, the present invention can suppress optical fibre gyro output shift introducing seek northern error so that suppress north-seeking of fiber optic gyroscope start miss
Difference.
The purpose of the present invention is achieved through the following technical solutions：A kind of north-seeking of fiber optic gyroscope starts error suppression side
Method, the method finds current test orientation by rough north-seeking first, then test orientation is gone to and enter near 45 ° or 225 ° of azimuths
Once essence seeks north to row, and northern modified result rough north-seeking result is sought finally according to essence, is given and finally seek northern result.The method includes following
Step：
(1) rough north-seeking：A four position Xun Bei are carried out on measurement direction, the rough azimuth of current measurement direction is found out
θ1；
(2) essence seeks north：According to the rough azimuth angle theta that step 1 is obtained145 ° or orientation where 225 ° of directions are extrapolated, then will
Test orientation goes to 45 ° of directions or 225 ° of directions, carries out a four position Xun Bei, seeks northern result for θ2；
(3) northern modified result is sought：When be in step 2 will test orientation go to 45 ° of directions when, it is revised to seek northern result
For：θ=θ2+θ1-45°；When be in step 2 will test orientation go to 225 ° of directions when, it is revised to seek northern result and be：θ=θ2+
θ1-225°。
Usual north finder completed once to seek the northern time for 5 minutes, although new northern method of combination of seeking increased indexing mechanism
Indexable number of times, but the time is sought with essence by thick the seeking of reasonable distribution during specific implementation, you can always seek the northern time not increasing
In the case of significantly improve optical fibre gyro startup stage north finding precision.
The invention has the advantages that：New method proposed by the present invention can effectively suppress fiber gyro north seeker and open
Dynamic error, improves optical fibre gyro circumference north finding precision.The method is applied to engineering practice, can be in equal fiber optic gyroscope performance base
On plinth, the performance of fiber gyro north seeker is effectively lifted, with engineering application value higher.
Brief description of the drawings
Fig. 1 is that north-seeking of fiber optic gyroscope starts error inhibition method flow chart.
Specific embodiment
The invention will be further described with experimental data below in conjunction with the accompanying drawings.
As shown in figure 1, north-seeking of fiber optic gyroscope of the present invention starts error inhibition method, its principle is present inventor's experiment
It was found that：Because four position north finding methods are when optical fibre gyro exists and drifts about, it seeks northern essence error 45 ° and 225 ° or so of azimuth
It is minimum that it seeks northern error.The present invention makes full use of the characteristic, will seek northern result in different orientations, be transformed into 45 ° (or
225 °) direction carries out seeking northern amendment.
North-seeking of fiber optic gyroscope starts error mainly to be influenceed by optical fibre gyro startup stage unstable properties.Electricity on optical fibre gyro
During startup, there is drift in its output.Therefore, electricity when seeking north first on optical fibre gyro, seeks during north optical fiber top at four positions
Spiral shell output should be modified to G'i(i=1,2,3,4)：
Wherein, εi(i=1,2,3,4) it is respectively the drift value of optical fibre gyro at four positions.By G'i(i=1,2,3,4)
(2) formula of substitution, can obtain seek northern solution formula under optical fibre gyro output shift：
From formula (4) as can be seen that the drift value ε of optical fibre gyroi(i=1,2,3,4) so that seek northern parallactic angle solution formula
In molecule, denominator in introduce ε respectively4-ε2And ε1-ε3.Thus north-seeking of fiber optic gyroscope starts error causes.
It is short in view of each position sampling time in the position method of north-seeking of fiber optic gyroscope four, and optical fibre gyro startup stage exports
The drift duration is relatively long.For ease of analysis, the now optical fibre gyro drift form of expression can approximately be regarded as linearly
Drift.If optical fibre gyro drift rate is k, the sampling time of each position is T, ignores index time, then formula (4) is rewritten as：
Make G4-G2=A, G1-G3=B, then can be expressed as with north-seeking of fiber optic gyroscope error d θ under linear drift：
In formula (6), A, B depend on geographic latitude and test azimuth, and kT then depend on optical fibre gyro drift rate and
Sampling time.It can be seen that optical fibre gyro sought when there is linear drift northern error mainly with optical fibre gyro drift rate, by interception
Angle and test point geographic latitude are related.
Further use same drift rate, it is same for latitude under, emulated on equally spaced direction in circumference respectively
Influence of the northern parallactic angle to north finding precision is sought in analysis.Optical fibre gyro drift rate is set to 0.18 °/h and carries out circumference to seek northern emulation.It is imitative
True result shows：When optical fibre gyro has linear drift, its north finding precision changes with northern parallactic angle change is sought, at azimuth
Northern error is minimum for 45 ° and 225 ° or so the seeking of causing of drifting about, and 135 ° and 315 ° of azimuth degree left and right drift about cause seek north
Error is maximum.
According to above-mentioned simulation result, in the optical fibre gyro electrifying startup stage, north-seeking of fiber optic gyroscope starts error with optical fiber top
Spiral shell starts drift rate increase and dropping increases, and north finding precision changes with northern parallactic angle difference is sought.Different optical fiber
Gyro has different starting drift characters, good from starting characteristic, and the small optical fibre gyro of startup drift can no doubt improve and seek
Northern precision.But under the basis of existing technical merit and manufacturing process, fiber optic gyroscope performance is carried, generally require high generation
Valency, what is had may even not realize.
On the basis of existing north finding method, when fully profit optical fibre gyro starts drift, north-seeking of fiber optic gyroscope is in side for the present invention
45 ° and 225 ° or so of parallactic angle drift about cause seek the minimum characteristic of northern error, propose a kind of new to seek northern method of combination and resolving
Process.North of seeking in different orientations is transformed into 45 ° (or 225 °) direction nearby by new northern method of combination of seeking of the present invention
Carry out.First passing through the short time seeks north and finds current test orientation, recycles accurate indexing mechanism to go to and seeks less 45 ° of northern error
The essence that (or 225 °) nearby carry out long-time sampling seeks north.Northern result and indexable angle are sought finally according to essence, you can counter to push away amendment
Test orientation and north orientation angle.
Specific implementation step journey of the invention is as follows：
1st, rough north-seeking：A four position Xun Bei are carried out on measurement direction, the rough azimuth of current measurement direction is found out
θ1；
2nd, essence seeks north：According to the rough azimuth angle theta that step 1 is obtained145 ° or orientation where 225 ° of directions are extrapolated, then will
Test orientation goes to 45 ° of directions or 225 ° of directions, carries out a four position Xun Bei, seeks northern result for θ2；
3rd, northern modified result is sought：When be in step 2 will test orientation go to 45 ° of directions when, it is revised to seek northern result and be：
θ=θ2+θ1-45°；When be in step 2 will test orientation go to 225 ° of directions when, it is revised to seek northern result and be：θ=θ2+θ1-
225°。
One embodiment of the present of invention is set forth below, so as to further illustrate the features of the present invention and effect.
Optical fiber gyroscope precision is 0.02 °/h in the present embodiment, and accurate indexing mechanism Rotational accuracy is 0.01 °, using 45 ° of sides
It is modified to Jing Xunbei mechanisms.23 diverse locations are taken in 0-360 ° of circumference, carrying out 7 times in each position seeks north.To same
7 times of position are sought northern error and take root-mean-square value, and that evaluates optical fibre gyro seeks northern repeatable accuracy.Northern error is sought to all 161 times to take
Root-mean-square value, evaluates the circumference north finding precision of optical fibre gyro.Using same optical fibre gyro, common four positions Xun Bei is respectively adopted
Method and method proposed by the present invention, carry out above-mentioned circumference and seek north, evaluation precision.In experimentation, the north is sought in common four position
Data sampling time of the method four positions is 60s, and rough north-seeking is equal in four position sampling times in the method for the invention
It is 6s, essence is sought north and is 50s in four position sampling times, and two methods always seek the northern time quite and less than 5min.Experiment knot
It is really as shown in table 1 below.
Table 1：Fibre optic gyroscope tape starting north finding precision tests (unit：°)
Can be seen that new method proposed by the present invention by the circumference north finding precision data of upper table can effectively suppress optical fiber top
Spiral shell seeks the northern instrument error that startup stage brings by gyroscopic drift, improves optical fibre gyro circumference north finding precision.The method is applied to
Engineering practice, on the basis of equal fiber optic gyroscope performance, can effectively lift the performance of fiber gyro north seeker, with work higher
Journey application value.
Claims (2)
1. a kind of north-seeking of fiber optic gyroscope starts error inhibition method, it is characterised in that the method can be looked for by rough north-seeking first
To current test orientation, will test orientation further according to rough north-seeking result and go to carries out once essence and seeks near 45 ° or 225 ° of azimuths
North, northern modified result rough north-seeking result is sought finally according to essence, is finally sought northern result.
2. north-seeking of fiber optic gyroscope according to claim 1 starts error inhibition method, it is characterised in that the method include with
Lower step：
(1) rough north-seeking：A four position Xun Bei are carried out on measurement direction, the rough azimuth angle theta of current measurement direction is found out1。
(2) essence seeks north：According to the rough azimuth angle theta that step 1 is obtained145 ° or orientation where 225 ° of directions are extrapolated, then will test
Orientation goes to 45 ° of directions or 225 ° of directions, carries out a four position Xun Bei, seeks northern result for θ2。
(3) northern modified result is sought：When be in step 2 will test orientation go to 45 ° of directions when, it is revised to seek northern result and be：θ=
θ2+θ1-45°；When be in step 2 will test orientation go to 225 ° of directions when, it is revised to seek northern result and be：θ=θ2+θ1-
225°。
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107421564A (en) * | 2017-06-23 | 2017-12-01 | 北京机械设备研究所 | A kind of four position north-seeker position shifter error compensation methodes |
| CN109282804A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of single axis fiber gyro north-seeking algorithm |
| CN110926447A (en) * | 2019-12-16 | 2020-03-27 | 重庆华渝电气集团有限公司 | Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method |
| CN111308457A (en) * | 2019-12-11 | 2020-06-19 | 成都汇蓉国科微系统技术有限公司 | Method, system and storage medium for north finding of pulse Doppler radar |
| CN111504288A (en) * | 2020-04-22 | 2020-08-07 | 北京港震科技股份有限公司 | North seeking device |
| CN114088110A (en) * | 2021-09-26 | 2022-02-25 | 湖北三江航天红峰控制有限公司 | High-precision optical fiber gyroscope threshold value testing method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107421564A (en) * | 2017-06-23 | 2017-12-01 | 北京机械设备研究所 | A kind of four position north-seeker position shifter error compensation methodes |
| CN107421564B (en) * | 2017-06-23 | 2019-08-02 | 北京机械设备研究所 | A kind of four position north-seeker position shifter error compensation methodes |
| CN109282804A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of single axis fiber gyro north-seeking algorithm |
| CN109282804B (en) * | 2018-09-01 | 2021-11-09 | 哈尔滨工程大学 | Single-axis fiber-optic gyroscope north-seeking algorithm |
| CN111308457A (en) * | 2019-12-11 | 2020-06-19 | 成都汇蓉国科微系统技术有限公司 | Method, system and storage medium for north finding of pulse Doppler radar |
| CN111308457B (en) * | 2019-12-11 | 2021-11-16 | 成都汇蓉国科微系统技术有限公司 | Method, system and storage medium for north finding of pulse Doppler radar |
| CN110926447A (en) * | 2019-12-16 | 2020-03-27 | 重庆华渝电气集团有限公司 | Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method |
| CN110926447B (en) * | 2019-12-16 | 2022-02-22 | 重庆华渝电气集团有限公司 | Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method |
| CN111504288A (en) * | 2020-04-22 | 2020-08-07 | 北京港震科技股份有限公司 | North seeking device |
| CN114088110A (en) * | 2021-09-26 | 2022-02-25 | 湖北三江航天红峰控制有限公司 | High-precision optical fiber gyroscope threshold value testing method |
| CN114088110B (en) * | 2021-09-26 | 2023-04-18 | 湖北三江航天红峰控制有限公司 | High-precision optical fiber gyroscope threshold value testing method |
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Application publication date: 20170524 |