CN109297509B - Laser gyro zero offset drift error modeling and compensating method based on tri-state theory - Google Patents
Laser gyro zero offset drift error modeling and compensating method based on tri-state theory Download PDFInfo
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Abstract
The invention provides a laser gyro zero offset drift error modeling and compensating method based on a tri-state theory, which comprises the following steps: carrying out a test of laser gyro zero offset drift error drift characteristics; establishing relaxed zero-bias temperature models of the laser gyroscope at different initial starting temperatures according to relaxed zero-bias test data of the laser gyroscope at different initial starting temperatures; establishing a laser gyro transition state zero-bias model at different initial starting temperatures according to laser gyro transition state zero-bias test data at different initial starting temperatures; fitting according to the steady-state zero-offset test data of the laser gyroscope at all different initial starting temperatures to obtain steady-state zero-offset temperature models of the laser gyroscope at all starting temperatures; selecting a corresponding zero offset temperature model at the corresponding initial starting temperature according to the initial starting temperature and the real-time temperature of the laser gyroscope to calculate to obtain the zero offset of the laser gyroscope; and subtracting the zero offset of the laser gyroscope on the basis of the actual output of the laser gyroscope to obtain the true output value of the laser gyroscope. The invention has high accuracy.
Description
Technical Field
The invention relates to a modeling and compensating method for a laser gyro drift error, belonging to the field of inertial navigation.
Background
The laser gyro is an optical gyro based on the Signac effect, becomes an ideal device of the strapdown inertial navigation system with the advantages of small weight, high precision, good impact resistance and the like, is widely applied to the fields of missiles, rockets, ships, ground vehicles and the like, and the performance of the laser gyro directly influences the navigation precision of the inertial navigation system.
The zero offset drift error of the laser gyro in the use process is one of the main factors influencing the inertial navigation precision. The laser gyro zero bias is mainly affected by the temperature and the working state of the gyro. Firstly, in terms of temperature influence, the change of temperature can cause the change of the refractive index of gas, the thermal conductivity of materials and the optical properties of optical devices; in addition, the expansion and contraction of the device caused by heat and the deformation caused by cold can cause the change of the light path, and the loss of the resonance system is increased; in addition, the change of the temperature field causes the change of the airflow field, so that the discharge currents of the two arms are unbalanced, and the zero bias influence caused by the langeuler flow effect is aggravated. The temperature of the laser gyro is constantly changed in the working process, the zero bias of the gyro is also constantly changed under the influence of the temperature, and the phenomenon is called zero bias drift. The drift error of the laser gyro restricts the further improvement of the precision thereof. In order to compensate the influence of the drift error on the precision of the laser gyro, the method can start from both hardware compensation and software compensation. The hardware compensation eliminates the influence of temperature and time effect on the zero offset of the gyroscope from the structural design angle, but the realization difficulty is high, and the cost is increased. The software compensation method can solve the problem of quick start of the laser inertial navigation system and reduce the complexity of system design by establishing a zero-offset mathematical model and compensating in real time. Therefore, the influence of gyro zero offset drift on navigation accuracy is mainly eliminated by a software compensation method at present.
In the aspect of zero offset error modeling of the existing laser gyroscope, a representative modeling method is to introduce model terms comprising temperature, temperature change rate and temperature gradient into a model. The prior art mainly has the following defects:
(1) the influence mechanism analysis of the zero offset drift error of the gyroscope is not clear, the established model is less accurate, and the compensation effect is poor.
(2) The laser gyro has complex working environment temperature and variable use condition. The existing compensation method can only carry out approximate compensation aiming at the whole working state of a single laser gyro, and can not carry out more accurate compensation according to different working states of the laser gyro.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, and provides a laser gyro zero offset drift error compensation method which comprehensively considers time effect and temperature effect so as to improve the model compensation precision and the compensation effect of the gyro under various temperature working conditions.
The technical solution of the invention is as follows: a laser gyro zero offset drift error modeling and compensating method based on a three-state theory comprises the following steps:
(1) carrying out a test of the zero offset drift error drift characteristic of the laser gyro to obtain different initial starting temperatures TiLower in the working range of laser gyro [ T ]d,Tu]The zero-offset test data of the laser gyroscope corresponding to different internal temperatures are determined, and corresponding relaxation state temperature intervals of the laser gyroscope at different initial starting temperatures are determined according to the zero-offset test data
Temperature interval of transition state
And steady state temperature interval [ Ti g,Ti u]I is 1 to N, and N is the number of initial starting temperatures;
(2) establishing relaxed zero-offset temperature models of the laser gyroscope at different initial starting temperatures according to the relaxed zero-offset test data of the laser gyroscope at different initial starting temperatures;
(3) establishing transition state zero offset models of the laser gyroscope at different initial starting temperatures according to the transition state zero offset test data of the laser gyroscope at different initial starting temperatures;
(4) fitting according to the steady-state zero-offset test data of the laser gyroscope at all different initial starting temperatures to obtain steady-state zero-offset temperature models of the laser gyroscope at all starting temperatures;
(5) after the laser gyroscope is powered on and started, whether the laser gyroscope is in a relaxation state, a transition state or a stable state is identified according to the initial starting temperature and the real-time temperature of the laser gyroscope, and a corresponding zero offset temperature model at the corresponding initial starting temperature is selected for calculation to obtain the zero offset of the laser gyroscope;
(6) and subtracting the zero offset of the laser gyroscope on the basis of the actual output of the laser gyroscope to obtain the true output value of the laser gyroscope.
And the demarcation points of the temperature intervals of the relaxation state, the transition state and the stable state of the laser gyroscope at different initial starting temperatures are the intersection points of the fitted tri-state model curves at the corresponding initial starting temperatures.
The test method for the zero offset drift error drift characteristic of the laser gyroscope comprises the following specific steps:
(1.1) placing the laser gyro inertia measurement assembly in an incubator to be fixed;
(1.2) setting the heat preservation temperature in the incubator as the initial starting temperature TiKeeping the temperature of the laser gyroscope for a long time until the temperature of the laser gyroscope is consistent with the temperature in the incubator, so that the temperature of the laser gyroscope and the incubator are kept in a thermal balance state;
(1.3) electrifying to start the laser gyroscope, controlling the temperature of the incubator to rise according to a certain temperature change rate until the temperature rises to a set working temperature of the laser gyroscope, keeping the temperature of the incubator unchanged, and collecting the output quantity of the laser gyroscope and the temperature value of a corresponding laser gyroscope temperature sensor in the temperature rise process;
(1.4) changing the initial starting temperature TiAnd (4) repeating the steps (1.1) to (1.4) to obtain the laser gyro zero-offset experimental data corresponding to different temperatures at different initial starting temperatures.
The temperature change rate of the step (1.4) is not more than 1 ℃/min.
The step (1.4) changes the initial temperature T according to the rule of equal intervalsiThe interval value range is [5 degrees, 20 degrees ]]。
The relaxed zero-bias temperature model of the laser gyroscope is established through the following steps:
(2.1) respectively extracting the relaxation state temperature intervals of the laser gyroscope at different initial starting temperatures
Taking the average value of the temperature sensor of the inner laser gyro and the zero offset average value of the laser gyro as the temperature of the laser gyro at the starting point of the relaxation state and the initial zero offset of electrification;
and (2.2) obtaining the relation between the zero offset and the temperature when the laser gyroscope is started by adopting a second-order polynomial numerical fitting method according to the laser gyroscope temperature and the initial electrifying zero offset of each relaxation state starting point, and using the relation as a relaxation state zero offset temperature model of the laser gyroscope.
The corresponding laser gyroscope transition state zero-offset models in the step (3) at different initial starting temperatures are linear models, and are established through the following steps:
(3.1) dividing the transition state temperature range of the laser gyroscope at different initial starting temperatures
Performing linear fitting on the internal zero-offset data to obtain linear slope k of the temperature and the zero offset of the laser gyroscope at different initial starting temperaturesiI is 1 to N, and N is the initial starting temperature;
(3.2) respectively calculating corresponding transition state temperature intervals of the laser gyroscope at different initial starting temperatures
Average temperature in internal zero offset data
i＝1～N；
(3.3) according to the temperature under different initial starting temperatures and the slope k of the zero-offset straight line of the laser gyroiAnd (3.2) corresponding temperature average values in the laser gyro transition state zero offset data at different initial starting temperatures in the step (3.2)
Carrying out binomial fitting to obtain the zero-bias slope k of the transition state of the laser gyroscope at different initial starting temperaturesiTemperature dependence;
(3.4) calculating the starting point temperature T of the transition state temperature interval by adopting a laser gyro relaxation state zero offset model under the corresponding initial temperature conditioni sThe corresponding laser gyro is zero-biased and is substituted into the formula y ═ kix+biCalculating to obtain a longitudinal intercept biFinally, the corresponding transition state model under the initial temperature condition is obtained.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides a tristate theory in the working process of the laser gyroscope, provides a theoretical basis for the modeling and compensation of the zero offset drift characteristic temperature of the laser gyroscope, and improves the accuracy of modeling.
(2) According to the three-state theory, the influence of different power-on initial temperatures of the laser gyro on zero-offset output characteristics is comprehensively considered, and the compensation precision of the model is improved.
(3) The transition state model and the relaxation state model are unified, the model shape under each initial temperature condition is not influenced by the initial temperature condition, only the initial point is influenced by the initial temperature condition, and the generalization is strong;
(4) the steady state model of the invention has stronger universality than the prior art and is suitable for various initial temperature conditions.
(5) The model has good compensation effect when used in various temperature environments, and the environmental adaptability of the model is enhanced.
Drawings
FIG. 1 is a flow chart of a laser gyro zero offset drift error modeling and compensating method based on a tri-state theory;
FIG. 2 is a schematic view of an installation of a laser gyro inertia measurement apparatus according to an embodiment of the present invention;
FIG. 3 is a graph showing the temperature change of the incubator according to the embodiment of the present invention;
FIG. 4 is a temperature test curve of a laser gyroscope according to an embodiment of the present invention;
FIG. 5 is transition state modeling data according to an embodiment of the present invention;
FIG. 6 is steady state modeling data in accordance with an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific examples.
The power-on test of the zero-bias drift characteristic of the laser gyroscope shows that the zero-bias drift characteristic of the gyroscope is in three states of a relaxation state, a transition state and a stable state in the process that the temperature of the laser gyroscope is gradually increased from power-on starting to the final temperature for stable work. When the laser gyro is in a relaxation state, the laser gyro is in a thermal equilibrium state with the ambient temperature when being powered on and started, and heat exchange is not carried out at the moment, so that the zero offset of the relaxation state of the laser gyro is determined by the ambient temperature. The transition state is that after the gyroscope is started, the gyroscope is electrified to generate heat, the thermal balance state of the gyroscope and the ambient temperature during power-on starting is destroyed, and heat exchange with the ambient environment is required. The process shows that the zero offset of the gyroscope is severely influenced by the internal temperature due to the temperature characteristic of the working medium of the laser gyroscope and the influence of the electric heating performance by the temperature change. The stable state is that after the laser gyro works for a certain time, the internal temperature field of the laser gyro does not change any more, and only heat exchange is carried out between the internal temperature field and the external environment, and the process shows that the gyro is affected slowly by the ambient temperature in zero bias.
Based on the principle, the invention provides a laser gyro zero offset drift error modeling and compensating method. As shown in fig. 1, the method comprises the steps of:
(1) carrying out a test of the zero offset drift error drift characteristic of the laser gyro to obtain different initial starting temperatures TiLower in the working range of laser gyro [ T ]d,Tu]The zero-offset test data of the laser gyroscope corresponding to different internal temperatures are determined, and corresponding relaxation state temperature intervals of the laser gyroscope at different initial starting temperatures are determined according to the zero-offset test data
Temperature interval of transition state
And steady state temperature interval
i is 1 to N, and N is the number of initial starting temperatures;
and the demarcation points of the temperature intervals of the relaxation state, the transition state and the stable state of the laser gyroscope at different initial starting temperatures are the intersection points of the fitted tri-state model curves at the corresponding initial starting temperatures.
The test method for the zero offset drift error drift characteristic of the laser gyroscope comprises the following specific steps:
(1.1) placing the laser gyro inertia measurement assembly in an incubator to be fixed;
(1.2) setting the heat preservation temperature T in the incubatoriKeeping the temperature of the laser gyroscope for a long time until the temperature of the laser gyroscope is consistent with the temperature in the incubator, so that the temperature of the laser gyroscope and the incubator are kept in a thermal balance state;
(1.3) electrifying to start the laser gyroscope, controlling the temperature of the incubator to rise according to a certain temperature change rate until the temperature rises to a set working temperature of the laser gyroscope, keeping the temperature of the incubator unchanged, and collecting the output quantity of the laser gyroscope and the temperature value of a corresponding laser gyroscope temperature sensor in the temperature rise process; the temperature change rate is not more than 1 ℃/min.
(1.4) changing the initial temperature TiAnd (4) repeating the steps (1.1) to (1.4) to obtain the laser gyro zero-offset experimental data corresponding to different temperatures at different initial starting temperatures.
Initial temperature TiInterval value range of [5 deg. ] and 20 deg. °]The method can be properly adjusted according to the specific conditions of the experimental environment, and the accuracy of model establishment can be further improved when the interval value range is selected to be small and the experiment times are more.
(2) And establishing relaxed zero-bias temperature models of the laser gyroscope at different initial starting temperatures according to the relaxed zero-bias test data of the laser gyroscope at different initial starting temperatures. The method specifically comprises the following steps:
(2.1) respectively extracting the relaxation state temperature intervals of the laser gyroscope at different initial starting temperatures
Taking the average value of the temperature sensor of the inner laser gyro and the zero offset average value of the laser gyro as the temperature of the laser gyro at the starting point of the relaxation state and the initial zero offset of electrification;
and (2.2) obtaining the relation between the zero offset and the temperature when the laser gyroscope is started by adopting a second-order polynomial numerical fitting method according to the laser gyroscope temperature and the initial electrifying zero offset of each relaxation state starting point, and using the relation as a relaxation state zero offset temperature model of the laser gyroscope.
(3) According to the transition state zero offset test data of the laser gyroscope at different initial starting temperatures, establishing transition state zero offset models of the laser gyroscope at different initial starting temperatures, which specifically comprises the following steps:
(3.1) dividing the transition state temperature range of the laser gyroscope at different initial starting temperatures
Performing linear fitting on the internal zero-offset data to obtain linear slope k of the temperature and the zero offset of the laser gyroscope at different initial starting temperaturesiI is 1 to N, and N is the initial starting temperature;
(3.2) respectively calculating corresponding transition state temperature intervals of the laser gyroscope at different initial starting temperatures
Average temperature in internal zero offset data
i＝1～N；
(3.3) according to the temperature under different initial starting temperatures and the slope k of the zero-offset straight line of the laser gyroiAnd (3.2) corresponding temperature average values in the laser gyro transition state zero offset data at different initial starting temperatures in the step (3.2)
Carrying out binomial fitting to obtain the zero-bias slope k of the transition state of the laser gyroscope at different initial starting temperaturesiTemperature dependence;
(3.4) calculating the starting point temperature of the transition state temperature interval by adopting a laser gyroscope relaxation state zero offset model under the corresponding initial temperature condition
The corresponding laser gyro is zero-biased and is substituted into the formula y ═ kix+biCalculating to obtain a longitudinal intercept biFinally, the corresponding transition state model under the initial temperature condition is obtained.
(4) Fitting according to the stable-state zero-offset test data of the laser gyroscope at all different initial starting temperatures to obtain stable-state zero-offset temperature models of the laser gyroscope at all different starting temperatures;
(5) after the laser gyroscope is powered on and started, whether the laser gyroscope is in a relaxation state, a transition state or a stable state is identified according to the initial starting temperature and the real-time temperature of the laser gyroscope, and a corresponding zero offset temperature model at the corresponding initial starting temperature is selected for calculation to obtain the zero offset of the laser gyroscope;
(6) and subtracting the zero offset of the laser gyroscope on the basis of the actual output of the laser gyroscope to obtain the true output value of the laser gyroscope.
Example (b):
the zero-bias model of the present invention is further explained below with a focus on a specific embodiment:
(1) the steps of the test for testing the zero offset drift error drift characteristic of the laser gyroscope are as follows:
1. as shown in fig. 2, the laser gyro inertia measurement assembly is placed in an incubator and fixed and connected with a test device.
2. As shown in FIG. 3, the temperature change curve of the incubator is set, and the incubator is first kept at T0 for 4 hours, then the temperature of the incubator is increased from T0 to 70 ℃ at the variable temperature rate of 0.5 ℃/min, and then kept for 4 hours.
3. And 2, after the heat preservation of the incubator is finished, electrifying and starting the laser gyroscope, and acquiring gyroscope output and temperature values of the gyroscope temperature sensor according to the sampling frequency of 1 Hz.
4. Setting the temperature T0 at-40 deg.C, -20 deg.C, 0 deg.C, 20 deg.C, 40 deg.C, repeating steps 2-4, and performing 5 sets of continuous calibration.
(2) The laser gyro zero offset drift characteristic error modeling method comprises the following steps:
fig. 4 shows the relationship between the gyro output drift and the temperature obtained during the test. The 5 curves in fig. 3 correspond to 5 sets of tests. The laser gyro zero offset drift characteristic error modeling based on the three-state theory mainly comprises a laser gyro relaxation state and transition state zero offset model at different initial starting temperatures and a laser gyro steady state zero offset temperature model at all starting temperatures.
a. Relaxation state zero-bias temperature model of laser gyroscope
The relaxed gyro zero-bias temperature model describes the relationship between zero bias and temperature when the gyro is started. As can be seen from fig. 4, the initial zero bias of the gyroscope is different at different power-on temperatures. And taking 5 groups of power-on initial zero offsets of the corresponding gyroscope at different initial starting temperatures, and fitting by using a least square method to obtain a 2-order polynomial model. The X gyroscope is used for explanation, and the specific operation steps are as follows:
(a) and in order to reduce noise interference, the average value Ni (i is 1-5) of the gyro output of the initial power-on 100s of the ith group of tests and the average value Ti (i is 1-5) measured by the temperature sensor are taken as relaxation state starting points of the group of tests.
(b) The Ni (i ═ 1-5) and Ti (i ═ 1-5) obtained by the X-gyro test are respectively T1 ═ 39.7273 ℃, and N1 ═ 0.15656 °/h; t2 ═ 19.1695 ℃, N2 ═ 0.164832 °/h; t3 ═ 0.872815 ℃, N3 ═ 0.173838 °/h; t4 ═ 20.85735 ℃, N4 ═ 0.188135 °/h; t5 ═ 40.91178 ℃, N5 ═ 0.195542 °/h; according to the least square method, a 2-order polynomial model of the zero offset and the temperature of the relaxation state gyroscope is established as follows:
Bsx＝7.275589×10-7T2+5.020243×10-4T+1.748153×10-1
wherein Bsx is gyroscope zero bias, and T is gyroscope temperature.
b. Transition state zero-bias temperature model of the laser gyroscope:
the zero-bias temperature model of the transition-state gyroscope describes the relationship between the zero bias and the temperature of the laser gyroscope in the transition state, as shown in fig. 5, the specific operation steps are as follows:
(a) five groups of transition state temperature intervals of the laser gyroscope at different initial starting temperatures
Performing linear fitting on the internal zero-offset data to obtain linear slope k of the temperature and the zero offset of the laser gyroscope at different initial starting temperaturesi，i＝1～5；
(b) Respectively calculating five groups of corresponding transition state temperature intervals of the laser gyroscope at different initial starting temperatures
Average temperature in internal zero offset data
i＝1～5；
(c) According to the linear slope k of the temperature and the zero bias of the laser gyro at different initial starting temperaturesiAnd (c) corresponding temperature average values in the transition state zero offset data of the laser gyroscope at different initial starting temperatures in the step (b)
Carrying out binomial fitting to obtain the zero-bias slope k of the transition state of the laser gyroscope at different initial starting temperaturesiThe relationship model with temperature is:
ki＝3.608321×10-5T2+1.601534×10-3T+1.573917×10-1
wherein T is temperature.
(d) Calculating the starting point temperature of the transition state temperature interval by adopting a laser gyroscope relaxation state zero-bias model under the corresponding initial temperature condition
The corresponding laser gyro is zero-biased and is substituted into the formula y ═ kix+biCalculating to obtain a longitudinal intercept biFinally, obtaining a corresponding transition state model under the initial temperature condition:
Bsx＝kiT+bi。
c. the laser gyro stable state zero bias temperature model:
as shown in fig. 6, the experimental data of the steady-state gyro pulse and the temperature obtained under all the temperature initial conditions are taken, and the 2 nd order polynomial model of the steady-state gyro zero offset and the temperature is obtained according to the least square:
Bsx＝-4.382243×10-7T2+5.919845×10-4T+1.491104×10-1
wherein Bsx is gyro zero offset, and T is temperature.
Parts of the specification which are not described in detail are within the common general knowledge of a person skilled in the art.
Claims (7)
1. A laser gyro zero offset drift error modeling and compensating method based on a three-state theory is characterized by comprising the following steps:
(1) carrying out a test of the zero offset drift error drift characteristic of the laser gyro to obtain different initial starting temperatures TiLower in the working range of laser gyro [ T ]d,Tu]The zero-offset test data of the laser gyroscope corresponding to different internal temperatures are determined, and corresponding relaxation state temperature intervals [ T ] of the laser gyroscope at different initial starting temperatures are determined according to the zero-offset test datai d,Ti s) Transition temperature interval [ T ]i s,Ti g) And steady state temperature interval [ Ti g,Ti u]I is 1 to N, and N is the number of initial starting temperatures;
(2) establishing relaxed zero-offset temperature models of the laser gyroscope at different initial starting temperatures according to the relaxed zero-offset test data of the laser gyroscope at different initial starting temperatures;
(3) establishing transition state zero offset models of the laser gyroscope at different initial starting temperatures according to the transition state zero offset test data of the laser gyroscope at different initial starting temperatures;
(4) fitting according to the steady-state zero-offset test data of the laser gyroscope at all different initial starting temperatures to obtain steady-state zero-offset temperature models of the laser gyroscope at all starting temperatures;
(5) after the laser gyroscope is powered on and started, whether the laser gyroscope is in a relaxation state, a transition state or a stable state is identified according to the initial starting temperature and the real-time temperature of the laser gyroscope, and a corresponding zero offset temperature model at the corresponding initial starting temperature is selected for calculation to obtain the zero offset of the laser gyroscope;
(6) and subtracting the zero offset of the laser gyroscope on the basis of the actual output of the laser gyroscope to obtain the true output value of the laser gyroscope.
2. The modeling and compensating method for the laser gyro zero offset drift error based on the tristate theory as claimed in claim 1, wherein the demarcation points of the laser gyro relaxation state, transition state and stable state temperature intervals under different initial starting temperatures are the intersection points of the tristate model curves fitted under the corresponding initial starting temperatures.
3. The modeling and compensating method for the laser gyro zero offset drift error based on the tri-state theory as claimed in claim 1, wherein the test for the laser gyro zero offset drift error drift characteristic comprises the following specific steps:
(1.1) placing the laser gyro inertia measurement assembly in an incubator to be fixed;
(1.2) setting the heat preservation temperature in the incubator as the initial starting temperature TiKeeping the temperature of the laser gyroscope for a long time until the temperature of the laser gyroscope is consistent with the temperature in the incubator, so that the temperature of the laser gyroscope and the incubator are kept in a thermal balance state;
(1.3) electrifying to start the laser gyroscope, controlling the temperature of the incubator to rise according to a certain temperature change rate until the temperature rises to a set working temperature of the laser gyroscope, keeping the temperature of the incubator unchanged, and collecting the output quantity of the laser gyroscope and the temperature value of a corresponding laser gyroscope temperature sensor in the temperature rise process;
(1.4) changing the initial starting temperature TiAnd (4) repeating the steps (1.1) to (1.4) to obtain the laser gyro zero-offset experimental data corresponding to different temperatures at different initial starting temperatures.
4. The modeling and compensating method for laser gyro zero offset drift error based on the three-state theory as claimed in claim 3, wherein the temperature change rate in step (1.4) is not more than 1 ℃/min.
5. The modeling and compensating method for laser gyro zero offset drift error based on the tristate theory as claimed in claim 3, characterized in that the step (1.4) changes the initial temperature T according to the regular law of equal intervaliThe interval value range is [5 degrees, 20 degrees ]]。
6. The modeling and compensating method for the laser gyro zero offset drift error based on the three-state theory as claimed in claim 1 is characterized in that the laser gyro relaxed state zero offset temperature model is established by the following steps:
(2.1) respectively extracting the relaxation state temperature intervals [ T ] of the laser gyroscope at different initial starting temperaturesi d,Ti s) Taking the average value of the temperature sensor of the inner laser gyro and the zero offset average value of the laser gyro as the temperature of the laser gyro at the starting point of the relaxation state and the initial zero offset of electrification;
and (2.2) obtaining the relation between the zero offset and the temperature when the laser gyroscope is started by adopting a second-order polynomial numerical fitting method according to the laser gyroscope temperature and the initial electrifying zero offset of each relaxation state starting point, and using the relation as a relaxation state zero offset temperature model of the laser gyroscope.
7. The modeling and compensating method for the laser gyro zero offset drift error based on the tri-state theory as claimed in claim 1, wherein the corresponding laser gyro transition state zero offset model in the step (3) at different initial starting temperatures is a linear model, and is established by the following steps:
(3.1) carrying out transition state temperature interval [ T ] of the laser gyroscope at different initial starting temperaturesi s,Ti g) Performing linear fitting on the internal zero-offset data to obtain linear slope k of the temperature and the zero offset of the laser gyroscope at different initial starting temperaturesiI is 1 to N, and N is the initial starting temperature;
(3.2) respectively calculating corresponding transition state temperature intervals [ T ] of the laser gyroscope at different initial starting temperaturesi s,Ti g) Average temperature in internal zero offset data
(3.3) according to the temperature under different initial starting temperatures and the slope k of the zero-offset straight line of the laser gyroiAnd different initial starting temperatures in step (3.2)Temperature average value in transition state zero offset data of lower corresponding laser gyroscope
Carrying out binomial fitting to obtain the zero-bias slope k of the transition state of the laser gyroscope at different initial starting temperaturesiTemperature dependence;
(3.4) calculating the starting point temperature T of the transition state temperature interval by adopting a laser gyro relaxation state zero offset model under the corresponding initial temperature conditioni sThe corresponding laser gyro is zero-biased and is substituted into the formula y ═ kix+biCalculating to obtain a longitudinal intercept biFinally, the corresponding transition state model under the initial temperature condition is obtained.
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