CN108534799A - It is a kind of to correct the method and device that three axis optical fibre gyro is exported across striped using MEMS - Google Patents
It is a kind of to correct the method and device that three axis optical fibre gyro is exported across striped using MEMS Download PDFInfo
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- CN108534799A CN108534799A CN201810191871.4A CN201810191871A CN108534799A CN 108534799 A CN108534799 A CN 108534799A CN 201810191871 A CN201810191871 A CN 201810191871A CN 108534799 A CN108534799 A CN 108534799A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The method that three axis optical fibre gyro is exported across striped is corrected using MEMS the invention discloses a kind of, corresponds to the original output parameter of three axial directions of optical fibre gyro respectively including the use of MEMS chip acquisition MEMS gyro；It is converted it in optical fibre gyro coordinate system after carrying out error compensation to the original output parameter of MEMS gyro；According to the work fringe order of optical fibre gyro, the initial correction value of optical fibre gyro is set；According to collected data of optical fiber gyroscope, MEMS gyro data and/or initial correction value, the parameter difference that optical fibre gyro corrects data and MEMS gyro data is obtained；Striped adjustment series is judged using parameter difference, the real-time correction value of optical fibre gyro is determined, data of optical fiber gyroscope is modified and is exported using optical fibre gyro correction value.Technical solution of the present invention also discloses a kind of device exported across striped using MEMS amendment three axis optical fibre gyros.The present invention solves under severe dynamic environment caused by optical fibre gyro inherent characteristic across stripes problem, ensure that the reliability of optical fibre gyro output.
Description
Technical field
The invention belongs to optical fibre gyro fields of measurement, and in particular to a kind of to correct three axis optical fibre gyro across striped using MEMS
The method and device of output.
Background technology
Optical fibre gyro is a kind of angular rate sensor based on Sagnac effects, since its is at low cost, simple for process, reliable
Property it is high, anti shock and vibration ability is strong, have that structure of whole solid state, anti shock and vibration, dynamic range are big, bandwidth, are easy to digitize concurrently
The advantages that realization, application prospect have attracted much attention, and have become one of the sensor of current mainstream, be widely used in Aeronautics and Astronautics,
Multiple key areas such as navigation.Precision is an important measurement index of fiber optic gyroscope performance.Currently, optical fibre gyro mainly passes through
Increase fiber optic loop effective diameter and lengthen optical fiber ring length and improve precision, but this can cause its single stripe operation interval to subtract
It is small, it is more prone to across fringe phenomena under the conditions of big magnitude vibration, impact so that optical fibre gyro is operated in the striate region of mistake
Between, optical fibre gyro is affected in the application to the more demanding field of dynamic environment.
The prior art gyro stripe measurement (including single stripe and across striped) the problem of on, it is proposed that it is a large amount of to solve to do
Method.Specifically, a kind of method of enlarging optical fiber gyroscope range is proposed in CN101408426B, by designing optical fibre gyro
Sensitive ring light path, and demodulation amendment is carried out to the signal that sensing ring measurement obtains, so that optical fibre gyro is atwirl
In the case of electrifying startup when, residing striped rank can be told.It is disclosed in CN103900551B a kind of auxiliary based on MEMS
The method of the increase high-precision closed-loop optical fiber gyroscope range helped mainly exports high-precision closed-loop optical fiber gyroscope using MEMS
As a result it is modified, so that high-precision optical fiber gyro can also work normally under big angular speed, reaches and increase closed loop light
The purpose of fine gyro range.CN104949699A then discloses a kind of side expanding optical fiber gyroscope range based on magnetoresistive sensor
Method, solution is that optical fibre gyro startup moment must be in the limitation in first order interference fringe, and expands the amount of optical fibre gyro
Journey.
As can be seen that the prior art the gyro stripe measurement the problem of on mainly take the method for range extension, although expanding
Across the stripe measurement range or single stripe measuring range of big optical fibre gyro can solve the problems, such as optical fibre gyro measuring range, but
Be these methods both for optical fibre gyro the not high problem of operating accuracy under wide-angle or rotational case, without substantial
Optical fibre gyro is solved in the case where fiber optic loop effective diameter increases, fiber lengths improve, what single stripe operation interval reduced
Problem.Therefore, optical fibre gyro is reduced in single stripe operation interval, is more prone under the conditions of big magnitude vibration, impact
The problem of across fringe phenomena, needs to propose a kind of more effective solution.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides one kind correcting high-precision three based on MEMS
The method that axis optical fibre gyro exports across striped.The method of technical solution of the present invention is exported for current optical fibre gyro across striped
Situation increases a MEMS gyro on the basis of existing fiber gyro, by MEMS gyro to the output number of optical fibre gyro
According to being modified so that optical fibre gyro can correctly respond the output of carrier angular speed.
To achieve the above object, according to one aspect of the present invention, a kind of utilization MEMS three axis optical fiber tops of amendment are provided
The method that spiral shell is exported across striped, which is characterized in that including
S1 corresponds to the original output parameter of three axial directions of optical fibre gyro using MEMS chip acquisition MEMS gyro respectively, so that
The collected gyro data of MEMS gyro is corresponding with the measurement axis of optical fibre gyro；
S2 carries out error compensation to the original output parameter of MEMS gyro, and MEMS gyro data are then transformed into optical fiber top
In spiral shell coordinate system, the MEMS gyro data by installation error compensation are obtained；
S4 sets the initial correction value of optical fibre gyro according to the work fringe order of optical fibre gyro；
S5 obtains optical fibre gyro and repaiies according to collected data of optical fiber gyroscope, MEMS gyro data and/or initial correction value
The parameter difference of correction data and MEMS gyro data；
S6 judges striped adjustment series using parameter difference；If it adjusts the judgement model of series without departing from striped
It encloses, then adjusting series according to corresponding striped updates correction value, obtains optical fibre gyro correction value, enters step S8；Otherwise enter
Step S7；
Current correction value zero setting is entered step S5 by S7；
S8 is modified and exports to data of optical fiber gyroscope using optical fibre gyro correction value.
Preferably as one of technical solution of the present invention, step S2 includes,
S21 compensates the original output parameter of MEMS gyro using the installation error compensation matrix of MEMS gyro；
S22 compensates the original output parameter of MEMS gyro according to the intrinsic zero bias value of MEMS gyro.
Preferably as one of technical solution of the present invention, optical fibre gyro correction value preferably by currently judge fringe order,
It is current to judge that fringe order needs the series variable quantity adjusted and the corresponding angular speed span of optical fibre gyro single-stage striped to obtain.
Preferably as one of technical solution of the present invention, MEMS gyro preferably while sensitive three directional angular velocity information,
The information update frequency of the MEMS gyro is preferably not less than data of optical fiber gyroscope renewal frequency.
Preferably, the angular speed of the preferred MEMS gyro of MEMS gyro data is in optical fiber top by one as technical solution of the present invention
Corresponding angular speed under spiral shell coordinate system.
According to one aspect of the present invention, a kind of dress exported across striped using MEMS amendment three axis optical fibre gyros is provided
It sets, including MEMS chip and optical fibre gyro, which is characterized in that MEMS chip installation parallel with the axial direction of optical fibre gyro is solid
It is fixed.
Preferably as one of technical solution of the present invention, in MEMS chip the highest axis of measurement accuracy preferably with optical fibre gyro
In need most the parallel installation of axis of compensation and fix.
Preferably, the axis installation direction of MEMS chip can be same with the axis of optical fibre gyro by one as technical solution of the present invention
To or it is reversed.
Preferably as one of technical solution of the present invention, MEMS gyro preferably while sensitive three directional angular velocity information,
The information update frequency of the MEMS gyro is preferably not less than data of optical fiber gyroscope renewal frequency.
Preferably, the angular speed of the preferred MEMS gyro of MEMS gyro data is in optical fiber top by one as technical solution of the present invention
Corresponding angular speed under spiral shell coordinate system.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit：
1) method of technical solution of the present invention increases by one on the basis of existing high-precision three axis optical fibre gyro on hardware
The amendment exported across striped to three axis optical fibre gyro can be realized in 3 axis MEMS gyro chip, and smaller, profit is changed to former scheme
In realization.
2) method of technical solution of the present invention carries out installation error compensation to MEMS gyro first, and it is higher to obtain accuracy
MEMS output parameters cause to judge to malfunction to avoid other axial input angular velocities because installation error is fused to sensitive axes, into
One step improves the modified accuracys of MEMS.
3) three axial directions of the method for technical solution of the present invention, MEMS gyro are flat with three axial directions of optical fibre gyro respectively
Row, and to need most an axis of compensation parallel for the highest axis of MEMS measurement accuracy and optical fibre gyro, further improves light
The compensation precision of fine gyro.
4) the initialization striped and initial correction value of optical fibre gyro is arranged in the method for technical solution of the present invention first, right
The collected initial data of optical fibre gyro is modified, and is obtained itself and the difference Jing Guo modified MEMS gyro data, is utilized difference
Value adjusts basis for estimation in conjunction with the fringe order of optical fibre gyro, determines whether optical fibre gyro is operated in correct range, to
Obtain more accurate correction value.
Description of the drawings
Fig. 1 is that MEMS gyro chip corrects across the striped output scheme flow chart of optical fibre gyro in the embodiment of the present invention；
Fig. 2 is defeated before and after each nose balance of MEMS gyro when optical fibre gyro X-axis is rotated with 60 °/s in the embodiment of the present invention
Go out to compare figure；
Wherein, Fig. 2 (a) is that the front and back output of MEMS gyro X-axis compensation, Fig. 2 (b) are when optical fibre gyro X-axis is rotated with 60 °/s
MEMS gyro Y-axis compensation front and back output when optical fibre gyro X-axis is rotated with 60 °/s, Fig. 2 (c) are that optical fibre gyro X-axis is turned with 60 °/s
MEMS gyro Z axis compensation front and back output when dynamic.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.The present invention is described in more detail With reference to embodiment.
Proposed in the embodiment of the present invention it is a kind of based on MEMS correct high-precision three axis optical fibre gyro across the side that striped exports
Method.It increases a 3 axis MEMS gyro chip on the basis of existing three axis optical fibre gyro, to realize to three axis light
The amendment that fine gyro is exported across striped.When being modified to across the striped output problem of optical fibre gyro using MEMS, MEMS gyro
Three quadrature axis in chip need to cooperate with three quadrature axis of optical fibre gyro.For MEMS gyro, three of them
Tool has a relatively high measuring accuracy there are one axial in quadrature axis, and the higher axis of the precision is preferably corresponding in the present embodiment
Across striped output problem axial direction the most serious measures on cooperation optical fibre gyro.Preferably, in the present embodiment when mounted,
It selects best (measurement accuracy is highest) of MEMS gyro axial, this axis is parallel to need most on optical fibre gyro exports
The axis of compensation is installed.Further, MEMS gyro chip other two it is axial preferably with optical fibre gyro other two
It is arranged in an axially parallel mode, direction can be consistent or opposite.
The method of the present embodiment, first compensates MEMS gyro, then compares MEMS gyro and optical fibre gyro in real time
Data, optical fibre gyro fringe order is corrected in real time by pre-designed algorithm.The method of the present embodiment, can
It solves to export reliable across stripes problem, guarantee optical fibre gyro caused by optical fibre gyro inherent characteristic under severe dynamic environment
Property, there is larger realistic meaning.That is, the present embodiment only increases on hardware on the basis of original three axis optical fibre gyro
Add a 3 axis MEMS gyro chip that the amendment exported across striped to three axis optical fibre gyro can be realized.It is first to MEMS gyro
It compensates, then by comparing MEMS gyro and data of optical fiber gyroscope in real time, using backoff algorithm to optical fibre gyro fringe order
It corrects in real time.As the preferred of the present embodiment, increased MEMS gyro chip is preferably three axis accelerometer chip, can be sensitive simultaneously
The angular velocity information in tri- directions X/Y/Z, and its information update frequency is preferably not less than data of optical fiber gyroscope renewal frequency.Its
In, three orthogonal directions of MEMS gyro chip correspond to three orthogonal directions of optical fibre gyro respectively, for example, by MEMS gyro chip
Axial direction corresponding with optical fibre gyro is named as X/Y/Z axis.
After acquisition obtains the output signal of MEMS gyro, need to carry out installation error compensation to it, and calculate MEMS tops
The angular speed of spiral shell output corresponding angular speed under optical fibre gyro coordinate system.Then utilize MEMS in optical fibre gyro coordinate system
Angular speed further corrects the output signal of optical fibre gyro.
With reference to specific data to utilizing MEMS to across the striped output of high-precision three axis optical fibre gyro in the present embodiment
The process being modified is explained comprising the following steps：
(1) the original output parameter Ω ' of MEMS chip acquisition three axial directions of MEMS gyro is utilizedmems_X、Ω′mems_YWith
Ω′mems_Z；
(2) installation error compensation is carried out to the original output parameter of MEMS, MEMS gyro data is obtained, in the present embodiment
Installation error compensation model is preferably as follows：
Wherein,To pass through the MEMS gyro data of installation error compensation,For installation error
Compensation matrix, those skilled in the art can specifically determine according to the classification of used optical fibre gyro and MEMS gyro chip；Preferably pass through to demarcate for the intrinsic zero bias value of MEMS gyro, in the present embodiment and obtain.
(3) constant multiplier conversion is carried out to the MEMS gyro data by installation error compensation, is multiplied by optical fibre gyro
Constant multiplier and the ratio between MEMS gyro constant multiplier, obtain Ωmems(X Y Z axis).Since the output of MEMS gyro chip is joined
Number is not necessarily consistent with the output parameter of optical fibre gyro, and therefore, it is necessary to first be converted into the output parameter of MEMS gyro and optical fiber
Then the consistent format of gyro utilizes the ratio between constant multiplier and MEMS gyro constant multiplier of optical fibre gyro to obtain MEMS gyro core
The output parameter of piece corresponding parameter value in optical fibre gyro coordinate system.That is, in the present embodiment, the output of MEMS gyro chip is joined
After number requires transformation into optical fibre gyro coordinate system, it could be used to correct the output parameter of optical fibre gyro.For different MEMS
Gyro and optical fibre gyro, the ratio between constant multiplier difference.
(4) data Ω collected to optical fibre gyrofog, utilize difference DELTA ω=Ωfog+NiΩ2π-ΩmemsTo striped tune
Entire series Δ NiJudged.Wherein, NiCurrently to judge fringe order, as i=0, N0For initial decision fringe order；Δ
NiFor current fringes series N0Need the series variable quantity adjusted, value may be positive number or 0 or negative.In formula, nonnegative integer i
Only make the differentiation of loop iteration number to be used, does not have specific symbol meaning.
When judgement, if fringe order without departing from determination range, i.e. optical fibre gyro is operated within the scope of suitable striped, then
Update Ni+1Ω2π, enable Ni+1Ω2π=NiΩ2π+ΔNiΩ2π；If exceeding determination range, Ni+1Ω2πClear 0, while utilizing difference DELTA
ω=Ωfog-Ωmems(i.e. Δ ω=Ωfog+NiΩ2π-Ωmems, N at this timeiΩ2πFor 0) to Δ NiJudged, and updates Ni+1
Ω2π.The N finally obtained within the scope of the striped of optical fibre gyro worki+1Ω2πThe as correction value N Ω of optical fibre gyro2π。
Wherein, Ω2πFor the corresponding angular speed span of optical fibre gyro single-stage striped, for correction value N Ω2π, to optical fiber top
Before spiral shell is modified, it is necessary first to which an output modifier N is set0Ω2π, m grades are operated in when needing the optical fibre gyro judged
When striped, correction value N is enabled first0Ω2π=-m Ω2π, judge that difference is set as Δ ω=Ωfog+NiΩ2π-Ωmems, i is non-
Negative integer.
Since the result exported across striped is not arbitrary, there are N Ω with true output2π, in the present embodiment, striped
Series adjusting parameter Δ NiCriterion it is preferably as follows：
If-Ωth＜ Δ ω ＜ Ωth, then Δ N=0；
If Ωth＜ Δ ω ＜ Ω2π+Ωth, then Δ N=-1；
If-Ω2π-Ωth＜ Δ ω ＜-Ωth, then Δ N=+1；
If Ω2π+Ωth2 Ω of ＜ Δ ω ＜2π+Ωth, then Δ N=-2；
If -2 Ω2π-Ωth＜ Δ ω ＜-Ω2π-Ωth, then Δ N=+2；
If 2 Ω2π+Ωth3 Ω of ＜ Δ ω ＜2π+Ωth, then Δ N=-3；
If -3 Ω2π-Ωth＜ Δ ω ＜ -2 Ω2π-Ωth, then Δ N=+3；
If 3 Ω2π+Ωth4 Ω of ＜ Δ ω ＜2π+Ωth, then Δ N=-4；
If -4 Ω2π-Ωth＜ Δ ω ＜ -3 Ω2π-Ωth, then Δ N=+4；
Wherein, Ω2πFor the corresponding angular speed span of optical fibre gyro single-stage striped, for each specific gyro, root
It can be calculated, Ω according to its physical characteristic (such as effective diameter, length)thTo set judgment threshold, it is traditionally arranged to be Ωπ,
That is Ω2πThe half of value.
It should be pointed out that difference, corresponding criterion are also different for the working range of each optical fibre gyro.
Above-mentioned criterion is carried out only for a specific embodiment, does not constitute the restriction to technical solution of the present invention.
(5) it is Ω to export revised optical fibre gyro output parameterout=Ωfog+NΩ2π.That is, utilizing difference DELTA
ω may determine that striped adjustment series Δ NiIf the striped adjusts series in determination range, according to Δ NiTo correction value Ni+1
Ω2πIt is updated, even Ni+1Ω2π=NiΩ2π+ΔNiΩ2π, determine optical fibre gyro correction value, then optical fibre gyro exported
Parameter is modified；If exceeding determination range, by correction value NiΩ2πClear 0, and utilize difference DELTA ω=Ωfog-Ωmems(Ni
Ω2π0) to adjust series Δ N to stripediJudged, then updates N againi+1Ω2π, then determine optical fibre gyro correction value N
Ω2π。
Finally, optical fibre gyro is Ω by the revised real output value of MEMS gyroout=Ωfog+NΩ2π, wherein N
Ω2πAs finally determining correction value, the correction value be used to be modified optical fibre gyro.
The method of the present embodiment is described in further detail with reference to the accompanying drawings of the specification.It is provided in the present embodiment
A method of across the striped output of high-precision three axis optical fibre gyro is corrected based on MEMS, by taking any axis in three axis accelerometer as an example,
Optical fibre gyro and MEMS gyro flow chart of data processing are as shown in Figure 1.
MEMS gyro data are acquired in the present embodiment first, installation error compensation and constant multiplier alignment are carried out to it, is waited for
The data Ω of optical fibre gyrofogCome temporarily, to difference DELTA ω=Ωfog+NΩ2π-ΩmemsJudged (especially to set based on the gyro
The criterion set), N Ω are updated according to the result of judgement2π；If above-mentioned difference exceeds determination range, N Ω2πClear 0, according to difference
It is worth Δ ω=Ωfog-ΩmemsStriped adjustment series Δ N is judged, and updates N Ω2πIt is (i.e. above-mentioned to enable Ni+1Ω2π=NiΩ2π+
ΔNiΩ2π), as the optical fibre gyro correction value of optical fibre gyro, finally export revised ΩfogOutput, as Ωout=Ωfog
+NΩ2π。
The three axis optical fibre gyro used in the present embodiment, the physics range Ω of Y-axis gyroπFor -37.8 °/s~37.8 °/
s.When optical fibre gyro X-axis is rotated with+60 °/s angular speeds, output parameter such as Fig. 2 before and after each nose balance of MEMS gyro
(a) shown in~Fig. 2 (c).The output of MEMS gyro Y-axis is analyzed, if not compensated to MEMS gyro output, Y-axis
The output for having 3 °/s or so, when X-axis input angular velocity is 220 °/s, then Y-axis has the output of 11 °/s or so, opposite Ωπ=
37.8 °/s is a larger angular speed biasing, is easy to cause striped and judges error.Installation error compensation is carried out to MEMS gyro
Afterwards, the output of Y-axis maintains near 0.15 °/s, has preferable compensation effect.As shown in Figure 2.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of correcting the method that three axis optical fibre gyro is exported across striped using MEMS, which is characterized in that including
S1 corresponds to the original output parameter of three axial directions of optical fibre gyro using MEMS chip acquisition MEMS gyro respectively, so that MEMS
The collected gyro data of gyro is corresponding with the measurement axis of optical fibre gyro；
S2 carries out error compensation to the original output parameter of MEMS gyro, and MEMS gyro data, which are then transformed into optical fibre gyro, sits
In mark system, the MEMS gyro data by installation error compensation are obtained；
S4 sets the initial correction value of optical fibre gyro according to the work fringe order of optical fibre gyro；
S5 obtains optical fibre gyro and corrects number according to collected data of optical fiber gyroscope, MEMS gyro data and/or initial correction value
According to the parameter difference with MEMS gyro data；
S6 judges striped adjustment series using parameter difference；If it adjusts the determination range of series without departing from striped,
Series is adjusted according to corresponding striped and updates correction value, is obtained optical fibre gyro correction value, is entered step S8；Otherwise it enters step
S7；
Current correction value zero setting is entered step S5 by S7；
S8 is modified and exports to data of optical fiber gyroscope using optical fibre gyro correction value.
2. a kind of method exported across striped using MEMS amendment three axis optical fibre gyros according to claim 1, wherein institute
Stating step S2 includes,
S21 compensates the original output parameter of MEMS gyro using the installation error compensation matrix of MEMS gyro；
S22 compensates the original output parameter of MEMS gyro according to the intrinsic zero bias value of MEMS gyro.
3. a kind of method exported across striped using MEMS amendment three axis optical fibre gyros according to claim 1 or 2,
In, the optical fibre gyro correction value is preferably by currently judging fringe order, the current series for judging fringe order needs and adjusting
Variable quantity and the corresponding angular speed span of optical fibre gyro single-stage striped obtain.
4. a kind of method exported across striped using MEMS amendment three axis optical fibre gyros according to claims 1 to 3,
In, the MEMS gyro is preferably while sensitive three directional angular velocity information, the information update frequency of the MEMS gyro are preferred
Not less than data of optical fiber gyroscope renewal frequency.
5. a kind of method exported across striped using MEMS amendment three axis optical fibre gyros according to claims 1 to 4,
In, the angular speed of the preferred MEMS gyro of the MEMS gyro data corresponding angular speed under optical fibre gyro coordinate system.
6. a kind of correcting the device that three axis optical fibre gyro is exported across striped, including MEMS chip and optical fibre gyro using MEMS,
It is characterized in that, MEMS chip installation parallel with the axial direction of optical fibre gyro is fixed.
7. according to claim 6 correct the device that three axis optical fibre gyro is exported across striped using MEMS, wherein described
The installation preferably parallel with the axis for needing most compensation in optical fibre gyro of the highest axis of measurement accuracy is fixed in MEMS chip.
8. correcting the device that three axis optical fibre gyro is exported across striped using MEMS described according to claim 6 or 7, wherein institute
The axis installation direction for stating MEMS chip can be in the same direction or reversed with the axis of optical fibre gyro.
9. correcting the device that three axis optical fibre gyro is exported across striped using MEMS described according to claim 6 or 7, wherein institute
It states MEMS gyro preferably while sensitive three directional angular velocity information, the information update frequency of the MEMS gyro is preferably not less than
Data of optical fiber gyroscope renewal frequency.
10. correcting the device that three axis optical fibre gyro is exported across striped using MEMS described according to claim 6 or 7, wherein
The angular speed of the preferred MEMS gyro of MEMS gyro data corresponding angular speed under optical fibre gyro coordinate system.
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| CN201810191871.4A CN108534799B (en) | 2018-03-08 | 2018-03-08 | Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems) |
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| CN201810191871.4A CN108534799B (en) | 2018-03-08 | 2018-03-08 | Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems) |
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| CN111238463A (en) * | 2020-01-19 | 2020-06-05 | 湖北三江航天红峰控制有限公司 | Modulation method and device based on random sequence digital closed-loop fiber optic gyroscope |
| CN111780787A (en) * | 2020-08-25 | 2020-10-16 | 中南大学 | MEMS inertial measurement unit calibration method based on optical fiber inertia assistance |
| CN115855015A (en) * | 2023-02-01 | 2023-03-28 | 中国船舶集团有限公司第七〇七研究所 | Method for solving large-angle impact of fiber-optic gyroscope |
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| CN115855015B (en) * | 2023-02-01 | 2023-05-02 | 中国船舶集团有限公司第七〇七研究所 | Method for solving large-angle impact of fiber optic gyroscope |
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