CN107843270A - A kind of optical fibre gyro Input axis misalignment temperature model modeling method - Google Patents
A kind of optical fibre gyro Input axis misalignment temperature model modeling method Download PDFInfo
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Abstract
The present invention relates to a kind of optical fibre gyro Input axis misalignment temperature model modeling method, comprise the following steps：(1) defines optical fibre gyro Input axis misalignment, determines test fixture and method of testing；Establish optical fibre gyro entirely warm misalignment in the projection components of YOZ planes and the relational model of temperature；Establish optical fibre gyro entirely warm misalignment in the projection components of XOZ planes and the relational model of temperature；(4) calculates the relational model that optical fibre gyro misalignment varies with temperature；(5) optical fibre gyros misalignment temperature-compensating.The inventive method can effectively identify change flex point of the optical fibre gyro misalignment in complete warm scope, the precision of modeling and compensation be improved, so as to improve the optical fibre gyro environmental suitability under the conditions of practical application.
Description
Technical field
The present invention relates to fiber-optics gyroscope field, especially a kind of optical fibre gyro Input axis misalignment temperature model modeling
Method.
Background technology
Optical fibre gyro is a kind of new all solid state angular rate sensor, have that cost is low, long lifespan, dynamic range are big and
High reliability, military and civil area has been widely used in it.
The core angular speed sensing element of optical fibre gyro is optical fiber loop, its be by solidification gluing knot multiturn Optical Fiber Winding and
Into.The equivalent plane normal of optical fiber loop is the input shaft (Input Axis, IA) of optical fibre gyro.Ideally, light is worked as
When fine input axis of gyro and mounting surface normal are that input reference axis (Input Reference Axis, IRA) is parallel, optical fibre gyro
Output quantity it is maximum.The input shaft of optical fibre gyro is the result of every circle optical fiber plane vector synthesis.Because coiling and colloid solidify
It is undesirable, cause IA axles and IRA axles and misaligned.And under the conditions of full temperature, because the undesirable of optical fiber, fiber optic loop coiling are answered
The uneven of power, solidification internal stress be uneven and the reason such as supporting construction and the Stress non-homogeneity of ring contact surface, causes optical fiber
The misalignment of gyro has greatly changed with temperature, has a strong impact on the engineer applied effect of optical fibre gyro.
The optical fibre gyro applied in complete warm scope, particularly in larger velocity gauge or high-precision applications, its input shaft
The error that misalignment varies with temperature is even more than bias drift error and scale factor error, the serious ring for restricting optical fibre gyro
Border adaptability.From mechanism eliminate temperature band come optical fibre gyro Input axis misalignment change difficulty greatly, cost it is high.Using temperature
Compensation technique is a kind of effectively to reduce the optical fibre gyro Input axis misalignment method that varies with temperature influence, key technology therein
It is how to establish the accurate model of a pervasive various temperature environments.According to the optical fibre gyro Input axis misalignment and temperature of foundation
Model, gather to export it after the real time temperature of optical fibre gyro and compensate, reduce optical fibre gyro input shaft so as to reach and lose
The index deterioration that the full temperature change in quasi- angle is brought influences.
The accuracy of optical fibre gyro Input axis misalignment temperature model directly determines final compensation effect.The essence of modeling
Degree is higher, and the optical fibre gyro Input axis misalignment change after compensation is smaller, could pervasive various temperature environments.
Warm misalignment modeling method is the several typical temperature spots of selection to traditional optical fibre gyro entirely, and test respectively obtains each
Optical fibre gyro misalignment corresponding to temperature spot, as the input of compensation model.Above-mentioned this optical fibre gyro warm misalignment entirely
Test and modeling method, because frequent operation rate table efficiency is low, and as the raising of modeling accuracy demand needs to increase
More temperature test points.Now, time and the cost of test can be greatly increased.At the same time, this method can not identify optical fiber
Change flex point of the gyro misalignment in complete warm scope, so as to influence compensation effect.
Therefore, it is necessary to establish a kind of high-precision optical fiber gyro Input axis misalignment temperature model modeling for being easy to Project Realization
Method, lift the environmental suitability of optical fibre gyro.
The content of the invention
It is an object of the invention to make up the deficiencies in the prior art part, there is provided a kind of optical fibre gyro Input axis misalignment temperature
Model modelling approach is spent, this method can reduce the change of optical fibre gyro Input axis misalignment in actual applications, improve environment
Adaptability.
The purpose of the present invention is realized by following technological means：
A kind of optical fibre gyro Input axis misalignment temperature model modeling method, it is characterised in that：Comprise the following steps：
(1) defines optical fibre gyro Input axis misalignment, determines test fixture and method of testing；
(2) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, establish optical fiber top
Spiral shell entirely warm misalignment in the projection components of YOZ planes and the relational model of temperature；
(3) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, establish optical fiber top
Spiral shell entirely warm misalignment in the projection components of XOZ planes and the relational model of temperature；
Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, meter
Calculate the relational model that optical fibre gyro misalignment varies with temperature；
(5) optical fibre gyros misalignment temperature-compensating.
Moreover, (1) described detailed process is step：
Optical fibre gyro is assembled with its mounting structure hexahedron, and optical fibre gyro is arranged on into high-precision hexahedron frock
On, optical fibre gyro and high-precision hexahedron frock are referred to as carrier, and as an integral installation on turntable table top；If
The fixed axle vertical with hexahedron mounting surface is OZ axles, as IRA axles；Orthogonal two ribs in the hexahedron vertical with OZ axles
Side axis are respectively OX axles and OY axles, and it collectively forms a rectangular coordinate system with OZ axles；Optical fibre gyro input shaft, as IA axles,
Angle between IA axles and IRA axles is the Input axis misalignment θ m of optical fibre gyro；
Above-mentioned carrier is arranged on single shaft rate table table top, makes IRA axles parallel to turntable table top, optical fibre gyro output
Ω IA and turntable input angle speed Ω relation can be expressed as：
ΩIA=Ω0+k·Ω·sin(θT) (1)
Wherein, Ω 0 is the intrinsic zero bias of optical fibre gyro, and θ T are the throwing that Input axis misalignment is currently tested in plane in carrier
Shadow component, wherein T=x or y, θ x are IA in YOZ plane projection components in XOZ plane projections component and IRA angle, θ y for IA
With IRA angle, k is the constant multiplier of optical fibre gyro；
Incubator is set according to temperature curve, and setting Tmax and Tmin is respectively 60 DEG C and -40 DEG C, Cooling rateFor 0.5
DEG C/min, the test of following each time is by the setting of this temperature curve.
Moreover, (2) described detailed process is step：
Normal direction by optical fibre gyro OY axles forward direction towards day parallel to single shaft rate table, now IRA axles and turntable platform
Face is parallel；Single axle table with the constant rate of speed of larger input angle speed (100 °/s of input angle speed ＞) carry out respectively it is positive and
Reversely rotate, record the optical fibre gyro output in whole test period, be designated as Ω respectivelyIAy+And ΩIAy-；θ T are small angle in formula 1
When (1 ° of θ T ＜), can approximation take sin (θ T) ≈ θ T, first during the vertical turntable table top direction of OY axles can be calculated accordingly
Measuring and calculation value θ IAy1：
K is the constant multiplier of optical fibre gyro；
In order to eliminate the structural failure of turntable, hexahedron is rotated 180 ° around OY axles, above-mentioned test process is repeated, obtains OY
Second measuring and calculation value θ IAy2 during the vertical turntable table top direction of axle；The two average is taken to eliminate turntable knot
Structure error, obtain that value is calculated as below：
In order to eliminate alignment error, hexahedron carrier is rotated 180 ° around IRA axles, makes OY axles forward direction down parallel to turntable
Input shaft；OY axles forward direction is repeated towards the test process twice during day, obtains the 3rd of the vertical turntable table top direction of OY axles respectively
(θ IAy3) and the 4th (θ IAy4) measuring and calculation value, the average value of both is taken to eliminate turntable structure error now, can
To be expressed as：
Finally, projection components and the angle variation with temperature of IRA axle of the IA after alignment error in YOZ planes are eliminated
Curve can be expressed as：
θ y are IA in YOZ plane projections component and IRA angle.
Moreover, (3) described detailed process is step：
Optical fibre gyro is rotated by 90 ° around OZ axles, makes OX axles forward direction respectively upwardly and downwardly perpendicular to turntable table top；According to step
Suddenly (2) in ask for θ y method, obtain IA axles projection components and angle variation with temperature curve θ of IRA axles in XOZ planes
x。
Moreover, (4) described detailed process is step：
Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, optical fiber
The Input axis misalignment of gyro can be expressed as：
Optical fibre gyro Input axis misalignment changes about 14 " under the conditions of full temperature, it can be seen that above-mentioned based on continuously rotating
Optical fibre gyro warm misalignment fast modeling method entirely, change flex point of the misalignment in complete warm scope can be effectively identified, without blind
The point ground situation that reflection misalignment varies with temperature comprehensively, so as to improve modeling accuracy.
Moreover, (5) described detailed process is step：
For step (4) the optical fibre gyro misalignment of middle acquisition and the relational model of temperature, using segmented least square method
Realize the modeling and compensation of optical fibre gyro warm misalignment entirely；In order to improve modeling accuracy, the flex point of segmentation can be selected in curve
Slope-inversion point at, and reduce the interval of segmented compensation near flex point to improve modeling accuracy.
The advantages and positive effects of the present invention are：
1st, optical fibre gyro is a kind of angular rate sensor, and the change of temperature can make its Input axis misalignment produce larger change
Change.Continuous rotation modeling method of the invention based on single shaft rate table, it can effectively identify optical fibre gyro misalignment in full temperature
In the range of change flex point, improve modeling and compensation precision, fitted so as to improve the optical fibre gyro environment under the conditions of practical application
Ying Xing.
2nd, the present invention is a kind of effective means for reducing optical fibre gyro warm Input axis misalignment entirely, and this method is easily achieved,
It is easy to operation, the change of optical fibre gyro Input axis misalignment can be reduced using this method, improves compensation effect.
Brief description of the drawings
Fig. 1 is the scheme of installation of optical fibre gyro and hexahedron test fixture；
Fig. 2 is that optical fibre gyro Input axis misalignment sets temperature curve schematic diagram with incubator in the test of its temperature model；
Fig. 3 is calculated curve of the misalignment in YOZ plane projection components；
Fig. 4 is calculated curve of the misalignment in XOZ plane projection components；
Fig. 5 is that optical fibre gyro Input axis misalignment varies with temperature curve before compensating；
Fig. 6 is that optical fibre gyro Input axis misalignment varies with temperature curve after compensating.
Embodiment
Below in conjunction with the accompanying drawings in detail narration embodiments of the invention, it is necessary to explanation, the present embodiment be it is narrative, no
It is limited, it is impossible to which protection scope of the present invention is limited with this.
A kind of optical fibre gyro Input axis misalignment temperature model modeling method, five steps are designed, altogether 16 groups of temperature rings
Border testing experiment.Specifically include following steps：
(1) defines optical fibre gyro Input axis misalignment, determines test fixture and method of testing：
Optical fibre gyro 1 is assembled with its mounting structure hexahedron 2 according to shown in Fig. 1, optical fibre gyro is arranged on high-precision
(carrier is referred to as in degree hexahedron frock), and as an integral installation on turntable table top；As shown in figure 1, setting
The axle vertical with hexahedron mounting surface is OZ axles (being IRA axles)；Orthogonal two ribs in the hexahedron vertical with OZ axles
Side axis are respectively OX axles and OY axles, and it collectively forms a rectangular coordinate system with OZ axles；Optical fibre gyro input shaft (being IA axles)
Angle between IRA axles is the Input axis misalignment θ m of optical fibre gyro；
Above-mentioned carrier is arranged on single shaft rate table table top, makes IRA axles parallel to turntable table top, optical fibre gyro output
Ω IA and turntable input angle speed Ω relation can be expressed as：
ΩLA=Ω0+k·Ω·sin(θT) 《1)
Wherein, Ω 0 is the intrinsic zero bias of optical fibre gyro, and θ T are the throwing that Input axis misalignment is currently tested in plane in carrier
Shadow component, wherein T=x or y, θ x are IA in YOZ plane projection components in XOZ plane projections component and IRA angle, θ y for IA
With IRA angle, k is the constant multiplier of optical fibre gyro；
Incubator is set according to temperature curve shown in Fig. 2, and setting Tmax and Tmin is respectively 60 DEG C and -40 DEG C, Cooling rateFor 0.5 DEG C/min, the test of following each time is set by this temperature curve.
(2) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, establish optical fiber top
Spiral shell entirely warm misalignment in the projection components of YOZ planes and the relational model of temperature：
Normal direction by optical fibre gyro OY axles forward direction towards day parallel to single shaft rate table, now IRA axles and turntable platform
Face is parallel；Single axle table is with the constant rate of speed of larger input angle speed (100 °/s of input angle speed ＞, such as 300 °/s) point
Not carry out forward and reverse rotation, record in whole test period optical fibre gyro output, be designated as Ω respectivelyIAy+And ΩIAy-；It is public
When θ T are small angle (1 ° of θ T ＜) in formula 1, can approximation take sin (θ T) ≈ θ T, the vertical turntable table top of OY axles can be calculated accordingly
First measuring and calculation value θ IAy1 during direction：
K is optic fiber gyroscope graduation factor；
In order to eliminate the structural failure of turntable, hexahedron is rotated 180 ° around OY axles, above-mentioned test process is repeated, obtains OY
Second measuring and calculation value θ IAy2 during the vertical turntable table top direction of axle；The two average is taken to eliminate turntable knot
Structure error, obtain that value is calculated as below：
In order to eliminate alignment error, hexahedron carrier is rotated 180 ° around IRA axles, makes OY axles forward direction down parallel to turntable
Input shaft；OY axles forward direction is repeated towards the test process twice during day, obtains the 3rd of the vertical turntable table top direction of OY axles respectively
(θ IAy3) and the 4th (θ IAy4) measuring and calculation value, the average value of both is taken to eliminate turntable structure error now, can
To be expressed as：
Finally, as shown in figure 3, the angle of projection components of the IA in YOZ planes after eliminating alignment error and IRA axles with
The change curve of temperature can be expressed as：
θ y are IA in YOZ plane projections component and IRA angle.
(3) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, establish optical fiber top
Spiral shell entirely warm misalignment in the projection components of XOZ planes and the relational model of temperature：
Optical fibre gyro is rotated by 90 ° around OZ axles, makes OX axles forward direction respectively upwardly and downwardly perpendicular to turntable table top；According to step
Suddenly (2) in ask for θ y method, obtain IA axles projection components and angle variation with temperature curve θ of IRA axles in XOZ planes
X, as shown in Figure 4.
Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, meter
Calculate the relational model that optical fibre gyro misalignment varies with temperature：
Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, optical fiber
The Input axis misalignment θ m of gyro can be expressed as：
As shown in figure 5, optical fibre gyro Input axis misalignment changes about 14 " under the conditions of full temperature, it can be seen that above-mentioned to be based on
The optical fibre gyro continuously rotated warm misalignment fast modeling method entirely, it can effectively identify change of the misalignment in complete warm scope
Flex point, reflect the situation that misalignment varies with temperature comprehensively, so as to improve modeling accuracy no blind spot.
(5) optical fibre gyros misalignment temperature-compensating.
For step (4) the optical fibre gyro misalignment of middle acquisition and the relational model of temperature, using segmented least square method
Realize the modeling and compensation of optical fibre gyro warm misalignment entirely.In order to improve modeling accuracy, the flex point of segmentation can be selected in curve
Slope-inversion point at, and reduce the interval of segmented compensation near flex point to improve modeling accuracy.Such as selected 10 segmentations temperature
Degree point carries out least square method modeling, and Fig. 6 gives the optical fibre gyro misalignment change curve after compensation.As can be seen that full temperature
Misalignment change is brought up within 1 " by 14 " before compensating, and performance improves more than an order of magnitude.
Claims (6)
- A kind of 1. optical fibre gyro Input axis misalignment temperature model modeling method, it is characterised in that：Comprise the following steps：(1) defines optical fibre gyro Input axis misalignment, determines test fixture and method of testing；(2) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, and it is complete to establish optical fibre gyro Warm misalignment is in the projection components of YOZ planes and the relational model of temperature；(3) under the conditions of full temperature, rate signal and temperature signal to optical fibre gyro synchronize collection, and it is complete to establish optical fibre gyro Warm misalignment is in the projection components of XOZ planes and the relational model of temperature；Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, calculate light The relational model that fine gyro misalignment varies with temperature；(5) optical fibre gyros misalignment temperature-compensating.
- A kind of 2. optical fibre gyro Input axis misalignment temperature model modeling method according to claim 1, it is characterised in that： (1) described detailed process is step：Optical fibre gyro is assembled with its mounting structure hexahedron, optical fibre gyro is arranged in high-precision hexahedron frock, light Fine gyro and high-precision hexahedron frock are referred to as carrier, and as an integral installation on turntable table top；Setting with The vertical axle of hexahedron mounting surface is OZ axles, as IRA axles；Orthogonal two seamed edge axles in the hexahedron vertical with OZ axles Respectively OX axles and OY axles, it collectively forms a rectangular coordinate system with OZ axles；Optical fibre gyro input shaft, as IA axles, IA axles Angle between IRA axles is the Input axis misalignment θ m of optical fibre gyro；Above-mentioned carrier is arranged on single shaft rate table table top, makes IRA axles parallel to turntable table top, optical fibre gyro output Ω IA It can be expressed as with turntable input angle speed Ω relation：ΩIA=Ω0+k·Ω·sin(θT) (1)Wherein, Ω 0 is the intrinsic zero bias of optical fibre gyro, and θ T are the projection point that Input axis misalignment is currently tested in plane in carrier Amount, wherein T=x or y, θ x be IA in XOZ plane projections component and IRA angle, θ y be IA YOZ plane projections component with IRA angle, k are the constant multiplier of optical fibre gyro；Incubator is set according to temperature curve, and setting Tmax and Tmin is respectively 60 DEG C and -40 DEG C, Cooling rateFor 0.5 DEG C/ Min, the test of following each time are set by this temperature curve.
- A kind of 3. optical fibre gyro Input axis misalignment temperature model modeling method according to claim 1, it is characterised in that： (2) described detailed process is step：Normal direction by optical fibre gyro OY axles forward direction towards day parallel to single shaft rate table, now IRA axles put down with turntable table top OK；Single axle table carries out forward and reverse respectively with the constant rate of speed of larger input angle speed (100 °/s of input angle speed ＞) Rotation, the optical fibre gyro output in whole test period is recorded, is designated as Ω respectivelyIAy+And ΩIAy-；θ T are small angle (θ T in formula 1 1 ° of ＜) when, can approximation take sin (θ T) ≈ θ T, first survey during the vertical turntable table top direction of OY axles can be calculated accordingly Try calculated value θ IAy1：<mrow> <msub> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mn>1</mn> </mrow> </msub> <mo>&ap;</mo> <mfrac> <mrow> <msub> <mi>&Omega;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mo>+</mo> </mrow> </msub> <mo>-</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mo>-</mo> </mrow> </msub> </mrow> <mrow> <mn>2</mn> <mi>k</mi> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>K is the constant multiplier of optical fibre gyro；In order to eliminate the structural failure of turntable, hexahedron is rotated 180 ° around OY axles, repeats above-mentioned test process, OY axles is obtained and hangs down Second measuring and calculation value θ IAy2 during straight turntable table top direction；The two average is taken to eliminate turntable structure mistake Difference, obtain that value is calculated as below：<mrow> <msubsup> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> </mrow> <mo>+</mo> </msubsup> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mn>2</mn> </mrow> </msub> </mrow> <mn>2</mn> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>In order to eliminate alignment error, hexahedron carrier is rotated 180 ° around IRA axles, OY axles forward direction is inputted down parallel to turntable Axle；OY axles forward direction is repeated towards the 3rd (θ of the test process twice during day, the respectively vertical turntable table top direction of acquisition OY axles IAy3) and the 4th (θ IAy4) measuring and calculation value, the average value of both is taken to eliminate turntable structure error now, can be with It is expressed as：<mrow> <msubsup> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> </mrow> <mo>-</mo> </msubsup> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mn>3</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> <mn>4</mn> </mrow> </msub> </mrow> <mn>2</mn> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>Finally, projection components and the angle variation with temperature curve of IRA axle of the IA after alignment error in YOZ planes are eliminated It can be expressed as：<mrow> <msub> <mi>&theta;</mi> <mi>y</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msubsup> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> </mrow> <mo>+</mo> </msubsup> <mo>+</mo> <msubsup> <mi>&theta;</mi> <mrow> <mi>I</mi> <mi>A</mi> <mi>y</mi> </mrow> <mo>-</mo> </msubsup> </mrow> <mn>2</mn> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>θ y are IA in YOZ plane projections component and IRA angle.
- A kind of 4. optical fibre gyro Input axis misalignment temperature model modeling method according to claim 1, it is characterised in that： (3) described detailed process is step：Optical fibre gyro is rotated by 90 ° around OZ axles, makes OX axles forward direction respectively upwardly and downwardly perpendicular to turntable table top；According to step (2) In ask for θ y method, obtain IA axles projection components and angle variation with temperature curve θ x of IRA axles in XOZ planes.
- A kind of 5. optical fibre gyro Input axis misalignment temperature model modeling method according to claim 1, it is characterised in that： (4) described detailed process is step：Using step (2), step (3) the optical fibre gyro misalignment projection components of middle acquisition and the relational model of temperature, optical fibre gyro Input axis misalignment can be expressed as：<mrow> <msub> <mi>&theta;</mi> <mi>m</mi> </msub> <mo>=</mo> <msqrt> <mrow> <msubsup> <mi>&theta;</mi> <mi>x</mi> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>&theta;</mi> <mi>y</mi> <mn>2</mn> </msubsup> </mrow> </msqrt> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>Optical fibre gyro Input axis misalignment changes about 14 " under the conditions of full temperature, it can be seen that above-mentioned based on the optical fiber continuously rotated Gyro warm misalignment fast modeling method entirely, can effectively identify change flex point of the misalignment in complete warm scope, no blind spot The situation that reflection misalignment varies with temperature comprehensively, so as to improve modeling accuracy.
- A kind of 6. optical fibre gyro Input axis misalignment temperature model modeling method according to claim 1, it is characterised in that： (5) described detailed process is step：For step (4) the optical fibre gyro misalignment of middle acquisition and the relational model of temperature, realized using segmented least square method The modeling and compensation of optical fibre gyro warm misalignment entirely；In order to improve modeling accuracy, the flex point of segmentation can be selected in the oblique of curve At rate flex point, and reduce the interval of segmented compensation near flex point to improve modeling accuracy.
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| CN109556635A (en) * | 2019-01-02 | 2019-04-02 | 中国船舶重工集团公司第七0七研究所 | A kind of novel optical fiber gyro warm misalignment test method entirely |
| CN110954131A (en) * | 2018-09-27 | 2020-04-03 | 北京自动化控制设备研究所 | Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope |
| CN112697168A (en) * | 2020-11-27 | 2021-04-23 | 浙江大学 | Measuring device and method for simultaneously measuring scale factor and misalignment angle of fiber-optic gyroscope |
| CN112902944A (en) * | 2021-02-04 | 2021-06-04 | 浙江大学 | Method for compensating angle measurement error caused by installation and misalignment angle of fiber-optic gyroscope |
| CN117109566A (en) * | 2023-08-23 | 2023-11-24 | 长春航盛艾思科电子有限公司 | IMU temperature compensation method based on piecewise polynomial fitting |
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2017
- 2017-12-12 CN CN201711320211.3A patent/CN107843270A/en active Pending
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| CN110954131A (en) * | 2018-09-27 | 2020-04-03 | 北京自动化控制设备研究所 | Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope |
| CN110954131B (en) * | 2018-09-27 | 2022-09-09 | 北京自动化控制设备研究所 | Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope |
| CN109141480A (en) * | 2018-10-31 | 2019-01-04 | 中国船舶重工集团公司第七0七研究所 | A kind of optical fibre gyro ring bonding failure analysis methods |
| CN109556635A (en) * | 2019-01-02 | 2019-04-02 | 中国船舶重工集团公司第七0七研究所 | A kind of novel optical fiber gyro warm misalignment test method entirely |
| CN112697168A (en) * | 2020-11-27 | 2021-04-23 | 浙江大学 | Measuring device and method for simultaneously measuring scale factor and misalignment angle of fiber-optic gyroscope |
| CN112902944A (en) * | 2021-02-04 | 2021-06-04 | 浙江大学 | Method for compensating angle measurement error caused by installation and misalignment angle of fiber-optic gyroscope |
| CN112902944B (en) * | 2021-02-04 | 2022-08-26 | 浙江大学 | Method for compensating angle measurement error caused by installation and misalignment angle of optical fiber gyroscope |
| CN117109566A (en) * | 2023-08-23 | 2023-11-24 | 长春航盛艾思科电子有限公司 | IMU temperature compensation method based on piecewise polynomial fitting |
| CN117109566B (en) * | 2023-08-23 | 2024-01-23 | 长春航盛艾思科电子有限公司 | IMU temperature compensation method based on piecewise polynomial fitting |
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