CN108955726B - Method for judging size of dynamic lock area - Google Patents
Method for judging size of dynamic lock area Download PDFInfo
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- CN108955726B CN108955726B CN201810827018.7A CN201810827018A CN108955726B CN 108955726 B CN108955726 B CN 108955726B CN 201810827018 A CN201810827018 A CN 201810827018A CN 108955726 B CN108955726 B CN 108955726B
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- laser gyro
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- lock area
- dynamic lock
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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
Abstract
The invention discloses a method for judging the size of a dynamic lock area, and belongs to the field of laser gyro control. The invention provides a method for simply and quickly judging and comparing the size of a dynamic lock area under different working conditions for the same laser gyro, which does not need to use large equipment (such as a rotary table and the like) to carry out the traditional dynamic lock area test, and judges the size of the dynamic lock area under different working conditions of the laser gyro by comparing the size of the sensitive measurement value of the laser gyro to the same rotating speed according to the principle that the input and output relation curves of the laser gyro under different working conditions, thereby guiding the selection of the optimal working state of the laser gyro. The method is not limited by fields and equipment, is simple and feasible, and saves time compared with the traditional measuring method.
Description
Technical Field
The invention discloses a method for judging the size of a dynamic lock area, and belongs to the field of laser gyro control application.
Background
Due to the limitation of the processing technology of the reflector, the laser gyro has a blocking effect, the blocking effect means that when the input rotating speed is less than a certain value, the sensitive rotating speed output of the laser gyro is zero, and the rotating speed value without rotating speed output is the threshold value of the lock area. In order to overcome the influence of the locking effect, a jitter technology is introduced to bias the jitter of the laser gyro out of a lock area so as to reduce the influence of the lock area, the measured lock area value when the laser gyro is jittered is called as a dynamic lock area, and generally, the smaller the dynamic lock area is, the better the dynamic lock area is. The sizes of dynamic locking areas possibly measured by different jitter control methods of the same laser gyroscope are different, and the sizes of the dynamic locking areas are used as important indexes for evaluating the quality of the jitter control method in engineering practice. Therefore, the evaluation of the quality of the jitter control method usually requires a dynamic lock area test, which requires a turntable and requires a long test time, and is not suitable for quickly evaluating the quality of different jitter control methods. The invention relates to a method for judging the size of a dynamic lock area, which judges the size of the dynamic lock area obtained by different jitter control methods by measuring the constant value of sensitive earth rotation of a laser gyroscope at different jitter control methods under a fixed position according to the input and output relation characteristics of the laser gyroscope, thereby evaluating the advantages and disadvantages of different methods.
Disclosure of Invention
The purpose of the invention is as follows: the method for judging the size of the dynamic lock zone of the jittering laser gyro is quick and simple and does not need large equipment such as a rotary table and the like to assist. The method is a method for qualitatively comparing the sizes of dynamic locking areas of the same laser gyro under different working conditions, such as different jitter control modes. By using the method, the advantages and disadvantages of different jitter control modes can be evaluated by comparing the rotating speed zero bias values measured by the laser gyroscope.
The technical scheme of the invention is as follows:
a method for judging the size of a dynamic lock area is realized based on a laser gyro test system, the laser gyro test system can control a laser gyro to normally work, acquire and record the rotation angle information sensitive to the laser gyro in real time and process and analyze the laser gyro data, and the system comprises the laser gyro to be tested, a laser gyro control acquisition circuit, a power supply and a computer with data communication equipment; in the laser gyro test system, a power supply supplies power to a laser gyro control acquisition circuit, the laser gyro control acquisition circuit controls the laser gyro to normally work, acquires the sensitive rotation angle information data of the laser gyro and transmits the acquired information data to a computer through data communication equipment, and the computer records and processes the information data after receiving the information data; characterized in that the method comprises the following steps:
the laser gyro is fixed on the base, the same rotating speed is input into the laser gyro, the computer receives and records the sensitive rotating angle information data of the laser gyro within a preset time length through data communication equipment under different control states of the laser gyro by a laser gyro control acquisition circuit, and the computer calculates the information data actually sensitively output by the laser gyro within unit time, wherein the information data is the zero bias constant value of the laser gyro; for example, the computer records the sensitive rotation angle information data of the laser gyro which works normally for 10 minutes, the data consists of the rotation angle information data of 600 laser gyros which are sensitive within 1s, and the rotation angle information data within each 1s is the zero offset value of the laser gyro.
The computer compares the magnitude of the zero bias constant value of the laser gyroscope obtained by each group of tests of the laser gyroscope in different control states, if the absolute value of the zero bias constant value of the laser gyroscope is larger, the situation that the actual sensitive output lost rotating speed information of the laser gyroscope is smaller and the corresponding dynamic locking area is smaller in the control state is shown; if the absolute value of the zero bias constant value of the laser gyro is smaller, the fact that the actual sensitive output of the laser gyro loses the rotating speed information under the working condition is larger, and the corresponding dynamic lock area is larger; by comparing the absolute value of the zero bias constant value of the laser gyro, the size of the dynamic locking area of the laser gyro in different control states can be rapidly distinguished.
The method requires that the input rotating speed has high stability, and the earth is equivalent to a natural rotating speed high-stability rotating table, so in order to improve the reliability of the gyro zero bias constant value data, the earth rotation angular speed or the earth rotation angular speed component is selected as the input rotating speed of the test experiment.
In order to eliminate high-frequency noise in the actual sensitive output data of the laser gyro, the actual sensitive output of the laser gyro in unit time obtained by recording and calculating is an absolute value of an average value of the information of the rotation angle in unit time in the test time. For example, the computer records the sensitive rotation angle information data of the laser gyro which works normally for 10 minutes, the data consists of the rotation angle information data of 600 laser gyros which are sensitive within 1s of time, and the absolute value of the average value of the rotation angle information data of 600 laser gyros which are sensitive within 1s of time is calculated by the computer, namely the zero bias constant value of the laser gyro.
The jitter control state of the laser gyroscope directly influences the size of the lock area of the laser gyroscope, the size of the dynamic lock area of the laser gyroscope is different under different jitter control states, and the size of the dynamic lock area is often used as an evaluation index for judging the quality of the jitter control state. Inputting the same rotating speed to the laser gyro, and under the condition that the laser gyro is in two different jitter control states, the laser gyro actually sensitively outputs a first corresponding jitter control state and a second corresponding jitter control state; and vice versa.
The invention has the advantages and beneficial effects that: the invention relates to a method for rapidly, simply and qualitatively comparing the size of a dynamic lock area under different working conditions, such as a jitter control method. The invention can quickly judge the size of the dynamic lock area by recording and comparing the measured data without large equipment such as turntable assistance. The test designed according to the invention is used for evaluating the quality of the jitter control method, and compared with the traditional evaluation test scheme, the evaluation scheme of the invention reduces the evaluation time, improves the reliability of data and greatly reduces the complexity of the evaluation test.
Drawings
FIG. 1 is a schematic diagram showing the relationship between the actual sensitive output of a laser gyro and a dynamic lock area under different working conditions;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A method for judging the size of a dynamic lock area is realized based on a laser gyro test system, the laser gyro test system can control a laser gyro to normally work, acquire and record the rotation angle information sensitive to the laser gyro in real time and process and analyze the laser gyro data, and the system comprises the laser gyro to be tested, a laser gyro control acquisition circuit, a power supply and a computer with data communication equipment; in the laser gyro test system, a power supply supplies power to a laser gyro control acquisition circuit, the laser gyro control acquisition circuit controls the laser gyro to normally work, acquires the sensitive rotation angle information data of the laser gyro and transmits the acquired information data to a computer through data communication equipment, and the computer records and processes the information data after receiving the information data;
during testing, the laser gyroscope is fixed on the base, the same rotating speed is input into the laser gyroscope, the rotating speed is required to have high stability, otherwise, the reliability of the zero bias constant value of the laser gyroscope is influenced, and finally, the lock area judgment result is influenced. Under different control states of the laser gyro control acquisition circuit, the computer receives and records the sensitive rotation angle information data of the laser gyro within a preset time length through data communication equipment such as a serial port, and calculates the information data actually sensitively output by the laser gyro within unit time, wherein the information data is the zero bias constant value of the laser gyro, the zero bias constant value comprises the actually sensitive rotation angle information data and the constant value error of the laser gyro, and the constant value error of the same laser gyro is basically unchanged, so that the size of the zero bias constant value can reflect the size of the actually sensitive rotation angle information data of the laser gyro; for example, the computer records the sensitive rotation angle information data of the laser gyro which normally works for 10 minutes, the data consists of the rotation angle information data of 600 laser gyros which are sensitive within 1s, the rotation angle information data within 1s is the zero bias constant value of the laser gyro, most components in the zero bias constant value are the rotation angle information data which are actually sensitive to the laser gyro, and the small components are the constant error of the laser gyro.
The actually sensitive rotation angle information data of the laser gyro reflects the size of the dynamic lock area of the laser gyro, namely, the larger the actually sensitive rotation angle information data of the laser gyro is, the smaller the dynamic lock area of the laser gyro is, and vice versa. Therefore, the laser gyro zero bias constant value also reflects the size of the dynamic lock zone of the laser gyro. The computer calculates and compares the magnitude of the zero bias constant value of the laser gyroscope obtained by each group of test calculation under different control states of the laser gyroscope, if the absolute value of the zero bias constant value of the laser gyroscope is larger, the situation that the actual sensitive output lost rotating speed information of the laser gyroscope is smaller and the corresponding dynamic locking area is smaller under the control state is shown; if the absolute value of the zero bias constant value of the laser gyro is smaller, the fact that the actual sensitive output of the laser gyro loses the rotating speed information under the working condition is larger, and the corresponding dynamic lock area is larger; by comparing the absolute value of the zero bias constant value of the laser gyro, the size of the dynamic locking area of the laser gyro in different control states can be rapidly distinguished.
The method requires that the input rotating speed has high stability, and the earth is equivalent to a natural rotating speed very stable turntable, so in order to improve the reliability of the gyro zero bias data, the earth rotation angular speed or the earth rotation angular speed component is selected as the input rotating speed of the test.
In order to eliminate high-frequency noise in the actual sensitive output data of the laser gyro, the actual sensitive output of the laser gyro in unit time obtained by recording and calculating is an absolute value of an average value of the information of the rotation angle in unit time in the test time. For example, the computer records the sensitive rotation angle information data of the laser gyro which works normally for 10 minutes, the data consists of the rotation angle information data of 600 laser gyros which are sensitive within 1s of time, and the absolute value of the average value of the rotation angle information data of 600 laser gyros which are sensitive within 1s of time is calculated by the computer, namely the zero bias constant value of the laser gyro. The data reliability of the laser gyro zero bias constant value after average calculation is higher, and the accuracy of the judgment result can be better ensured.
In different control states of the same laser gyro, the influence of different jitter control states on the dynamic locking area of the laser gyro is obvious. Under different jitter control states, the sizes of dynamic locking areas of the laser gyroscope are different, and the sizes of the dynamic locking areas are often used as evaluation indexes for judging the quality of the jitter control states. Inputting the same rotating speed to the laser gyro, and under the condition that the laser gyro is in two different jitter control states, the laser gyro actually sensitively outputs a first corresponding jitter control state and a second corresponding jitter control state; and vice versa.
Claims (4)
1. A method for judging the size of a dynamic lock area is realized based on a laser gyro test system, the laser gyro test system can control a laser gyro to normally work, acquire and record the rotation angle information sensitive to the laser gyro in real time and process and analyze the laser gyro data, and the system comprises the laser gyro to be tested, a laser gyro control acquisition circuit, a power supply and a computer with data communication equipment; in the laser gyro test system, a power supply supplies power to a laser gyro control acquisition circuit, the laser gyro control acquisition circuit controls the laser gyro to normally work, acquires the sensitive rotation angle information data of the laser gyro and transmits the acquired information data to a computer through data communication equipment, and the computer records and processes the information data after receiving the information data; characterized in that the method comprises the following steps:
the laser gyro is fixed on the base, the same rotating speed is input into the laser gyro, the computer receives and records the sensitive rotating angle information data of the laser gyro within a preset time length through data communication equipment under different control states of the laser gyro by a laser gyro control acquisition circuit, and the computer calculates the information data actually sensitively output by the laser gyro within unit time, wherein the information data is the zero bias constant value of the laser gyro;
the computer compares the magnitude of the zero bias constant value of the laser gyroscope obtained by each group of tests of the laser gyroscope in different control states, if the absolute value of the zero bias constant value of the laser gyroscope is larger, the situation that the actual sensitive output lost rotating speed information of the laser gyroscope is smaller and the corresponding dynamic locking area is smaller in the control state is shown; if the absolute value of the zero bias constant value of the laser gyro is smaller, the fact that the actual sensitive output of the laser gyro loses the rotating speed information under the working condition is larger, and the corresponding dynamic lock area is larger; by comparing the absolute value of the zero bias constant value of the laser gyro, the size of the dynamic locking area of the laser gyro in different control states can be rapidly distinguished.
2. The method of claim 1, wherein the input rotational speed is earth rotational angular velocity or an earth rotational angular velocity component.
3. The method of claim 1, wherein the actual sensing output of the laser gyro per unit time recorded and calculated is an absolute value of an average value of the information of the rotation angle per unit time in the test time.
4. The method for determining the size of the dynamic lock area according to claim 1, wherein the same rotation speed is input to the laser gyro, and when the laser gyro is in two different jitter control states, the first actual sensitive output of the laser gyro corresponds to the first jitter control state, and the second actual sensitive output of the laser gyro corresponds to the second jitter control state, and if the actual sensitive output of the laser gyro is larger than the second actual sensitive output of the laser gyro, it indicates that the rotation speed information lost by the laser gyro is smaller than the rotation speed information lost by the laser gyro, and the second dynamic lock area is smaller than the dynamic lock area, and only when the dynamic lock area index is considered, the jitter control method is superior to the second jitter control method; and vice versa.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201477109U (en) * | 2009-07-23 | 2010-05-19 | 中国航空工业第六一八研究所 | Dynamical lock-region measuring device of laser gyroscope |
| CN104713543A (en) * | 2013-12-11 | 2015-06-17 | 中国航空工业第六一八研究所 | Method for preciously measuring dynamic lock region of laser gyroscope |
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| WO2013103609A1 (en) * | 2012-01-03 | 2013-07-11 | Applied Materials, Inc. | Advanced platform for passivating crystalline silicon solar cells |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201477109U (en) * | 2009-07-23 | 2010-05-19 | 中国航空工业第六一八研究所 | Dynamical lock-region measuring device of laser gyroscope |
| CN104713543A (en) * | 2013-12-11 | 2015-06-17 | 中国航空工业第六一八研究所 | Method for preciously measuring dynamic lock region of laser gyroscope |
Non-Patent Citations (2)
| Title |
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| 抖动偏频激光陀螺速率阈值特性研究;韩宗虎;《中国惯性技术学会光电技术专业委员会第四次学术交流会暨重庆惯性技术学会第八次学术交流会论文集》;20001231;58-61 * |
| 激光陀螺抖动偏频优化研究;陈林峰;《光子学报》;20080731;第37卷(第7期);1387-1390 * |
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