CN106908080B - A kind of general error compensating method of optical fibre gyro warm non-orthogonal angles deviation entirely - Google Patents
A kind of general error compensating method of optical fibre gyro warm non-orthogonal angles deviation entirely Download PDFInfo
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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 present invention relates to a kind of general error compensating methods of optical fibre gyro warm non-orthogonal angles deviation entirely, comprising the following steps: S1 carries out the non-orthogonal angles under different temperatures to three axis optical fibre gyro and measures, and the non-orthogonal angles for obtaining three reference axis respectively vary with temperature data；The step S1 data obtained are segmented by S2 by temperature；S3 obtains parameter K using look-up table using the data of segmentationI_jAnd NjValue, at a temperature of certain optical fibre gyro measured value x, y, z carry out error compensation, obtain output valve.Compared with prior art, the present invention is segmented by varying with temperature data to non-orthogonal angles, it can get accurate optical fibre gyro non-orthogonal angles temperature characterisitic, it is configured by the temperature increment to section, it can get preferable error compensation precision, to reach error compensation requirement, have the advantages that computational accuracy is high, overall cost is low, method is simple, feasibility is high.
Description
Technical field
The present invention relates to a kind of error compensating methods of three axis optical fibre gyro, more particularly, to a kind of full Wen Fei of optical fibre gyro
The general error compensating method of orthogonal angular displacement.
Background technique
Fibre optic gyroscope is in actual use, different according to the field of application, needs to test the error term with compensation
Also it is not quite similar, the error term for needing to study in most of fields is that gyro zero offset error and scale factor error still work as light
Fiber gyroscope is applied when on aircraft or bullet, and fibre optic gyroscope non-orthogonal angles error will be one heavier than scale factor error amount
It is nonopiate when the error term wanted, especially fibre optic gyroscope require wider operating temperature range (- 45 DEG C~+75 DEG C)
Angle error is exactly one and has to the error term considered.
Fibre optic gyroscope non-orthogonal angles are a composition error items, are being added up by multiple error terms, such as main structure
The stability of part, installation surface error and fiber optic loop deformation etc..Non-orthogonal angles error can be divided into constant error and temperature sensitivity is missed
Difference.Constant error mainly by gyro main structure part machining accuracy, gyro installation facial plane degree and fiber optic loop installation error etc. because
Element causes, and constant error does not change with the use environment of gyroscope and changed.Temperature sensitivity error refers to fibre optic gyroscope
The variable quantity that non-orthogonal angles are generated by temperature change, being affected by temperature mainly is caused by following several reasons: first is that group
At several big optical devices of gyro, such as light source, coupler, Y waveguide, detector, fiber optic loop, it is sensitive to be affected by temperature comparison,
When operating ambient temperature changes, optical fibre gyro zero bias and constant multiplier variation, optical fibre gyro non-orthogonal angles also shift；
Second is that fiber optic loop uses polarization maintaining optical fibre coiling, general heat-curable glue is fixed in winding process, and the dosage of solidification glue is in reality
Be difficult to control in ring, fiber optic loop internal sizes be unevenly distributed will lead to fiber optic loop be affected by temperature generate physical size deformation；
Third is that fiber optic loop, in winding process, internal stress release is uneven, guiding property in the case where temperature difference is caused to occur
Changing, with the difference of manufacturing process, optical parameter is difficult to determine fiber optic loop, and Error Mechanism positioning is very difficult, because
This invents the compensation of a set of non-orthogonal angles suitable for all optical fibre gyro products temperature error entirely under existing process conditions
Method is most important.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be suitable for all light
The general error compensating method of the optical fibre gyro of fine gyro product warm non-orthogonal angles deviation entirely.
The purpose of the present invention can be achieved through the following technical solutions:
The general error compensating method of a kind of optical fibre gyro warm non-orthogonal angles deviation entirely, which is characterized in that including following step
It is rapid:
S1 carries out the non-orthogonal angles under different temperatures to three axis optical fibre gyro and measures, obtains the non-of three reference axis respectively
Orthogonal angle varies with temperature data, such as using X-axis as benchmark axis, the projection components of Y or Z in X-axis are Y or Z relative to X-axis
Non- positive angle, thus can acquire non-orthogonal angles；
The step S1 data obtained are segmented by S2 by temperature；
S3 obtains parameter K using look-up table using the data of segmentationI_jValue, and utilize formula (1) survey to optical fibre gyro
Magnitude x, y, z carries out error compensation, obtains output valve X, Y, Z:
In formula, KI_jThe cosine value of the angle of expression j axis and reference axis I, I=x or y or z, j=x or y or z, I ≠ j, Nx,
Ny, Nz are respectively three axis optical fibre gyro x, y, z axis absolute zero bias, the absolute zero bias i.e. optical fiber top when input angle speed is zero
Spiral shell output quantity.
The step S3 the following steps are included:
S31 reads optical fibre gyro measured value x, y, z, and is converted into floating type numerical value；
S32 carries out floating type matrix operation using formula (1), compensates to floating type numerical value x, y, z, obtain floating type
Output valve X, Y, Z；
Floating type output valve X, Y, Z are converted to integer numerical value as output valve by S33.
In the step S1, range of temperature is -45 DEG C~75 DEG C.
Preferably, in the step S2, each silicon carbide increment is 5 DEG C~20 DEG C.
Scheme as a further preference, in the step S2, each silicon carbide increment is 10 DEG C.
Compared with prior art, the invention has the following advantages that
(1) it is segmented by varying with temperature data to non-orthogonal angles, can get accurate optical fibre gyro non-orthogonal angles
Temperature characterisitic is configured by the temperature increment to section, obtains parameter K using look-up tableI_jAnd NjValue, can get not
Same error compensation precision, to reach error compensation requirement.
(2) error compensation is calculated as floating type calculating, and computational accuracy is high.
(3) it is -45 DEG C~75 DEG C that non-orthogonal angles, which vary with temperature the range of temperature of data, and covering optical fibre gyro makes
With the maximum changing range of environment temperature, the temperature-compensating being able to achieve under all possible temperature conditions.
(4) each silicon carbide increment is set as 10 DEG C, while considers most of optical fibre gyro application range and mistake
The calculating speed of difference compensation, overall cost are low.
(5) compensation method is simple, and feasibility is high, the non-orthogonal angles error compensation suitable for all three axis optical fibre gyros.
Detailed description of the invention
Fig. 1 is the flow chart of compensation method of the present invention；
Fig. 2 is non-orthogonal angles temperature characteristics figure before the optical fibre gyro of embodiment 1 compensates；
Fig. 3 is non-orthogonal angles temperature characteristics figure after the optical fibre gyro of embodiment 1 compensates；
Fig. 4 is non-orthogonal angles temperature characteristics figure before the optical fibre gyro of embodiment 2 compensates；
Fig. 5 is non-orthogonal angles temperature characteristics figure after the optical fibre gyro of embodiment 2 compensates；
Fig. 6 is non-orthogonal angles temperature characteristics figure before the optical fibre gyro of embodiment 3 compensates.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment 1
As shown in Figure 1, a kind of general error compensating method of optical fibre gyro warm non-orthogonal angles deviation entirely, including following step
It is rapid:
S1 carries out the non-orthogonal angles under different temperatures to three axis optical fibre gyro and measures, obtains the non-of three reference axis respectively
Orthogonal angle varies with temperature data, for example, the projection components of Y or Z in X-axis are Y or Z relative to X using X-axis as benchmark axis
The non-positive angle of axis, thus can acquire non-orthogonal angles.
With -45 DEG C~75 DEG C for range of temperature, i.e., the non-orthogonal angles under complete warm gradient measure, and cover optical fibre gyro
The maximum changing range of use environment temperature, the temperature-compensating being able to achieve under all possible temperature conditions；It is measured in non-orthogonal angles
In, abscissa indicate temperature, unit be DEG C, ordinate indicate non-orthogonal angles, unit ˊ.
The step S1 data obtained are segmented by S2 by temperature；
S3 obtains parameter K using look-up table using the data of segmentationI_jValue, and to the measured value x, y, z of optical fibre gyro
Error compensation is carried out, output valve X, Y, Z are obtained, specifically includes the following steps:
S31 reads optical fibre gyro measured value x, y, z, and is converted into floating type numerical value；
S32 carries out floating type matrix operation using formula (1), compensates to floating type numerical value x, y, z, i.e., in table
The non-orthogonal angles margin of error of corresponding segment compensates, and obtains floating type output valve X, Y, Z；
In formula, KI_jIndicate the cosine value of j axis and the angle of reference axis I, angle i.e. 90 ° subtract the j axis and base being calculated
The non-orthogonal angles of fiducial axis I, I=x or y or z, j=x or y or z, I ≠ j, Nx, Ny, Nz are respectively three axis optical fibre gyro x, y, z axis
Absolute zero bias.
Floating type output valve X, Y, Z are converted to integer numerical value as output valve by S33.
Because the optical fibre gyro output of products value that directly reads is integer, the non-orthogonal angles of compensation for output valve,
It is one a small amount of, to guarantee its precision, needs to carry out the matrix multiplier of floating type, therefore measured value x, y, z is converted into floating-point
Number；Compensated result is floating number, and compensation result is converted to integer herein and is exported, and forbids to lose precision.
Since the variable quantity that the variable quantity of the non-orthogonal angles of each optical fibre gyro product varies with temperature is substantially inconsistent
, it is complete therefore need to choose more products and carry out nonopiate Angle Measurement Test under temperature gradient, to these data analyze its with
The variation characteristic of temperature obtains segmentation and table.
The present embodiment chooses 1501001Y product as research object, becomes from 1501001Y product shown in Fig. 2 with temperature
The nonopiate characteristic changed can be seen that non-orthogonal angles and increase and reduce with temperature, full temperature variable quantity up to 12 ˊ, if every 20 DEG C
It carries out segmentation and seeks KI_j, Nx, warm variable quantity compensation precision can reach 4 ˊ to non-orthogonal angles entirely；If every 10 DEG C carry out segmentation and seek KI_j、
Nx, warm variable quantity compensation precision can reach 2 ˊ to non-orthogonal angles entirely；If every 5 DEG C carry out segmentation and seek KI_j, Nx, non-orthogonal angles are entirely warm
Variable quantity compensation precision can reach 0.6 ˊ.
In view of the application range of optical fibre gyro, under normal circumstances, the non-orthogonal angles of low-precision optical fiber gyro warm variable quantity entirely
It is required that being 12 ˊ, warm variable quantity requires to be 8 ˊ, the non-orthogonal angles of high-precision optical fiber gyro the non-orthogonal angles of middle precision optical fiber gyro entirely
Full temperature variable quantity requires to be 4 ˊ, of course it is not excluded individual applicable cases propose excessively high requirement to the index.It is applied in view of market
Situation is the most suitable with every 10 DEG C of progress segmented compensation when carrying out non-orthogonal angles error compensation.Piecewise interval length is shorter,
Compensation calculation speed is slower.
The K of its critically weighted is taken using the curve of compensation method of the invention to Fig. 2I_j, Nx compensate, obtain Fig. 3
Shown in compensate after non-orthogonal angles temperature characteristics figure, it is seen that after compensation its non-orthogonal angles entirely warm variable quantity in 2 ˊ or so.
Embodiment 2
The present embodiment chooses 1501002Y product as research object, becomes from 1501002Y product shown in Fig. 4 with temperature
The nonopiate characteristic changed can be seen that non-orthogonal angles and increase and increase with temperature, full temperature variable quantity up to 8 ˊ, if every 20 DEG C into
K is sought in row segmentationI_j, Nx, warm variable quantity compensation precision can reach 4 ˊ to non-orthogonal angles entirely；If every 10 DEG C carry out segmentation and seek KI_j, Nx,
Warm variable quantity compensation precision can reach 0.5 ˊ to non-orthogonal angles entirely；If every 5 DEG C carry out segmentation and seek KI_j, Nx, the full temperature of non-orthogonal angles becomes
Change amount compensation precision can reach 0.3 ˊ.
Similarly, in view of the application range of optical fibre gyro and market applicable cases, when carrying out non-orthogonal angles error compensation,
With every 10 DEG C of progress segmented compensation.
The K of in-between temperature spot is taken using the curve of compensation method of the invention to Fig. 4I_j, Nx compensate, obtain Fig. 5
Shown in compensate after non-orthogonal angles temperature characteristics figure, it is seen that after compensation its non-orthogonal angles entirely warm variable quantity in 0.5 ˊ or so.
Embodiment 3
The present embodiment chooses 1501003Y product as research object, becomes from 1501003Y product shown in fig. 6 with temperature
The nonopiate characteristic changed can be seen that non-orthogonal angles and increase and increase with temperature, Quan warm variable quantity only has 0.8 ˊ, in view of compensation
Preceding variable quantity itself is smaller, it is already possible to reach high-precision requirement, therefore not carry out error compensation to it.
Three kinds of curves of Examples 1 to 3 are very representative, substantially illustrate all non-orthogonal angles of optical fibre gyro
Temperature characterisitic.Complete warm variable quantity is up to 12 ˊ before above embodiments show non-orthogonal angles compensation, and full temperature variable quantity is small after compensation
In 2 ˊ, compensation method of the invention substantially increases the full warm nature energy of fibre optic gyroscope, is suitable for all fibre optic gyroscopes.
Claims (5)
1. a kind of general error compensating method of optical fibre gyro warm non-orthogonal angles deviation entirely, which comprises the following steps:
S1 carries out the non-orthogonal angles under different temperatures to three axis optical fibre gyro and measures, obtains the nonopiate of three reference axis respectively
Angle varies with temperature data；
The step S1 data obtained are segmented by S2 by temperature；
S3 obtains parameter K using look-up table using the data of segmentationI_jValue, and using formula (1) to optical fibre gyro at a temperature of certain
Non-orthogonal angles measured value x, y, z carry out error compensation, obtain output valve X, Y, Z:
In formula, KI_jThe cosine value of the angle of expression j axis and reference axis I, I=x or y or z, j=x or y or z, I ≠ j, Nx, Ny,
Nz is respectively three axis optical fibre gyro x, y, z axis absolute zero bias.
2. a kind of general error compensating method of optical fibre gyro according to claim 1 warm non-orthogonal angles deviation entirely, special
Sign is, the step S3 the following steps are included:
S31 reads optical fibre gyro measured value x, y, z, and is converted into floating type numerical value；
S32 carries out floating type matrix operation using formula (1), compensates to floating type numerical value x, y, z, obtains floating type output
Value X, Y, Z；
Floating type output valve X, Y, Z are converted to integer numerical value as output valve by S33.
3. a kind of general error compensating method of optical fibre gyro according to claim 1 warm non-orthogonal angles deviation entirely, special
Sign is, in the step S1, range of temperature is -45 DEG C~75 DEG C.
4. a kind of general error compensating method of optical fibre gyro according to claim 1 warm non-orthogonal angles deviation entirely, special
Sign is that preferably, in the step S2, each silicon carbide increment is 5~20 DEG C.
5. a kind of general error compensating method of optical fibre gyro according to claim 1 warm non-orthogonal angles deviation entirely, special
Sign is that preferably, in the step S2, each silicon carbide increment is 10 DEG C.
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| CN111854798B (en) * | 2020-07-13 | 2022-05-03 | 北京思卓博瑞科技有限公司 | Temperature compensation method and device of optical fiber gyroscope |
| CN113865577B (en) * | 2021-10-26 | 2022-08-12 | 北京天兵科技有限公司 | Fiber-optic gyroscope, and magnetic temperature cross-linking coupling error sectional compensation method and system |
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