CN108917788B - Method and system for testing dynamic precision of accelerometer of inertial platform system - Google Patents
Method and system for testing dynamic precision of accelerometer of inertial platform system Download PDFInfo
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- CN108917788B CN108917788B CN201810402691.6A CN201810402691A CN108917788B CN 108917788 B CN108917788 B CN 108917788B CN 201810402691 A CN201810402691 A CN 201810402691A CN 108917788 B CN108917788 B CN 108917788B
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Abstract
The invention provides a method and a system for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system, which can accurately test the dynamic precision of the accelerometer of the inertial platform system under the condition of vibration along the sensitive axis direction of the accelerometer. Firstly, setting a vibration power spectrum according to the use condition of an inertial platform system; secondly, respectively measuring the acceleration output of the platform under the static and vibration conditions through a first static comprehensive test, a vibration state comprehensive test and a second static comprehensive test in each direction of the space; and finally, comparing the acceleration output of the platform under the vibration condition, and calculating the dynamic precision of the accelerometer of the inertial platform system. The static test data are utilized to remove the change of acceleration output and angular speed output caused by the attitude change of the platform body in the vibration state comprehensive test data, so that the accurate dynamic error of the inertial platform system is obtained.
Description
Technical Field
The invention relates to a method and a system for testing dynamic precision of an accelerometer of a full-attitude inertial platform system, and belongs to the technical field of inertial testing.
Background
The inertial platform system has been widely applied to the motion state measurement, navigation and positioning systems of various (such as ships, airplanes, rockets, etc.) motion carriers, and the dynamic precision is the guarantee of the measurement precision in the motion process of the carriers and is an important index for evaluating the dynamic performance of the inertial platform system. The vibration test is the most common method for testing the dynamic performance of the system, and for the flight navigation state of the inertial platform system, the platform body rotates relative to the base due to the influence of the earth rotation. By using the traditional vibration testing method, the output of the acceleration and the angular velocity is influenced by the posture change of the platform body, so that the accurate dynamic precision of the inertial platform system cannot be obtained. At present, for an inertial platform system, a vibration test has no definite test method and test flow for accurately testing dynamic errors and dynamic precision.
In order to obtain accurate dynamic errors of the inertial platform system, a reasonable vibration test flow needs to be established, and changes of acceleration output and angular velocity output caused by changes of the attitude of the platform body are removed in data processing, so that the accurate dynamic errors of the inertial platform system are obtained.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method comprises the steps of measuring accelerometer output of an inertial platform system in a static state and an accelerometer output of the inertial platform system in a vibration state respectively through static comprehensive testing and vibration state comprehensive testing, obtaining acceleration change of the inertial platform system relative to earth attitude change by utilizing the static comprehensive testing before and after the vibration testing, removing influence of the attitude change of a platform body in the vibration state on the accelerometer output, providing a reasonable vibration test testing process and a calculation method of the inertial platform system, and realizing accurate dynamic precision testing.
The above purpose of the invention is mainly realized by the following technical scheme: a method for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system comprises the following steps:
(1) determining a power spectrum required to be applied according to the measured object;
(2) fixing the full-attitude inertial platform system on a vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
(3) starting a full-attitude inertial platform system;
(4) performing a first static comprehensive test to determine output data of an accelerometer of the full-attitude inertial platform system under the condition of only an earth gravity field;
(5) performing vibration comprehensive test, and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied in the step (1);
(6) performing a second static comprehensive test, and acquiring output data of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity field;
(7) and (3) indexing the full-attitude inertial platform system, repeating the steps (4) to (6) to sequentially complete vibration tests in all directions, and outputting data W according to the step (4)s1Step (5) data WvAnd the output data W of step (6)s2And determining the dynamic precision of the accelerometer.
And (4) performing a first static comprehensive test to determine output data of an accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field, wherein the steps are as follows:
(4.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(4.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, namely realizing static floating test of the full-attitude inertial platform system, wherein the static floating test time is t 2;
(4.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields1。
Step (5) carrying out vibration comprehensive test, and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied in the step (1);
(5.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(5.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, starting a vibrating platform to vibrate according to the power spectrum applied in the step (1), namely realizing the dynamic floating test of the full-attitude inertial platform system, wherein the dynamic floating test time is t 2;
(5.3) in the dynamic drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining data W output by the accelerometer under the power spectrum vibration condition applied in the step (1) of the full-attitude inertial platform systemv。
Performing a second static comprehensive test, and acquiring output data of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity field;
(6.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(6.2) after the locking of the frame is released, namely zero locking, the platform body of the full-attitude inertial platform system is stabilized in an inertial space, namely the static floating test of the full-attitude inertial platform system is realized, and the static floating test time is t 2;
(6.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the sum in the full-attitude inertial platform systemOutput data W of speedometer under earth gravity field onlys2。
The power spectrum load applied by the vibration test depends on the use environment of the tested object, the frequency is in the range of 1Hz-2000Hz, and the amplitude of the acceleration is in the range of 0.1g-10 g.
The vibration test is a test experiment for simulating the vibration environment of the carrier in the motion process by applying a sinusoidal vibration signal or a random vibration signal by using a vibration table or other vibration generating devices.
The measuring direction comprises the sensitive axis direction of each accelerometer of the inertial platform system, and for the inertial platform system with the accelerometers arranged in three orthogonal directions ox, oy and oz in space, the testing direction is the positive direction of the ox axis, the oy axis and the oz axis.
The vibration table is preferably a one-dimensional linear vibration table.
The vibration sensor arranged on the full-attitude inertial platform system can measure the whole vibration data of the full-attitude inertial platform system, including the real-time acceleration of the measured object;
after the full-attitude inertial platform system is started, the three accelerometers and the three gyros start to work and acquire data, and the platform stabilizing loop starts to work.
When the table body shaft rotates to drive the sensitive shaft direction of the accelerometer on the table body to change, the full-attitude inertial platform system is rotated.
A system for testing the dynamic accuracy of an accelerometer of a full-attitude inertial platform system, comprising: power spectrum determination module, installation module, starting module, first test module, second test module, third test module and precision determination module
The power spectrum determination module is used for determining a power spectrum required to be applied according to the measured object;
the mounting module is used for fixing the full-attitude inertial platform system on the vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
the starting module is used for starting the full-attitude inertial platform system;
the first test module is used for carrying out a first static comprehensive test and determining output data of an accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field;
the second testing module is used for carrying out vibration comprehensive testing and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied by the power spectrum determining module;
the third testing module is used for carrying out a second static comprehensive test and acquiring output data of the accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field;
and the precision determining module is used for conducting transposition on the full-attitude inertial platform system, sequentially completing vibration tests in all directions by the first testing module, the second testing module and the third testing module, and determining the dynamic precision of the accelerometer according to data output by the first testing module, the second testing module and the third testing module.
Compared with the prior art, the method of the invention has the following beneficial effects:
(1) the testing method effectively removes the change of acceleration output and angular speed output caused by the attitude change of the platform body in the vibration state comprehensive test, has high testing precision and accurate obtained dynamic precision.
(2) The test method utilizes data of static comprehensive test to represent the change of the posture of the platform body of the platform along with the rotation of the earth, has clear steps, is simple to operate and is easy for engineering realization.
(3) The test method uses the average value of the pulse output of the accelerometer in the first static comprehensive test and the second static comprehensive test to represent the posture change of the platform body in the static test process, and the obtained test result is accurate.
(4) The testing method locks (namely locks zero) the frame of the inertial platform system in both static comprehensive testing and dynamic comprehensive testing, ensures that the initial state of each testing is the same, and avoids the initial attitude error caused by the attitude change of the platform body.
(5) The test method tests the flight navigation state of the inertial platform system in both static comprehensive test and dynamic comprehensive test, the test process is similar to the real working state of the inertial platform system on a carrier, the influence of environmental factors caused by inconsistent test states is avoided, and the result is more real and accurate.
Drawings
FIG. 1 is a flow chart of the dynamic testing method.
Detailed Description
The invention provides a method and a system for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system, which can accurately test the dynamic precision of the accelerometer of the inertial platform system under the condition of vibration along the sensitive axis direction of the accelerometer. Firstly, setting a vibration power spectrum according to the use condition of an inertial platform system; secondly, respectively measuring the acceleration output of the platform under the static and vibration conditions through a first static comprehensive test, a vibration state comprehensive test and a second static comprehensive test in each direction of the space; and finally, comparing the acceleration output of the platform under the vibration condition, and calculating the dynamic precision of the accelerometer of the inertial platform system. The method obtains the acceleration change caused by the change of the platform system relative to the earth attitude through the static comprehensive test before and after the vibration test, removes the change of the acceleration output and the angular speed output caused by the change of the platform body attitude in the vibration state comprehensive test data by utilizing the static test data, thereby obtaining the accurate dynamic error of the inertial platform system.
The full attitude inertial platform system is an inertial platform type inertial navigation system, including: three accelerometers, three gyros and three frames; establishing a three-dimensional orthogonal coordinate system o-xyz, wherein the sensitive axes of the three accelerometers are respectively parallel to the ox axis, the oy axis and the oz axis; the sensitive axes of the three gyroscopes are respectively parallel to the ox axis, the oy axis and the oz axis; the three frames are annular, and respectively comprise an inner ring, a middle ring and an outer ring, and the annular can be a circular ring or a square ring; the three accelerometers and the three gyroscopes are arranged on the table body, the table body shaft penetrates through the table body and is connected with the inner ring, so that the table body can rotate in the inner ring along the table body shaft, the inner ring shaft is connected with the inner ring and the middle ring, so that the inner ring can freely rotate in the middle ring, the middle ring shaft is connected with the middle ring and the outer ring, so that the middle ring can freely rotate in the outer ring, the table body shaft is parallel to the oz shaft, the inner ring shaft is parallel to the oy shaft, and the middle ring shaft is parallel to the ox shaft;
the outer ring can be fixedly connected with a measured object (such as an aircraft and a moving object); the accelerometer can measure the acceleration of the measurand and the gyroscope can measure the angular velocity of the measurand.
The invention discloses a method for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system, which comprises the following steps:
(1) determining a power spectrum required to be applied according to the measured object;
(2) fixing the full-attitude inertial platform system on a vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
(3) starting a full-attitude inertial platform system;
(4) performing a first static comprehensive test to determine output data of accelerometers (the accelerometers comprise various accelerometers arranged on the platform, preferably gyro accelerometers and quartz accelerometers.) in the full-attitude inertial platform system under the condition of only an earth gravity field; and (4) performing a first static comprehensive test to determine output data of an accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field, wherein the steps are as follows:
(4.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(4.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, namely realizing static floating test of the full-attitude inertial platform system, wherein the static floating test time is t 2;
(4.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields1. Outputting data W according to the step (4)s1Step (6) data Ws2The static drift is represented by the average value of the pulse output of the accelerometer in the first static comprehensive test and the second static comprehensive test, and the obtained static driftThe test result is accurate; according to the output data W of the step (5)vDynamic drift is characterized using vibration integrated test accelerometer pulse output. The static drift is subtracted from the dynamic drift, so that the change of acceleration output and angular velocity output caused by the attitude change of the platform body in the vibration state comprehensive test is effectively removed, and the dynamic precision of the accelerometer is determined, wherein the calculation method comprises the following steps:
wherein, WvPulse output at the second node of an accelerometer for vibration integration test, Ws1、Ws2Pulse output at the second node of the accelerometer, K, for the first and second static integration tests, respectively1Is the first order error coefficient (in LSB/sec/g) of the corresponding accelerometer.
(5) Performing vibration comprehensive test, and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied in the step (1); step (5) carrying out vibration comprehensive test, and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied in the step (1);
(5.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(5.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, starting a vibrating platform to vibrate according to the power spectrum applied in the step (1), namely realizing the dynamic floating test of the full-attitude inertial platform system, wherein the dynamic floating test time is t 2;
(5.3) in the dynamic drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining data W output by the accelerometer under the power spectrum vibration condition applied in the step (1) of the full-attitude inertial platform systemv。
(6) Performing a second static comprehensive test, and acquiring output data of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity field; performing a second static comprehensive test, and acquiring output data of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity field;
(6.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(6.2) after the locking of the frame is released, namely zero locking, the platform body of the full-attitude inertial platform system is stabilized in an inertial space, namely the static floating test of the full-attitude inertial platform system is realized, and the static floating test time is t 2;
(6.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields2。
(7) And (3) indexing the full-attitude inertial platform system, repeating the steps (4) to (6) to sequentially complete vibration tests in all directions, and outputting data W according to the step (4)s1Step (5) data WvAnd the output data W of step (6)s2And determining the dynamic precision of the accelerometer. When the table body shaft rotates to drive the sensitive shaft direction of the accelerometer on the table body to change, the full-attitude inertial platform system is rotated.
In order to simulate the real vibration environment of the carrier in the motion process, the power spectrum required to be applied is determined according to the use environment of the measured object and the inertial platform system, a vibration table or other vibration generating devices are utilized to apply sinusoidal vibration signals or random vibration signals, the frequency is generally in the range of 1Hz-2000Hz, and the amplitude of acceleration is generally in the range of 0.1g-10 g.
And fixing the full-attitude inertial platform system on a vibration table according to the direction to be measured, wherein the measuring direction is the sensitive axis direction of each accelerometer of the inertial platform system in sequence. For an inertial platform system with accelerometers arranged in three orthogonal directions ox, oy and oz in space, the test direction is the positive direction of the ox axis, the oy axis and the oz axis.
As shown in fig. 1, the preferred test method steps are as follows:
the first step, start full attitude inertial platform system, platform stable loop begins work, and three accelerometers, three gyros begin work and data acquisition.
And secondly, performing a first static comprehensive test to determine output data of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity field. Firstly, locking (namely locking zero) a frame of a full-attitude inertial platform system at zero time t1, wherein the frame needs to reach a stable state of locking, the initial position of the platform is ensured to be zero, and t1 is preferably selected for 2-3 minutes; and secondly, after the locking (namely zero locking) of the frame is released, stabilizing the platform body of the full-attitude inertial platform system in an inertial space to realize the static floating test of the full-attitude inertial platform system, wherein the static floating test time is t2, and the time of t2 is preferably 3-5 minutes. In the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields1。
And thirdly, carrying out vibration comprehensive test to determine data output by the accelerometer under the condition of power spectrum vibration applied by the full-attitude inertial platform system. Firstly, locking (namely locking zero) a frame of the full-attitude inertial platform system at a zero position time t1 to ensure that the initial position of the platform is zero; secondly, after the locking (namely zero locking) of the frame is released, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, starting the vibration platform to vibrate according to the power spectrum applied in the step (1), namely realizing the dynamic float test of the full-attitude inertial platform system, wherein the dynamic float test time is t2, and in the dynamic float test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the data W output by the accelerometer under the condition of the power spectrum vibration applied by the full-attitude inertial platform systemv。
And fourthly, performing a second static comprehensive test, and acquiring output data of the acceleration meter in the full-attitude inertial platform system under the condition of only the earth gravity field. Firstly, locking (namely locking zero) a frame of the full-attitude inertial platform system at a zero position time t1 to ensure that the initial position of the platform is zero; secondly, after releasing the locking (namely locking zero) of the frame, the platform body of the full-attitude inertial platform system is stabilizedThe static drift test of the full-attitude inertial platform system is realized in the inertial space, the static drift test time is t2, and in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely, the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity field is determineds2。
Fifthly, conducting transposition on the full-attitude inertial platform system, repeating the second step, the third step and the fourth step to complete vibration test in each direction in sequence, and outputting data W according to the second steps1Data W of step threevAnd the output data W of step fours2And determining the dynamic precision of the accelerometer.
Outputting data W according to the step twos1Step four data Ws2The static drift is represented by the average value of the pulse output of the accelerometer in the first static comprehensive test and the second static comprehensive test, and the obtained static drift test result is accurate; according to the output data W of the step threevDynamic drift is characterized using vibration integrated test accelerometer pulse output. The static drift is subtracted from the dynamic drift, so that the change of acceleration output and angular velocity output caused by the attitude change of the platform body in the vibration state comprehensive test is effectively removed, and the dynamic accuracy of the accelerometer is determined, wherein the optimal calculation method comprises the following steps:
wherein, WvPulse output at the second node of an accelerometer for vibration integration test, Ws1、Ws2Pulse output at the second node of the accelerometer, K, for the first and second static integration tests, respectively1Is the first order error coefficient (in LSB/sec/g) of the corresponding accelerometer.
The invention relates to a system for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system, which is characterized by comprising the following components: power spectrum determination module, installation module, starting module, first test module, second test module, third test module and precision determination module
The power spectrum determination module is used for determining a power spectrum required to be applied according to the measured object;
the mounting module is used for fixing the full-attitude inertial platform system on the vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
the starting module is used for starting the full-attitude inertial platform system;
the first test module is used for carrying out a first static comprehensive test and determining output data of an accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field;
the second testing module is used for carrying out vibration comprehensive testing and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition applied by the power spectrum determining module;
the third testing module is used for carrying out a second static comprehensive test and acquiring output data of the accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field;
and the precision determining module is used for conducting transposition on the full-attitude inertial platform system, sequentially completing vibration tests in all directions by the first testing module, the second testing module and the third testing module, and determining the dynamic precision of the accelerometer according to data output by the first testing module, the second testing module and the third testing module.
The invention effectively removes the change of acceleration output and angular speed output caused by the change of the attitude of the platform body in the vibration state comprehensive test, has high test precision and accurate obtained dynamic precision. The method has the advantages that the change of the posture of the platform body along with the rotation of the earth is represented by data of static comprehensive tests, steps are clear, operation is simple, and engineering implementation is easy. And representing the attitude change of the platform body in the static test process by using the average value of the pulse output of the accelerometer in the first static comprehensive test and the second static comprehensive test, and obtaining an accurate test result.
The invention locks (namely locks zero) the frame of the inertial platform system in both static comprehensive test and dynamic comprehensive test, ensures that the initial state of each test is the same, and avoids the initial attitude error caused by the attitude change of the platform body. The static comprehensive test and the dynamic comprehensive test are both carried out in the flight navigation state of the inertial platform system, the test process is similar to the real working state of the inertial platform system on a carrier, the influence of environmental factors caused by inconsistent test states is avoided, and the result is more real and accurate.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
Claims (10)
1. A method for testing the dynamic precision of an accelerometer of a full-attitude inertial platform system is characterized by comprising the following steps:
(1) determining a power spectrum required to be applied according to the measured object;
(2) fixing the full-attitude inertial platform system on a vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
(3) starting a full-attitude inertial platform system;
(4) performing a first static comprehensive test to determine the output data W of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity fields1；
(5) Carrying out vibration comprehensive test, and determining data W output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition determined in the step (1)v；
(6) Performing a second static comprehensive test, and acquiring output data W of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity fields2；
(7) And (3) performing transposition on the full-attitude inertial platform system, repeating the steps (4) to (6) to sequentially complete the test in each direction, and determining the dynamic accuracy delta of the accelerometer according to the output data of the step (4), the output data of the step (5) and the output data of the step (6), wherein the formula is as follows:
wherein, K1Is the first order error coefficient of the corresponding accelerometer.
2. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: and (4) performing a first static comprehensive test to determine output data of an accelerometer in the full-attitude inertial platform system under the condition of only an earth gravity field, wherein the steps are as follows:
(4.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(4.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, namely realizing static floating test of the full-attitude inertial platform system, wherein the static floating test time is t 2;
(4.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields1。
3. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: step (5) carrying out vibration comprehensive test, and determining data output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition determined in the step (1);
(5.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(5.2) after the locking of the frame is released, namely zero locking, stabilizing the platform body of the full-attitude inertial platform system in an inertial space, starting a vibrating platform to vibrate according to the power spectrum determined in the step (1), namely realizing the dynamic floating test of the full-attitude inertial platform system, wherein the dynamic floating test time is t 2;
(5.3) in the dynamic drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the data W output by the accelerometer of the full-attitude inertial platform system under the power spectrum vibration condition determined in the step (1)v。
4. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: performing a second static comprehensive test, and acquiring output data of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity field;
(6.1) locking a frame of the full-attitude inertial platform system, namely locking zero at zero time t1, and ensuring that the initial position of the platform is zero;
(6.2) after the locking of the frame is released, namely zero locking, the platform body of the full-attitude inertial platform system is stabilized in an inertial space, namely the static floating test of the full-attitude inertial platform system is realized, and the static floating test time is t 2;
(6.3) in the static drift test process, the full-attitude inertial platform system records and stores data output by the accelerometer, namely determining the output data W of the accelerometer in the full-attitude inertial platform system under the condition of only the earth gravity fields2。
5. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: the power spectrum load applied by the vibration test depends on the use environment of the tested object, the frequency range is 1Hz-2000Hz, and the amplitude range of the acceleration is 0.1g-10 g.
6. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: the vibration test is a test experiment for simulating a vibration environment of a carrier in a motion process by applying a sinusoidal vibration signal or a random vibration signal by using a vibration table.
7. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: the measuring direction comprises the sensitive axis direction of each accelerometer of the inertial platform system, and for the inertial platform system with the accelerometers arranged in three orthogonal directions ox, oy and oz in space, the testing direction is the positive direction of the ox axis, the oy axis and the oz axis.
8. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: the vibration table is preferably a one-dimensional linear vibration table.
9. The method for testing the dynamic accuracy of the accelerometer of the full-attitude inertial platform system according to claim 1, wherein the method comprises the following steps: the vibration sensor arranged on the full-attitude inertial platform system can measure the whole vibration data of the full-attitude inertial platform system, including the real-time acceleration of the measured object.
10. A system for testing the dynamic accuracy of an accelerometer of a full-attitude inertial platform system, comprising: the device comprises a power spectrum determination module, an installation module, a starting module, a first test module, a second test module, a third test module and a precision determination module;
the power spectrum determination module is used for determining a power spectrum required to be applied according to the measured object;
the mounting module is used for fixing the full-attitude inertial platform system on the vibrating table according to the direction to be measured, and mounting a vibration sensor on the full-attitude inertial platform system;
the starting module is used for starting the full-attitude inertial platform system;
the first test module is used for carrying out a first static comprehensive test and determining the output data W of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity fields1；
The second testing module is used for carrying out vibration comprehensive test and determining data W output by the accelerometer of the full-attitude inertial platform system under the condition of power spectrum vibration applied by the power spectrum determining modulev；
The third test module is used for carrying out a second static comprehensive test and acquiring output data W of the accelerometer of the full-attitude inertial platform system under the condition of only the earth gravity fields2；
The precision determination module is used for conducting transposition on the full-attitude inertial platform system, testing is completed by utilizing the first testing module, the second testing module and the third testing module for each direction needing to be measured, and dynamic precision delta of the accelerometer is determined according to output data of the first testing module, the second testing module and the third testing module, and the formula is as follows:
wherein, K1Is the first order error coefficient of the corresponding accelerometer.
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