CN108534799B - Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems) - Google Patents

Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems) Download PDF

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CN108534799B
CN108534799B CN201810191871.4A CN201810191871A CN108534799B CN 108534799 B CN108534799 B CN 108534799B CN 201810191871 A CN201810191871 A CN 201810191871A CN 108534799 B CN108534799 B CN 108534799B
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optic gyroscope
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CN108534799A (en
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高枫
孙娜
袁慧铮
张庆伟
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Hubei Sanjiang Aerospace Hongfeng Control Co Ltd
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Abstract

The invention discloses a method for correcting cross-stripe output of a triaxial fiber-optic gyroscope by using an MEMS (micro-electromechanical system), which comprises the steps of acquiring original output parameters of the MEMS gyroscope, which correspond to three axial directions of the fiber-optic gyroscope respectively, by using an MEMS chip; carrying out error compensation on the original output parameters of the MEMS gyroscope and then converting the original output parameters into a fiber optic gyroscope coordinate system; setting an initial correction value of the fiber-optic gyroscope according to the working fringe level of the fiber-optic gyroscope; acquiring parameter difference values of the fiber-optic gyroscope correction data and the MEMS gyroscope data according to the acquired fiber-optic gyroscope data, the acquired MEMS gyroscope data and/or the acquired initial correction value; and judging the stripe adjustment level number by using the parameter difference value, determining a real-time correction value of the fiber-optic gyroscope, and correcting and outputting the data of the fiber-optic gyroscope by using the correction value of the fiber-optic gyroscope. The technical scheme of the invention also discloses a device for correcting cross-stripe output of the triaxial fiber-optic gyroscope by using the MEMS. The invention solves the problem of cross stripe caused by inherent characteristics of the fiber-optic gyroscope in a severe dynamic environment, and ensures the output reliability of the fiber-optic gyroscope.

Description

Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems)
Technical Field
The invention belongs to the field of fiber-optic gyroscope measurement, and particularly relates to a method and a device for correcting cross-stripe output of a triaxial fiber-optic gyroscope by using an MEMS (micro-electromechanical system).
Background
The fiber-optic gyroscope is an angular rate sensor based on the Sagnac effect, has the advantages of low cost, simple process, high reliability, strong shock and vibration resistance, all-solid-state structure, shock and vibration resistance, large dynamic range, wide frequency band, easy digital realization and the like, has great importance on application prospect, becomes one of the mainstream sensors at present, and is widely applied to a plurality of important fields of aviation, aerospace, navigation and the like. The precision is an important measurement index of the performance of the fiber-optic gyroscope. At present, the precision of the fiber optic gyroscope is improved mainly by increasing the effective diameter of a fiber optic ring and lengthening the length of the fiber optic ring, but the single stripe working interval of the fiber optic gyroscope is reduced, and the phenomenon of cross stripe is easier to generate under the conditions of large-scale vibration and impact, so that the fiber optic gyroscope works in the wrong stripe interval, and the application of the fiber optic gyroscope in the field with higher requirements on dynamic environment is influenced.
The prior art has proposed a number of solutions to the problem of gyroscopic fringe measurement, including single fringe and cross-fringe. Specifically, CN101408426B proposes a method for increasing the range of a fiber optic gyroscope, which designs a dual-sensitive ring optical path of the fiber optic gyroscope, and demodulates and corrects a signal measured by a sensitive ring, so that when the fiber optic gyroscope is powered on and started under the condition of fast rotation, the fringe level of the fiber optic gyroscope can be identified. CN103900551B discloses a method for increasing the range of a high-precision closed-loop fiber optic gyroscope based on MEMS assistance, which mainly corrects the output result of the high-precision closed-loop fiber optic gyroscope by using MEMS, so that the high-precision fiber optic gyroscope can normally work at a large angular velocity, and the purpose of increasing the range of the closed-loop fiber optic gyroscope is achieved. CN104949699A discloses a method for expanding the range of a fiber optic gyroscope based on a magnetoresistive sensor, which solves the problem that the fiber optic gyroscope must be limited in the first-order interference fringes at the starting moment, and expands the range of the fiber optic gyroscope.
It can be seen that, in the prior art, the method of enlarging the measurement range is mainly adopted for the problem of gyro fringe measurement, although the problem of the measurement range of the fiber optic gyro can be solved by enlarging the cross-fringe measurement range or the single-fringe measurement range of the fiber optic gyro, these methods are all directed at the problem that the working accuracy of the fiber optic gyro is not high under the condition of large angle or rotation, and do not substantially solve the problem that the working interval of the single fringe of the fiber optic gyro is reduced under the condition that the effective diameter of the fiber optic ring is increased and the length of the optical fiber is increased. Therefore, a more effective solution is needed to solve the problem that the fiber-optic gyroscope is more likely to generate the cross-fringe phenomenon under a large number of vibration and impact conditions due to the reduction of the single-fringe working interval.
Disclosure of Invention
In view of the above deficiencies or needs in the art, the present invention provides a method for correcting cross-fringe output of a high-precision triaxial fiber-optic gyroscope based on MEMS. According to the method of the technical scheme, aiming at the situation that the existing optical fiber gyroscope outputs in a cross-stripe mode, the MEMS gyroscope is added on the basis of the existing optical fiber gyroscope, and the output data of the optical fiber gyroscope is corrected through the MEMS gyroscope, so that the optical fiber gyroscope can correctly respond to the carrier angular rate output.
To achieve the above object, according to one aspect of the present invention, there is provided a method for correcting cross-fringe output of a triaxial fiber-optic gyroscope using MEMS, comprising
S1, acquiring three axial original output parameters of the MEMS gyroscope respectively corresponding to the fiber-optic gyroscope by using the MEMS chip, so that gyroscope data acquired by the MEMS gyroscope corresponds to a measuring axis of the fiber-optic gyroscope;
s2, carrying out error compensation on the original output parameters of the MEMS gyroscope, and then converting the MEMS gyroscope data into a fiber optic gyroscope coordinate system to obtain the MEMS gyroscope data subjected to installation error compensation;
s4, setting an initial correction value of the fiber optic gyroscope according to the working fringe level of the fiber optic gyroscope;
s5, acquiring parameter difference values of the fiber-optic gyroscope correction data and the MEMS gyroscope data according to the acquired fiber-optic gyroscope data, the MEMS gyroscope data and/or the initial correction value;
s6, judging the stripe adjusting level by using the parameter difference; if the correction value does not exceed the judgment range of the fringe adjustment stage number, updating the correction value according to the corresponding fringe adjustment stage number to obtain the fiber optic gyroscope correction value, and entering the step S8; otherwise, go to step S7;
s7, setting the current correction value to zero, and entering the step S5;
s8 corrects the fiber-optic gyroscope data with the fiber-optic gyroscope correction value and outputs the corrected fiber-optic gyroscope data.
As a preferable aspect of the present invention, step S2 includes,
s21, compensating the original output parameters of the MEMS gyroscope by using the mounting error compensation matrix of the MEMS gyroscope;
s22, compensating the original output parameters of the MEMS gyroscope according to the inherent zero bias value of the MEMS gyroscope.
As an optimization of the technical scheme of the invention, the fiber-optic gyroscope corrected value is preferably obtained through the current judgment of the grade number of the fringe, the grade variation quantity required to be adjusted by the current judgment of the grade number of the fringe and the angular velocity span corresponding to the single-stage fringe of the fiber-optic gyroscope.
As a preferred choice of the technical scheme of the invention, the MEMS gyroscope preferably simultaneously senses the information of the angular velocities in three directions, and the information updating frequency of the MEMS gyroscope is preferably not lower than the data updating frequency of the fiber-optic gyroscope.
Preferably, the MEMS gyroscope data is an angular velocity of the MEMS gyroscope corresponding to the optical fiber gyroscope coordinate system.
According to one aspect of the invention, the device for correcting the cross-fringe output of the triaxial fiber-optic gyroscope by using the MEMS comprises a MEMS chip and the fiber-optic gyroscope, and is characterized in that the MEMS chip and the fiber-optic gyroscope are installed and fixed in parallel in the axial direction.
As a preferable mode of the technical scheme of the invention, the axis with the highest measurement precision in the MEMS chip is preferably arranged and fixed in parallel with the axis which needs to be compensated most in the fiber-optic gyroscope.
As a preferable preference of the technical scheme of the invention, the axial installation direction of the MEMS chip can be the same as or opposite to the axial direction of the fiber-optic gyroscope.
As a preferred choice of the technical scheme of the invention, the MEMS gyroscope preferably simultaneously senses the information of the angular velocities in three directions, and the information updating frequency of the MEMS gyroscope is preferably not lower than the data updating frequency of the fiber-optic gyroscope.
Preferably, the MEMS gyroscope data is an angular velocity of the MEMS gyroscope corresponding to the optical fiber gyroscope coordinate system.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1) according to the method, based on the existing high-precision triaxial fiber optic gyroscope, the correction of the cross-stripe output of the triaxial fiber optic gyroscope can be realized by adding a triaxial MEMS gyroscope chip on hardware, the change of the original scheme is small, and the method is favorable for realization.
2) According to the method of the technical scheme, the MEMS gyroscope is subjected to installation error compensation, the MEMS output parameters with high accuracy are obtained, so that judgment errors caused by fusion of other axial input angular speeds to the sensitive axis due to installation errors are avoided, and the accuracy of MEMS correction is further improved.
3) According to the method provided by the technical scheme of the invention, the three axial directions of the MEMS gyroscope are respectively parallel to the three axial directions of the optical fiber gyroscope, and the axis with the highest MEMS measurement precision is parallel to the axis which needs to be compensated most by the optical fiber gyroscope, so that the compensation precision of the optical fiber gyroscope is further improved.
4) According to the method, the initial working stripes and the initial correction value of the fiber-optic gyroscope are set, the original data collected by the fiber-optic gyroscope are corrected, the difference value between the original data and the corrected MEMS gyroscope data is obtained, the difference value is combined with the stripe level adjustment judgment basis of the fiber-optic gyroscope, whether the fiber-optic gyroscope works in the correct range is determined, and therefore the more accurate correction value is obtained.
Drawings
FIG. 1 is a flow chart of a scheme for correcting cross-stripe output of a fiber-optic gyroscope by an MEMS gyroscope chip in an embodiment of the invention;
FIG. 2 is a graph comparing the output of the MEMS gyroscope before and after each axial compensation when the X-axis of the fiber optic gyroscope rotates at 60 °/s according to the embodiment of the present invention;
fig. 2(a) shows the compensation front-rear output of the X axis of the MEMS gyroscope when the X axis of the fiber optic gyroscope rotates at 60 °/s, fig. 2(b) shows the compensation front-rear output of the Y axis of the MEMS gyroscope when the X axis of the fiber optic gyroscope rotates at 60 °/s, and fig. 2(c) shows the compensation front-rear output of the Z axis of the MEMS gyroscope when the X axis of the fiber optic gyroscope rotates at 60 °/s.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
The embodiment of the invention provides a method for correcting cross-stripe output of a high-precision triaxial fiber-optic gyroscope based on an MEMS. On the basis of the existing triaxial fiber-optic gyroscope, a triaxial MEMS gyroscope chip is added for realizing the correction of the cross-stripe output of the triaxial fiber-optic gyroscope. When the MEMS is used for correcting the cross-stripe output problem of the fiber-optic gyroscope, three orthogonal axes in the MEMS gyroscope chip need to be matched with three orthogonal axes of the fiber-optic gyroscope. For the MEMS gyroscope, one of the three orthogonal axes has relatively high measurement accuracy, and the axis with higher accuracy in this embodiment is preferably used for measuring the axis with the most serious cross-fringe output problem on the fiber-optic gyroscope. Preferably, in the present embodiment, during installation, the best (highest measurement accuracy) axial direction of the MEMS gyroscope is selected, and the axis is installed in parallel to the axis of the fiber-optic gyroscope that needs the most output compensation. Further, two other axial directions of the MEMS gyro chip are preferably arranged in parallel with the two other axial directions of the fiber-optic gyro, and the directions can be consistent or opposite.
According to the method, the MEMS gyroscope is compensated, then the data of the MEMS gyroscope and the data of the fiber optic gyroscope are compared in real time, and the fringe progression of the fiber optic gyroscope is corrected in real time through a pre-designed algorithm. The method of the embodiment can solve the problem of cross-stripe caused by inherent characteristics of the fiber-optic gyroscope in a severe dynamic environment, ensures the output reliability of the fiber-optic gyroscope, and has great practical significance. That is to say, in this embodiment, based on the original triaxial fiber optic gyroscope, the correction of the cross-stripe output of the triaxial fiber optic gyroscope can be realized only by adding one triaxial MEMS gyroscope chip to hardware. The method comprises the steps of compensating an MEMS gyroscope, comparing data of the MEMS gyroscope and data of the fiber optic gyroscope in real time, and correcting the fringe progression of the fiber optic gyroscope in real time by using a compensation algorithm. Preferably, the added MEMS gyroscope chip is preferably a three-axis gyroscope chip, which can sense angular velocity information in three directions of X/Y/Z simultaneously, and the information update frequency is preferably not lower than the data update frequency of the fiber-optic gyroscope. The three orthogonal directions of the MEMS gyroscope chip correspond to the three orthogonal directions of the fiber optic gyroscope, for example, the axial directions of the MEMS gyroscope chip and the fiber optic gyroscope are named as X/Y/Z axes.
After the output signal of the MEMS gyroscope is acquired, the output signal needs to be subjected to installation error compensation, and the angular velocity corresponding to the angular velocity output by the MEMS gyroscope in the optical fiber gyroscope coordinate system is calculated. And then further correcting the output signal of the fiber-optic gyroscope by utilizing the angular velocity of the MEMS in the coordinate system of the fiber-optic gyroscope.
The following describes, with reference to specific data, a process of correcting the cross-fringe output of the high-precision triaxial fiber optic gyroscope by using the MEMS in this embodiment, including the following steps:
(1) acquiring three axial original output parameters omega of MEMS gyroscope by using MEMS chip'mems_X、Ω′mems_YAnd omega'mems_Z；
(2) The method comprises the following steps of carrying out installation error compensation on an original output parameter of the MEMS to obtain MEMS gyro data, wherein an installation error compensation model in the embodiment is preferably as follows:
Figure BDA0001591936820000051
wherein the content of the first and second substances,
Figure BDA0001591936820000052
for the MEMS gyroscope data that is subject to mounting error compensation,
Figure BDA0001591936820000053
for installing the error compensation matrix, those skilled in the art can specifically determine the error compensation matrix according to the types of the fiber-optic gyroscope and the MEMS gyroscope chips used;
Figure BDA0001591936820000054
the inherent zero offset value of the MEMS gyroscope is preferably obtained by calibration in this embodiment.
(3) Carrying out scale factor conversion on the MEMS gyroscope data subjected to mounting error compensation, and multiplying the scale factor by the ratio of the scale factor of the fiber-optic gyroscope to the scale factor of the MEMS gyroscope to obtain omegamems(X \ Y \ Z axis). Because the output parameters of the MEMS gyroscope chip are not always consistent with the output parameters of the fiber optic gyroscope, the output parameters of the MEMS gyroscope need to be converted into a format consistent with the fiber optic gyroscope, and then the scale factor of the fiber optic gyroscope and the scale factor of the MEMS gyroscope need to be utilizedAnd obtaining the corresponding parameter value of the output parameter of the MEMS gyroscope chip in the fiber-optic gyroscope coordinate system. That is, in this embodiment, the output parameters of the MEMS gyroscope chip need to be converted into the fiber-optic gyroscope coordinate system before being used to correct the output parameters of the fiber-optic gyroscope. The ratio of scale factors is different for different MEMS gyroscopes and fiber optic gyroscopes.
(4) Data omega collected by fiber optic gyroscopefogUsing the difference Δ ω ═ Ωfog+NiΩ2π-ΩmemsAdjusting the number of steps DeltaN for the stripesiAnd (6) judging. Wherein N isiWhen i is equal to 0, N is used for judging the stripe level number currently0Judging the number of fringe levels for the initial time; delta NiFor the current number of fringe levels N0The number of stages to be adjusted may be varied by a positive number or 0 or negative number. In the formula, the non-negative integer i is used only for distinguishing the number of loop iterations, and has no specific sign meaning.
When judging, if the number of the fringe levels does not exceed the judging range, namely the fiber optic gyroscope works in the proper fringe range, updating Ni+1Ω2πLet N stand fori+1Ω2π＝NiΩ2π+ΔNiΩ2π(ii) a If the judgment range is exceeded, N isi+1 Ω 2π0 while using the difference Δ ω ═ Ωfog-Ωmems(i.e., Δ ω ═ Ω)fog+NiΩ2π-ΩmemsAt this time NiΩ2πIs 0) to Δ NiMake a judgment and update Ni+1Ω2π. Finally obtaining N in the working stripe range of the fiber-optic gyroscopei+1Ω2πNamely the correction value N omega of the fiber-optic gyroscope2π。
Wherein omega2πFor the angular velocity span corresponding to the single-stage fringe of the fiber-optic gyroscope, the correction value N omega2πBefore correcting the optical fiber gyro, an output correction value N needs to be set0Ω2πWhen the optical fiber gyroscope needing to be judged works on m-level stripes, firstly, the correction value N is enabled0Ω2π＝-mΩ2πThe determination difference is set to Δ ω ═ Ωfog+NiΩ2π-ΩmemsAnd i is a non-negative integer.
Since the result of cross-stripe output is not arbitrary, it has N Ω with the true output value2πIn this embodiment, the fringe order adjustment parameter Δ NiThe judgment criteria of (2) are preferably as follows:
if-omegath＜Δω＜ΩthIf Δ N is 0;
if omegath＜Δω＜Ω2π+ΩthIf Δ N is-1;
if-omega2π-Ωth＜Δω＜-ΩthIf Δ N is + 1;
if omega2π+Ωth＜Δω＜2Ω2π+ΩthThen Δ N ═ 2;
if-2 omega2π-Ωth＜Δω＜-Ω2π-ΩthIf Δ N is + 2;
if 2 omega2π+Ωth＜Δω＜3Ω2π+ΩthIf Δ N is-3;
if-3 omega2π-Ωth＜Δω＜-2Ω2π-ΩthIf Δ N is + 3;
if 3 omega2π+Ωth＜Δω＜4Ω2π+ΩthIf Δ N is-4;
if-4 omega2π-Ωth＜Δω＜-3Ω2π-ΩthIf Δ N is + 4;
wherein omega2πThe angular velocity span corresponding to the single-stage fringe of the fiber-optic gyroscope can be calculated according to the physical characteristics (such as effective diameter, length and the like) of each specific gyroscopethFor setting the judgment threshold, it is generally set to ΩπI.e. omega2πHalf the value.
It should be noted that the working range of each fiber-optic gyroscope differs, and the corresponding judgment criteria are different. The above judgment criteria are only performed for a specific embodiment, and do not limit the technical solution of the present invention.
(5) Outputting the corrected output of the fiber-optic gyroscopeParameter is omegaout＝Ωfog+NΩ2π. That is, the fringe adjustment order Δ N can be determined by the difference Δ ωiIf the number of the stripe adjustment stages is within the judgment range, the method determines the stripe adjustment stage according to the delta NiFor correction value Ni+1Ω2πCarry out updating, i.e. order Ni+1Ω2π＝NiΩ2π+ΔNiΩ2πDetermining a fiber optic gyroscope correction value, and then correcting an output parameter of the fiber optic gyroscope; if the correction value is beyond the judgment range, the correction value N is usedi Ω 2π0 and using the difference Δ ω ═ Ωfog-Ωmems(NiΩ2πIs 0) the number of steps Δ N of the stripe adjustmentiMake a judgment and then renew N againi+1Ω2πThen determining the correction value N omega of the fiber-optic gyroscope2π。
Finally, the actual output value of the fiber-optic gyroscope after being corrected by the MEMS gyroscope is omegaout＝Ωfog+NΩ2πWherein N.OMEGA2πI.e. the last determined correction value, which is used to correct the fiber optic gyroscope.
The method of the present embodiment is further described in detail below with reference to the drawings of the specification. In the embodiment, a method for correcting cross-stripe output of a high-precision triaxial fiber-optic gyroscope based on an MEMS is provided, taking any one axis of a triaxial gyroscope as an example, and a data processing flow of the fiber-optic gyroscope and the MEMS gyroscope is shown in fig. 1.
In this embodiment, the MEMS gyroscope data is first collected, and the mounting error compensation and the scale factor alignment are performed on the MEMS gyroscope data to be used for the data Ω of the fiber optic gyroscopefogTo get the difference Δ ω ═ Ω temporarilyfog+NΩ2π-ΩmemsJudging (based on the judgment standard specially set by the gyroscope), and updating N omega according to the judgment result2π(ii) a If the difference exceeds the judgment range, then N omega 2π0, according to the difference Δ ω ═ Ωfog-ΩmemsJudging the stripe adjusting stage number delta N and updating N omega2π(i.e., the above order Ni+1Ω2π＝NiΩ2π+ΔNiΩ2π) Fiber optic gyro correction as a fiber optic gyroValue, finally output the corrected omegafogThe output is omegaout＝Ωfog+NΩ2π。
In the three-axis fiber-optic gyroscope adopted in the embodiment, the physical range Ω of the Y-axis gyroscope isπIs-37.8 DEG/s to 37.8 DEG/s. When the X axis of the fiber optic gyroscope rotates at an angular rate of +60 °/s, the output parameters of the MEMS gyroscope before and after each axial compensation are shown in fig. 2(a) to 2 (c). The output of the Y axis of the MEMS gyroscope is analyzed, if the output of the MEMS gyroscope is not compensated, the output of about 3 degrees/s exists on the Y axis, and when the input angular speed of the X axis is 220 degrees/s, the output of about 11 degrees/s exists on the Y axis, and the relative omega is formedπThe angular velocity bias is large at 37.8 °/s, which easily causes a streak judgment error. After the MEMS gyroscope is subjected to installation error compensation, the output of the Y axis is maintained to be about 0.15 degrees/s, and the MEMS gyroscope has a good compensation effect. As shown in fig. 2.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A method for correcting cross-stripe output of a triaxial fiber-optic gyroscope by using an MEMS (micro-electromechanical system) is characterized by comprising
S1, acquiring three axial original output parameters of the MEMS gyroscope corresponding to the fiber optic gyroscope respectively by using the MEMS chip, so that gyroscope data acquired by the MEMS gyroscope corresponds to a measuring axis of the fiber optic gyroscope, wherein the MEMS chip and the fiber optic gyroscope are axially and parallelly installed and fixed, and an axis with the highest measuring precision in the MEMS chip and an axis which needs to be compensated most in the fiber optic gyroscope are parallelly installed and fixed;
s2, carrying out error compensation on the original output parameters of the MEMS gyroscope, and then converting the MEMS gyroscope data into a fiber optic gyroscope coordinate system by multiplying the ratio of the scale factor of the fiber optic gyroscope to the MEMS gyroscope scale factor to obtain the MEMS gyroscope data subjected to installation error compensation; the method specifically comprises the steps of compensating original output parameters of the MEMS gyroscope by using an installation error compensation matrix of the MEMS gyroscope; compensating the original output parameters of the MEMS gyroscope according to the inherent zero bias value of the MEMS gyroscope, wherein the installation error compensation matrix is as follows:
Figure FDA0002897300460000011
Figure FDA0002897300460000012
for the MEMS gyroscope data that is subject to mounting error compensation,
Figure FDA0002897300460000013
compensating a matrix for the installation error;
Figure FDA0002897300460000014
the original output parameters of three axial directions of the MEMS gyroscope are omega 'for the inherent zero bias value of the MEMS gyroscope'mems_X、Ω′mems_YAnd omega'mems_Z；
S4, setting an initial correction value of the fiber optic gyroscope according to the working fringe level of the fiber optic gyroscope, wherein the correction value is obtained through the current judgment fringe level, the level variation quantity required to be adjusted by the current judgment fringe level and the angular velocity span corresponding to the single-stage fringe of the fiber optic gyroscope;
s5 obtaining the data omega of the fiber-optic gyroscope according to the collected datafogMEMS gyroscope data omegamemsAnd an initial correction value, acquiring parameter difference value delta omega of the fiber-optic gyroscope correction data and the MEMS gyroscope data, wherein the delta omega is omegafog+NiΩ2π-ΩmemsWherein N isiFor the current determination of the number of fringe levels, Ω2πThe angular velocity span corresponding to the single-stage stripe of the fiber-optic gyroscope;
s6, judging the stripe adjusting level by using the parameter difference; if the correction value does not exceed the judgment range of the fringe adjustment stage number, updating the correction value according to the corresponding fringe adjustment stage number to obtain the fiber optic gyroscope correction value, and entering the step S8; otherwise, go to step S7;
s7, setting the current correction value to zero, and entering the step S5;
s8 corrects the fiber-optic gyroscope data with the fiber-optic gyroscope correction value and outputs the corrected fiber-optic gyroscope data.
2. The method of claim 1, wherein the MEMS gyroscope is sensitive to angular velocity information in three directions at the same time, and the information update frequency of the MEMS gyroscope is not lower than the data update frequency of the fiber-optic gyroscope.
3. The method for correcting the cross-fringe output of the triaxial fiber-optic gyroscope by using the MEMS according to claim 1 or 2, wherein the MEMS gyroscope data comprises the corresponding angular velocity of the MEMS gyroscope in a fiber-optic gyroscope coordinate system.
4. A device for correcting cross-fringe output of a triaxial fiber-optic gyroscope by utilizing MEMS (micro-electromechanical systems) for realizing the method of any one of claims 1-3, which comprises a MEMS chip and the fiber-optic gyroscope, wherein the MEMS chip is fixedly installed in parallel with the axial direction of the fiber-optic gyroscope, and an axis with the highest measurement precision in the MEMS chip is fixedly installed in parallel with an axis which needs to be compensated most in the fiber-optic gyroscope.
5. The apparatus for modifying a tri-axial fiber optic gyroscope cross-fringe output using MEMS according to claim 4, wherein the axis mounting direction of the MEMS chip is the same or opposite to the axis of the fiber optic gyroscope.
6. The device for correcting the cross-fringe output of the triaxial fiber-optic gyroscope by using the MEMS according to claim 4, wherein the MEMS gyroscope is sensitive to three-direction angular velocity information at the same time, and the information updating frequency of the MEMS gyroscope is not lower than the data updating frequency of the fiber-optic gyroscope.
7. The apparatus for modifying a tri-axial fiber optic gyroscope cross-fringe output using MEMS as claimed in claim 4, wherein MEMS gyroscope data is the angular velocity of the MEMS gyroscope corresponding to the angular velocity of the fiber optic gyroscope in the fiber optic gyroscope coordinate system.
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