CN108716925A - A kind of scaling method and device of nine axle sensors - Google Patents
A kind of scaling method and device of nine axle sensors Download PDFInfo
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- CN108716925A CN108716925A CN201811006816.XA CN201811006816A CN108716925A CN 108716925 A CN108716925 A CN 108716925A CN 201811006816 A CN201811006816 A CN 201811006816A CN 108716925 A CN108716925 A CN 108716925A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The present invention provides a kind of scaling method and device of nine axle sensors, the used group of the optical fiber of nine axle sensors is installed on by reference plane in calibration tooling, and overturning is carried out in the marble platform of north orientation benchmark for the calibration tooling so that optical fibre gyro is in first position, the second position and the third place；The method includes：Obtain the magnitude of angular velocity that the optical fibre gyro stands the optical fibre gyro easting in the first preset duration of test in first position, the second position and the third place；The optical fibre gyro is located under the different location state of first position, the second position and the third place, and three axis of the optical fibre gyro are arranged towards east respectively；The zero bias of each axis of the optical fibre gyro are calculated according to the magnitude of angular velocity, the zero bias of each axis of optical fibre gyro are that the optical fibre gyro exports mean value in the optical fibre gyro angular speed of each position easting.Present invention reduces the zero bias of the used group of optical fiber to demarcate duration, improves the calibration efficiency of the used group of optical fiber.
Description
Technical field
The present invention relates to inertial navigation technique field more particularly to a kind of scaling methods and device of nine axle sensors.
Background technology
Inertial Measurement Unit (Inertial Measurement Unit, IMU) is to measure three axis angular rate of object and acceleration
The device of degree, including three uniaxial accelerometers and three uniaxial gyros, total six-freedom degree, i.e. six axis IMU.Wherein,
Accelerometer detection object is in the acceleration signal of independent three axis of carrier coordinate system, and gyro detection carrier is relative to navigational coordinate system
Angular velocity signal, it is main output carrier angular acceleration and acceleration using optical fibre gyro as angular movement measuring instrumentss that optical fiber, which is used to group,
Spend the general designation of all kinds of inertia measurement equipment of information.Broadly, magnetic can be added on the basis of accelerometer and gyroscope in IMU
Strong meter forms complete nine axle sensors combination, i.e. nine axis IMU, wherein magnetometer is the instrument for measuring magnetic induction intensity, is used
In the size and direction that measure earth's magnetic field, that is, measure component of the geomagnetic field intensity vector in this system at carrier place.IMU
It is widely used to the professional navigation field such as military defense, aerospace, maritime affairs and mobile phone positioning, nothing with its unique advantage
The daily occasions such as people's driving, smart home.
For Inertial Measurement Unit after finished product, due to principle, manufacturing process is not perfect and the influence of use environment, measures
Acceleration and angular speed information usually all include error, whether classified with repeatability according to error, can be classified as
Two class of random error and ascertainment error, wherein random error refer to that can not be reappeared caused by various uncertain factors
Error, such as bias repeatability, zero bias unstability, constant multiplier random offset, quantizing noise, random error is due to it
No repeatability and can not eliminate, analysis inhibition can only be carried out using statistical method；Ascertainment error refers in identical environment item
The error that can reappear under part, value zero as usual partially, scale factor error, nonlinearity erron, temperature drift etc., ascertainment error can
It is described by mathematical model, can separated ascertainment error by calibration experiment and compensated when in use, utilized
Error coefficient undetermined establishes the functional relation between IMU original measurement values and carrier real motion acceleration, angular speed, will
The reality output of inertia type instrument is compared the calibration that can complete inertial measuring unit with theoretical output when known input, such as
The error parameter that gyro can be demarcated using earth rate, turntable rotating speed as rate reference, can on the basis of terrestrial gravitation acceleration
Demarcate the error parameter of accelerometer.Implement the excitation of true acceleration, angular speed to IMU by calibration experiment, it may be determined that accidentally
Poor parameter value, to be compensated to its error.By calibration compensation, most of ascertainment error of IMU can be eliminated, is significantly carried
Its high measurement accuracy.
Calibration technique is to determine instrument model parameter with known reference information by comparing the output valve of instrument, makes instrument
Output meets the process of reference information in its value range, it is therefore an objective to determine inertia type instrument and inertial navigation system mathematical model or
The parameter of error mathematic model.It in order to detach and calculate the parameter of inertia type instrument, needs to carry out accurate test, using special
Test equipment, calibrates the error term of instrument and system, and substitutes into the input and output mathematical model of gyro and accelerometer, and
It is compensated during navigation calculation, to effectively improve navigation accuracy.The error of inertia device is the main of inertial navigation system
Error source, how to improve the precision of inertia device is the important research direction of inertial navigation system, therefore, error is carried out to inertia device
Compensation is to improve the effective way of inertial navigation system navigation accuracy.
In the prior art, when being usually used to the calibration of group to optical fiber, multiple location points is typically demarcated, each location point is measured
Output, the zero bias for being used to optical fibre gyro in group to optical fiber according to the output error models of gyro calculate, to realize optical fiber
The zero bias of used group are demarcated.In traditional calibration mode, due to needing to be calculated by error model, so that optical fiber
The zero bias nominal time of used group is longer, causes the calibration of the used group of optical fiber less efficient.
Invention content
The embodiment of the present invention provides a kind of scaling method and device of nine axle sensors, to solve the zero bias mark of the used group of optical fiber
It fixes time longer, the problem for causing the calibration of the used group of optical fiber less efficient.
In a first aspect, an embodiment of the present invention provides a kind of scaling method of nine axle sensors, the optical fiber of nine axle sensors
Used group is installed on by reference plane in calibration tooling, and the calibration tooling carries out overturning in the marble platform of north orientation benchmark to be made
It obtains optical fibre gyro and is in first position, the second position and the third place；The method includes：
It obtains the optical fibre gyro and stands institute in the first preset duration of test in first position, the second position and the third place
State the magnitude of angular velocity of optical fibre gyro easting；The optical fibre gyro is located at first position, the second position and the third place not
With under location status, three axis of the optical fibre gyro are arranged towards east respectively；
The zero bias of each axis of the optical fibre gyro are calculated according to the magnitude of angular velocity, the zero bias of each axis of optical fibre gyro are institute
The optical fibre gyro angular speed that optical fibre gyro is stated in each position easting exports mean value.
Optionally, the method further includes：
It calculates the optical fiber and is used to group on turntable under each group of the second preset duration of rotational speed, the optical fibre gyro turns
The group number of the angular speed mean value of moving axis output, the rotating speed is N, and N is the integer more than 4；
Scale factor is calculated according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale of Y direction because
SonWith the scale factor of Z-directionWherein, ωiIt is i-th
The absolute value of group rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-
For the angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+Turn for the forward direction of i-th group of rotating speed
The angular speed mean value of the Y-axis output of the lower optical fibre gyro of speed, ωyi-Y-axis for optical fibre gyro under the reverse speed of i-th group of rotating speed is defeated
The angular speed mean value gone out；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-
For the angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
Optionally, the N is 5, wherein first group of rotating speed is 1 °/s and -1 °/s, and second group of rotating speed is 5 °/s and -5 °/s,
Third group rotating speed is 10 °/s and -10 °/s, and the 4th group of rotating speed is 50 °/s and -50 °/s, the 5th group of rotating speed be 100 °/s and -
100°/s。
Optionally, when the optical fibre gyro is in the first position, the direction of the used group of the optical fiber is respectively X-axis court
East, Y-axis are exposed to the north, and Z axis is towards day；When the optical fibre gyro is in the second position, the direction of the used group of the optical fiber is respectively X-axis
Towards south, Y-axis is towards east, and Z axis is towards day；When the optical fibre gyro is in the third place, the direction of the used group of the optical fiber is respectively X
Axis is exposed to the north, and Y-axis is towards day, and Z axis is towards east.
Second aspect, the embodiment of the present invention additionally provide a kind of caliberating device of nine axle sensors, the light of nine axle sensors
The used group of fibre is installed on by reference plane in calibration tooling, and the calibration tooling is overturn in the marble platform of north orientation benchmark
So that optical fibre gyro is in first position, the second position and the third place；Described device includes：
Acquisition module stands test for obtaining the optical fibre gyro in first position, the second position and the third place
The magnitude of angular velocity of the optical fibre gyro easting in one preset duration；The optical fibre gyro is located at first position, the second position
Under the different location state of the third place, three axis of the optical fibre gyro are arranged towards east respectively；
Processing module, the zero bias for calculating each axis of the optical fibre gyro according to the magnitude of angular velocity, the optical fibre gyro
The zero bias of each axis are that the optical fibre gyro exports mean value in the optical fibre gyro angular speed of each position easting.
Optionally, described device further includes：
First computing module is used to group each group of second preset duration of rotational speed on turntable for calculating the optical fiber
Under, the group number of the angular speed mean value of the rotation axis output of the optical fibre gyro, the rotating speed is N, and N is the integer more than 4；
Second computing module, for calculating scale factor according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale of Y direction because
SonWith the scale factor of Z-directionWherein, ωiIt is i-th
The absolute value of group rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-
For the angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+Turn for the forward direction of i-th group of rotating speed
The angular speed mean value of the Y-axis output of the lower optical fibre gyro of speed, ωyi-Y-axis for optical fibre gyro under the reverse speed of i-th group of rotating speed is defeated
The angular speed mean value gone out；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-
For the angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
Optionally, the N is 5, wherein first group of rotating speed is 1 °/s and -1 °/s, and second group of rotating speed is 5 °/s and -5 °/s,
Third group rotating speed is 10 °/s and -10 °/s, and the 4th group of rotating speed is 50 °/s and -50 °/s, the 5th group of rotating speed be 100 °/s and -
100°/s。
Optionally, when the optical fibre gyro is in the first position, the direction of the used group of the optical fiber is respectively X-axis court
East, Y-axis are exposed to the north, and Z axis is towards day；When the optical fibre gyro is in the second position, the direction of the used group of the optical fiber is respectively X-axis
Towards south, Y-axis is towards east, and Z axis is towards day；When the optical fibre gyro is in the third place, the direction of the used group of the optical fiber is respectively X
Axis is exposed to the north, and Y-axis is towards day, and Z axis is towards east.
In the embodiment of the present invention, the used group of optical fiber of nine axle sensors is installed on by reference plane in calibration tooling, the mark
Determine tooling and carries out overturning in the marble platform of north orientation benchmark so that optical fibre gyro is in first position, the second position and third
Position；It is described in first position, the second position and the third place standing the first preset duration of test to obtain the optical fibre gyro
The magnitude of angular velocity of optical fibre gyro easting；The optical fibre gyro is located at the difference of first position, the second position and the third place
Under location status, three axis of the optical fibre gyro are arranged towards east respectively；It is each that the optical fibre gyro is calculated according to the magnitude of angular velocity
The zero bias of the zero bias of axis, each axis of optical fibre gyro are optical fibre gyro angular speed of the optical fibre gyro in each position easting
Export mean value.Due to testing three axial directions of optical fibre gyro towards east respectively, the real output value of acquisition can determine optical fiber top
The zero bias of spiral shell, without carrying out Error Module Analysis calculating.Therefore, present invention reduces when the zero bias calibration of the used group of optical fiber
It is long, improve the calibration efficiency of the used group of optical fiber.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without having to pay creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is one of the flow chart of scaling method of nine axle sensor provided in an embodiment of the present invention；
Fig. 2 is the two of the flow chart of the scaling method of nine axle sensor provided in an embodiment of the present invention；
Fig. 3 is the structure chart of the caliberating device of nine axle sensor provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
It is a kind of flow chart of the scaling method of nine axle sensor provided in an embodiment of the present invention referring to Fig. 1, Fig. 1, at this
In embodiment, the used group of the optical fiber of nine axle sensors can be installed on by reference plane in calibration tooling, the calibration tooling exists
Overturning is carried out in the marble platform of north orientation benchmark so that optical fibre gyro is in first position, the second position and the third place；Such as
Shown in Fig. 1, the scaling method of nine axle sensor includes the following steps：
Step 101, it is default in the test first of first position, the second position and the third place standing to obtain the optical fibre gyro
The magnitude of angular velocity of the optical fibre gyro easting in duration；The optical fibre gyro is located at first position, the second position and third
Under the different location state of position, three axis of the optical fibre gyro are arranged towards east respectively；
In the present embodiment, each axis direction of the used group of optical fiber is each axis direction of optical fibre gyro；When optical fibre gyro is in upper
When stating first position, the second position and the third place, the direction of optical fibre gyro can be configured according to actual needs, for example,
When optical fibre gyro is in the first position, the direction of the used group of the optical fiber is respectively X-axis towards east, and Y-axis is exposed to the north, and Z axis is towards day；Institute
When stating optical fibre gyro and being in the second position, the direction of the used group of the optical fiber is respectively X-axis towards south, and Y-axis is towards east, and Z axis is towards day；
When the optical fibre gyro is in the third place, the direction of the used group of the optical fiber is respectively that X-axis is exposed to the north, and Y-axis is towards day, Z axis court
East.
Step 102, the zero bias of each axis of the optical fibre gyro are calculated according to the magnitude of angular velocity, each axis of optical fibre gyro
Zero bias are that the optical fibre gyro exports mean value in the optical fibre gyro angular speed of each position easting.
In the present embodiment, optical fibre gyro first position, the second position and the third place it is each it is static test first it is default when
It is long, when optical fibre gyro is in first position, magnitude of angular velocity being averaged in the first preset duration of optical fibre gyro easting
Value is the average value ω of the angular speed output of X-axis eastingx1；When optical fibre gyro is in the second position, optical fibre gyro court
East to average value of the magnitude of angular velocity in the first preset duration be Y-axis easting the average value that exports of angular speed
ωY1；When optical fibre gyro is in the third place, magnitude of angular velocity being averaged in the first preset duration of optical fibre gyro easting
Value is the average value ω of the angular speed output of Z axis eastingZ1.The zero offset error of optical fibre gyro includes the zero bias of X-direction
Error gBx, Y direction zero offset error gByWith the zero offset error gB of Z-directionz。
In conclusion optical fibre gyro zero bias calibration path is as shown in the table：
Since in the ideal situation, the angular speed output of the quiet easting of optical fibre gyro under static state is 0, at this time will
X-axis, Y-axis and Z axis are tested towards east respectively, and corresponding real output value is the zero bias of optical fibre gyro.At this point, then can be according to following
Formula determines the error of optical fibre gyro：
gBx=ωx1 (1)
gBy=ωy1 (2)
gBz=ωz1 (3)
In the embodiment of the present invention, the used group of optical fiber of nine axle sensors is installed on by reference plane in calibration tooling, the mark
Determine tooling and carries out overturning in the marble platform of north orientation benchmark so that optical fibre gyro is in first position, the second position and third
Position；It is described in first position, the second position and the third place standing the first preset duration of test to obtain the optical fibre gyro
The magnitude of angular velocity of optical fibre gyro easting；The optical fibre gyro is located at the difference of first position, the second position and the third place
Under location status, three axis of the optical fibre gyro are arranged towards east respectively；It is each that the optical fibre gyro is calculated according to the magnitude of angular velocity
The zero bias of the zero bias of axis, each axis of optical fibre gyro are optical fibre gyro angular speed of the optical fibre gyro in each position easting
Export mean value.Due to testing three axial directions of optical fibre gyro towards east respectively, the real output value of acquisition can determine optical fiber top
The zero bias of spiral shell, without carrying out Error Module Analysis calculating.Therefore, present invention reduces when the zero bias calibration of the used group of optical fiber
It is long, improve the calibration efficiency of the used group of optical fiber.
Further, it is based on above-described embodiment, it in the present embodiment, can also be to the scale factor of optical fibre gyro into rower
It is fixed, specifically, with reference to Fig. 2, the above method further includes：
Step 103, it calculates the optical fiber and is used to group on turntable under each group of the second preset duration of rotational speed, the optical fiber
The group number of the angular speed mean value of the rotation axis output of gyro, the rotating speed is N, and N is the integer more than 4；
Step 104, scale factor is calculated according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale of Y direction because
SonWith the scale factor of Z-directionWherein, ωiIt is i-th
The absolute value of group rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-
For the angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+Turn for the forward direction of i-th group of rotating speed
The angular speed mean value of the Y-axis output of the lower optical fibre gyro of speed, ωyi-Y-axis for optical fibre gyro under the reverse speed of i-th group of rotating speed is defeated
The angular speed mean value gone out；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-
For the angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
Preferably, in the present embodiment, above-mentioned N is 5, wherein first group of rotating speed is 1 °/s and -1 °/s, second group of rotating speed
For 5 °/s and -5 °/s, third group rotating speed is 10 °/s and -10 °/s, and the 4th group of rotating speed is 50 °/s and -50 °/s, the 5th group of rotating speed
For 100 °/s and -100 °/s.
To sum up, the present embodiment is as shown in the table to scale factor calibration path：
In the present embodiment, 5 groups of classics rotating speeds are only provided with, the operation difficulty of measurement can be reduced, reduce the generation of data
Amount to reduce the treating capacity of data, and then can further promote the calibration efficiency of the used group of optical fiber.
It further, in the present embodiment can also be to the accelerometer of nine axle sensors and three based on above-described embodiment
Axis magnetometer is demarcated.
When carrying out accelerometer calibration, the six location position paths pair that discrete standardization may be used in the present embodiment add
Speedometer is demarcated, and the used group of optical fiber is installed on by datum clamp face in calibration tooling (hexahedron), hexahedron has benchmark
By face, there is the marble platform of north orientation benchmark to roll by hexahedron, the used each accurate direction of axial direction of group of optical fiber can be made
Different directions, i.e. optical fiber, which are used to group, can accurately place different points.By the used group of optical fiber, opsition dependent 1,2,3,4,5,6 is placed respectively,
Every position measurement 2 minutes calculates each axial acceleration of the used group of each position point optical fiber and exports an average value, and the calibration path of design is such as
Shown in following table：
The test result tested using position, the acceleration for calculating each position optical fiber three axis of used group export average value, you can
Obtain the accelerometer error parameter for needing to demarcate, the zero offset error (aB of accelerometerx、aByAnd aBz) and constant multiplier
(aSFx、aSFyAnd aSFz), specific formula for calculation is as follows：
When carrying out three axis magnetometer calibration, due to the influence of the factors such as processing technology, under the conditions of zero magnetic, magnetometer
Output valve is not zero.In order to analyze the zero offset error of magnetometer, magnetometer is placed in zero magnetic space and is worked 1 hour, every 10
Minute observes and records a data, measures the zero offset error of magnetometer, while can detect and whether occur in the operating condition
Drift phenomenon.The output valve that magnetometer is recorded in time of measuring, by measurement data it can be seen that each axis of magnetometer is working
Output valve substantially constant in time, obtained experimental calibration zero offset error are a changeless constants.
Due to the limitation of production technology, three axis of magnetometer are not necessarily completely superposed with actual axle, and three axis cannot be complete
It is complete orthogonal, uniform and stable earth's magnetic field can be utilized to determine the non-orthogonal degree of three axis.By taking the non-orthogonal degree of Z axis as an example, by magnetic strength
Count it is rack-mount be placed in horizontal table top, make magnetometer Z axis straight up, at this time Z axis magnetometer export BVerticallyIt is earth's magnetic field
The projection of intensity in the vertical direction；Magnetometer holder is rotated, Z axis is made to overturn 90 ° around X-axis, Z axis magnetometer exports B at this timeIt is horizontal
It is the projection of geomagnetic field intensity in the horizontal direction.Actual Z axis is not exclusively vertical, but Z axis and the primitive axis by overturning are to can
An orthogonal coordinate system is constituted, by calculating the datum quantity intensity that can obtain earth's magnetic field in Z-direction
Straight up by magnetometer Z axis, Z axis output data B0 is recorded, while recording the direction of X-axis；Sipping magneto-meter branch
Frame makes magnetometer be rotated by 90 ° about the z axis, records Z axis output data B90, while recording the direction of X-axis；Above step is repeated, point
B180, B270 and B360 are not obtained.Magnetometer is calculated separately in 4 angles between position and datum quantity, as shown in formula (10)：
It is respectively calculated with 0 ° of position and 180 ° of positions, 90 ° of positions and 270 ° of positions, it is mutual at two that X-axis can be obtained
Misalignment angle on perpendicular direction, as shown in formula (11) and (12)：
According to the two of X-axis misalignment angles, final misalignment angle can be synthesized, as shown in formula (13)：
The direction of another axis has been had recorded when due to measuring every time, can obtain Z axis misalignment angle and
Direction, to calibrate the non-orthogonal degree of Z axis.
It is the structure chart of the caliberating device of nine axle sensor provided in an embodiment of the present invention, nine axis sensing referring to Fig. 3, Fig. 3
The used group of the optical fiber of device is installed on by reference plane in calibration tooling, and the calibration tooling is enterprising in the marble platform of north orientation benchmark
Row overturning is so that optical fibre gyro is in first position, the second position and the third place；As shown in figure 3, the calibration of nine axle sensors
Device includes：
Acquisition module 301 stands test for obtaining the optical fibre gyro in first position, the second position and the third place
The magnitude of angular velocity of the optical fibre gyro easting in first preset duration；The optical fibre gyro is located at first position, second
It sets under the different location state with the third place, three axis of the optical fibre gyro are arranged towards east respectively；
Processing module 302, the zero bias for calculating each axis of the optical fibre gyro according to the magnitude of angular velocity, the optical fiber top
The zero bias of each axis of spiral shell are that the optical fibre gyro exports mean value in the optical fibre gyro angular speed of each position easting.
Optionally, described device further includes：
First computing module is used to group each group of second preset duration of rotational speed on turntable for calculating the optical fiber
Under, the group number of the angular speed mean value of the rotation axis output of the optical fibre gyro, the rotating speed is N, and N is the integer more than 4；
Second computing module, for calculating scale factor according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale of Y direction because
SonWith the scale factor of Z-directionWherein, ωiIt is i-th
The absolute value of group rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-
For the angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+Turn for the forward direction of i-th group of rotating speed
The angular speed mean value of the Y-axis output of the lower optical fibre gyro of speed, ωyi-Y-axis for optical fibre gyro under the reverse speed of i-th group of rotating speed is defeated
The angular speed mean value gone out；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-
For the angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
Optionally, the N is 5, wherein first group of rotating speed is 1 °/s and -1 °/s, and second group of rotating speed is 5 °/s and -5 °/s,
Third group rotating speed is 10 °/s and -10 °/s, and the 4th group of rotating speed is 50 °/s and -50 °/s, the 5th group of rotating speed be 100 °/s and -
100°/s。
Optionally, when the optical fibre gyro is in the first position, the direction of the used group of the optical fiber is respectively X-axis court
East, Y-axis are exposed to the north, and Z axis is towards day；When the optical fibre gyro is in the second position, the direction of the used group of the optical fiber is respectively X-axis
Towards south, Y-axis is towards east, and Z axis is towards day；When the optical fibre gyro is in the third place, the direction of the used group of the optical fiber is respectively X
Axis is exposed to the north, and Y-axis is towards day, and Z axis is towards east.
In the embodiment of the present invention, the used group of optical fiber of nine axle sensors is installed on by reference plane in calibration tooling, the mark
Determine tooling and carries out overturning in the marble platform of north orientation benchmark so that optical fibre gyro is in first position, the second position and third
Position；It is described in first position, the second position and the third place standing the first preset duration of test to obtain the optical fibre gyro
The magnitude of angular velocity of optical fibre gyro easting；The optical fibre gyro is located at the difference of first position, the second position and the third place
Under location status, three axis of the optical fibre gyro are arranged towards east respectively；It is each that the optical fibre gyro is calculated according to the magnitude of angular velocity
The zero bias of the zero bias of axis, each axis of optical fibre gyro are optical fibre gyro angular speed of the optical fibre gyro in each position easting
Export mean value.Due to testing three axial directions of optical fibre gyro towards east respectively, the real output value of acquisition can determine optical fiber top
The zero bias of spiral shell, without carrying out Error Module Analysis calculating.Therefore, present invention reduces when the zero bias calibration of the used group of optical fiber
It is long, improve the calibration efficiency of the used group of optical fiber.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, device or unit
It connects, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the embodiment of the present invention
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can to store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (8)
1. a kind of scaling method of nine axle sensors, which is characterized in that the used group of the optical fiber of nine axle sensors is installed by reference plane
In in calibration tooling, the calibration tooling carries out overturning in the marble platform of north orientation benchmark so that optical fibre gyro is in first
Position, the second position and the third place；The method includes：
It obtains the optical fibre gyro and stands the light in the first preset duration of test in first position, the second position and the third place
The magnitude of angular velocity of fine gyro easting；The optical fibre gyro is located at the different positions of first position, the second position and the third place
It sets under state, three axis of the optical fibre gyro are arranged towards east respectively；
The zero bias of each axis of the optical fibre gyro are calculated according to the magnitude of angular velocity, the zero bias of each axis of optical fibre gyro are the light
Fine gyro exports mean value in the optical fibre gyro angular speed of each position easting.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
It calculates the optical fiber and is used to group on turntable under each group of the second preset duration of rotational speed, the rotation axis of the optical fibre gyro
The group number of the angular speed mean value of output, the rotating speed is N, and N is the integer more than 4；
Scale factor is calculated according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale factor of Y directionWith the scale factor of Z-directionWherein, ωiIt is i-th group
The absolute value of rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-For
The angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+For the forward rotational speed of i-th group of rotating speed
The angular speed mean value of the Y-axis output of lower optical fibre gyro, ωyi-For the Y-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed
Angular speed mean value；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-For
The angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
3. according to the method described in claim 2, it is characterized in that, the N is 5, wherein first group of rotating speed be 1 °/s and -1 °/
S, second group of rotating speed are 5 °/s and -5 °/s, and third group rotating speed is 10 °/s and -10 °/s, the 4th group of rotating speed be 50 °/s and -50 °/
S, the 5th group of rotating speed are 100 °/s and -100 °/s.
4. described according to the method described in claim 1, it is characterized in that, when the optical fibre gyro is in the first position
The direction of the used group of optical fiber is respectively X-axis towards east, and Y-axis is exposed to the north, and Z axis is towards day；When the optical fibre gyro is in the second position, institute
The direction for stating the used group of optical fiber is respectively X-axis towards south, and Y-axis is towards east, and Z axis is towards day；When the optical fibre gyro is in the third place,
The direction of the used group of the optical fiber is respectively that X-axis is exposed to the north, and Y-axis is towards day, and Z axis is towards east.
5. a kind of caliberating device of nine axle sensors, which is characterized in that the used group of the optical fiber of nine axle sensors is installed by reference plane
In in calibration tooling, the calibration tooling carries out overturning in the marble platform of north orientation benchmark so that optical fibre gyro is in first
Position, the second position and the third place；Described device includes：
Acquisition module stands test first in advance for obtaining the optical fibre gyro in first position, the second position and the third place
If the magnitude of angular velocity of the optical fibre gyro easting in duration；The optical fibre gyro is located at first position, the second position and
Under the different location state of three positions, three axis of the optical fibre gyro are arranged towards east respectively；
Processing module, the zero bias for calculating each axis of the optical fibre gyro according to the magnitude of angular velocity, each axis of optical fibre gyro
Zero bias be the optical fibre gyro each position easting optical fibre gyro angular speed export mean value.
6. device according to claim 5, which is characterized in that described device further includes：
First computing module is used to group on turntable under each group of the second preset duration of rotational speed, institute for calculating the optical fiber
The angular speed mean value of the rotation axis output of optical fibre gyro is stated, the group number of the rotating speed is N, and N is the integer more than 4；
Second computing module, for calculating scale factor according to the angular speed mean value and the size of rotating speed；
The scale factor includes the scale factor of X-directionThe scale factor of Y directionWith the scale factor of Z-directionWherein, ωiIt is i-th group
The absolute value of rotating speed, ωxi+For the angular speed mean value of the X-axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωxi-For
The angular speed mean value of the X-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed；ωyi+For the forward rotational speed of i-th group of rotating speed
The angular speed mean value of the Y-axis output of lower optical fibre gyro, ωyi-For the Y-axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed
Angular speed mean value；ωzi+For the angular speed mean value of the Z axis output of optical fibre gyro under the forward rotational speed of i-th group of rotating speed, ωzi-For
The angular speed mean value of the Z axis output of optical fibre gyro under the reverse speed of i-th group of rotating speed.
7. device according to claim 6, which is characterized in that the N is 5, wherein first group of rotating speed be 1 °/s and -1 °/
S, second group of rotating speed are 5 °/s and -5 °/s, and third group rotating speed is 10 °/s and -10 °/s, the 4th group of rotating speed be 50 °/s and -50 °/
S, the 5th group of rotating speed are 100 °/s and -100 °/s.
8. device according to claim 5, which is characterized in that described when the optical fibre gyro is in the first position
The direction of the used group of optical fiber is respectively X-axis towards east, and Y-axis is exposed to the north, and Z axis is towards day；When the optical fibre gyro is in the second position, institute
The direction for stating the used group of optical fiber is respectively X-axis towards south, and Y-axis is towards east, and Z axis is towards day；When the optical fibre gyro is in the third place,
The direction of the used group of the optical fiber is respectively that X-axis is exposed to the north, and Y-axis is towards day, and Z axis is towards east.
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