CN109579878A - Based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently - Google Patents
Based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently Download PDFInfo
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- 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
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Abstract
The present invention provides a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, belongs to inertia testing field.The application from inertance element space mission or in terms of application be starting point, pass through the analysis to working environment, propose the pumping signal that can be fitted its working condition conscientiously, the pumping signal is compared to existing signal to often ignored higher order term is motivated in parameter model, purpose be it is more acurrate, more really obtain high order term coefficient in error model, and the compensation work after being carries out place mat；The design of design and error model parameters discrimination method for entire test method greatly reduces the time cost of existing test method, is enhanced on the identification precision of each rank parameter of error model and identification are comprehensive relative to existing quick calibrating method.
Description
Technical field
The present invention relates to a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, belongs to inertia
Testing field field.
Background technique
Inertance element test, which refers to, obtains the output data of inertance element on the special test equipment of given input, and right
Experimental data the processing such as is filtered, is fitted and obtaining the performance parameter of inertance element or isolate the parameter item of different orders, from
And its own error model is improved, theories integration is provided for subsequent compensation.Currently, the error model of inertance element includes static misses
Differential mode type, dynamic error model and random error model.Wherein, the static errors model reflects the relationship of error and specific force,
Dynamic error model has reacted the relationship of error and angular movement, and the two can be compensated largely by Mathematical treatment, and
The part failed to compensate for is then as random error model is included into experimental situation factor, excitation coupling etc..Therefore, random error is body
The important indicator of existing inertance element performance.
Currently, mainly including that drift test, static test and dynamic are tested for the test item of gyro.It is wherein static to survey
Examination mainly includes force feedback method and polar axis rolling etc., is dynamically tested mainly single to multi-axis turntable excitation by handling inertance element
The response data of frequency dynamic exciting test signal completes error model identification.Test for accelerometer mainly includes gravity
Field rolling experiment, measurement of centrifuge, shake table test etc..In many test methods, static test development is more mature, and
And the determination of random error model at present uses the model under static state as a result, still its adaptation in dynamic test
Property verifying be difficult to complete.Dynamic test and excitation signal is commonly uniform angular velocity or uniform angular velocity is fast in the coupling angle of specific direction
Degree only represents the response of the inertance element under a certain frequency in frequency domain.Error model parameters in order to obtain, need in batches into
A series of static experiments combined with dynamic of row, in the case where inertance element needs to produce in enormous quantities, test is with calibration, people
Power, financial resources, material resources and time cost consumption are larger；Meanwhile the dynamic of static test or single-frequency is carried out to inertance element
Test cannot simulate the dynamic exciting that inertance element is born in actual operation completely.
Ji petrel proposes error coefficient in " the Rapid self-calibration technique study of high-precision inertial gyroscope error coefficient "
Self-calibrating method, the scaling method carry out by the platform of installation gyroscope, are not required to reuse external accessory, platform is made to exist
Under excitation moment effect, the opposite earth continuously changes posture, and INS Platform generates platform attitude angle under the driving of gyroscopic drift
Therefore the control information of error, gyroscope can separate.Specific test method is by changing the position of gyroscope (i.e. overturning top
The position of spiral shell instrument) apply the excitation of static weight component, to measure gyroscope, in the feedback output of different location, (platform attitude angle is passed
The output of sensor), Simultaneous Equations are established, to solve every coefficient of deviation of inertia type instrument.
Wang Jia is proposed in " IMU440 Inertial Measurement Unit quick calibrating method and experiment based on twin shaft rate table "
A kind of quick calibrating method of Inertial Measurement Unit, and establish the certainty error model of gyroscope and accelerometer.It will contain
There are three the Inertial Measurement Units of accelerometer and three gyroscopes as a whole, wherein positive and negative to being actuated to of applying of gyroscope
Two-way rate excitation is actuated to static position excitation to what accelerometer applied.
The general error model of gyroscope such as following formula, in formula: ωgIndicate the stable state output of gyroscope；KIIndicate gyroscope scale
The factor；ωeIExpression inputs the spin velocity component of epaxially ball, can make this according to shafting direction is changed in laboratory conditions
Component is 0 in the input of gyroscope sensitivity axis direction；DEIndicate the important indicator parameter zero bias of gyroscope；DS、DI、DOTable respectively
Show the sensitivity coefficient of the gyroscope axis of rotation, input shaft and output shaft；DIO、DOS、DSIEach axis under gravitational field is respectively indicated to divide in specific force
Cross-coupling coefficient under the coupling of amount；DSS、DIIIt respectively indicates the gyroscope axis of rotation and inputs the second order sensitivity of axis direction
Coefficient；gI、gO、gSSpecific force is respectively indicated under gravitational field in the component of input shaft, output shaft and the axis of rotation；εgIndicate test process
In random error.
ωg-K1ωeI=DF+DIgI+DOgO+DSgS+DIOgIgS+DOSgOgS
+DSIgSgI+DIIgi 2+DSSgs 2+εg
Existing error model parameters acquisition methods need to carry out a series of experiments and be carried out continuously, and swash including static weight
Method, multiposition tumbling and rate self-calibration method are encouraged, every kind of method passes through corresponding according to emphasis and excitation mechanism difference
The partial parameters in available parameter model are calculated, carry out a gyro error model calibration test duration up to tens
It as long as hour, and requires to carry out seeking zero process carrying out test every time, itself for calibration test, repeatedly seeks zero undoubtedly
Inertia test equipment error, noise error etc. can be introduced, in a whole set of test, the error source that multiple equipment seeks zero error cannot
Guarantee the correlation between respectively, therefore error can be introduced in parameter identification result.It is answered extensively for static test as described above
Method, for inertance element test, static test development is more mature, and current random error model is really
Surely the model under static state is used as a result, still the adaptability verifying of the static errors model in dynamic test is difficult
It carries out.Currently, dynamic test and excitation signal be commonly uniform angular velocity or by uniform angular velocity specific direction coupling angular speed,
Pumping signal form of expression in frequency domain is mostly that there are peak values on single-frequency, therefore its frequency domain response is only represented in a certain frequency
The response of inertance element under rate.Error model parameters in order to obtain need to be conducted batch-wise a series of static state and combine with dynamic
Experiment, inertance element need produce in enormous quantities, test with calibration in the case where, manpower, financial resources, material resources and time cost
It consumes larger；Simultaneously as the working environment of inertia testing element is high G environment or the violent environment of high overload, dynamic process,
Therefore the dynamic test for carrying out static test or single-frequency to inertance element cannot really restore inertance element in real work
Middle born dynamic exciting, therefore for that will certainly have deviation in the judge of parameters obtained the reliability of the adjustment model.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide one kind and sweep excitation based on frequency
The inertance element error model Fast Identification Method of signal.
The purpose of the present invention is what is be achieved through the following technical solutions:
It is a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, it is described that excitation letter is swept based on frequency
Number inertance element error model Fast Identification Method specific steps are as follows: step 1: design pumping signal expression formula be
A=2 π (fc-f0)/(n+1)Tn
B=2 π f0
In formula, fcIndicate frequencies of interest；f0Indicate original frequency；T indicates pumping signal duration；n0Indicate attenuation coefficient；G
Indicate amplitude gain, t indicates time variable, and n is the order of time variable；
Step 2: first derivative and second dervative is asked to obtain pumping signal speed and pumping signal acceleration pumping signal
Degree:
The real time speed information of pumping signal:
The acceleration information of live signal:
Step 3: pass through formulaWhen input signal obtains the time of optional frequency and obtains any
Between frequency；
Step 4: parameter identification is carried out using harmonic analysis method and entropy analytic approach.
The present invention is a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, the n0、n、f0、
fcIt can according to actual needs be that equipment tolerance range and component working environment carry out parameter value setting.
The present invention is a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, the frequency analysis
Method specifically: the test mode combined using many attitude respectively obtains the output of inertia testing element under the conditions of each posture, and
Fourier transformation analysis is carried out to output, constant value term coefficient, first harmonic term coefficient and second harmonic term system are obtained by comparison
Number, recognizes error parameter model.
The present invention is a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, exists from inertance element
The application of space mission or weaponry etc. is starting point, and by the analysis to working environment, propose to be fitted conscientiously
The pumping signal of its working condition, the pumping signal compared to existing signal in parameter model often ignored higher order term into
Go excitation, it is therefore intended that it is more acurrate, more really obtain high order term coefficient in error model, and the compensation work after being
Carry out place mat；The design of design and error model parameters discrimination method for entire test method greatly reduces existing
The time cost of test method in the identification precision of each rank parameter of error model and is distinguished relative to existing quick calibrating method
Know and is enhanced on comprehensive.
Detailed description of the invention
Fig. 1 is that the present invention is based on the pumping signal waves for the inertance element error model Fast Identification Method for sweeping pumping signal frequently
Shape curve.
Fig. 2 is the second order position signal curve of pumping signal in the present invention.
Fig. 3 is the second order rate signal curve of pumping signal in the present invention.
Fig. 4 is the second order acceleration signal curve of pumping signal in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
Embodiment one: as shown in Figs 1-4, a kind of involved in the present embodiment to be missed based on the inertance element for sweeping pumping signal frequently
Differential mode type Fast Identification Method, specific steps are as follows: step 1: designing pumping signal expression formula is
A=2 π (fc-f0)/(n+1)Tn
B=2 π f0
In formula, fcIndicate frequencies of interest；f0Indicate original frequency；T indicates pumping signal duration；n0Indicate attenuation coefficient；G
Indicate amplitude gain, t indicates time variable, and n is the order of time variable；
Step 2: first derivative and second dervative is asked to obtain pumping signal speed and pumping signal acceleration pumping signal
Degree:
The real time speed information of pumping signal:
The acceleration information of live signal:
Step 3: pass throughInput signal obtains the time of optional frequency and obtains any time
Frequency；
Step 4: parameter identification is carried out using harmonic analysis method and entropy analytic approach.
The present invention is a kind of based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, n0、n、f0、fc?
It can according to actual needs be that equipment tolerance range and component working environment carry out parameter value setting.
The input stimulus that current existing inertia testing element test method uses for weight component, at the uniform velocity, it is multi-direction at the uniform velocity
Coupling or single frequency sinusoidal signal.Above-mentioned signal in the time domain have nothing in common with each other by the form of expression, but frequency spectrum is uniformly shown as in frequency domain
Content is single, is not able to satisfy and swashs to inertia testing element in all standing dynamic for actually executing task device working environment frequency band
It encourages.To improve existing test method, the application first has to ensure the rich enough of signal spectrum content in the design of pumping signal
It is rich；Secondly, adjustment excitation signal amplitude, frequency are allowing it based on the analysis mode to inertia testing element working environment
Within the scope of to the greatest extent to inertia testing element motivate.Comprehensively consider above-mentioned condition, design pumping signal expression formula are as follows:
A=2 π (fc-f0)/(n+1)Tn
B=2 π f0
In formula, fcIndicate frequencies of interest；f0Indicate original frequency；T indicates pumping signal duration；n0Indicate attenuation coefficient；G
Indicate amplitude gain, t indicates time variable, and n is the order of time variable.n0、n、f0、fcIt can (equipment according to actual needs
Tolerance range and component working environment) carry out parameter value setting.Fig. 1 is the frequency domain characteristic of pumping signal, and pumping signal exists
Amplitude is continuous in interest frequency domain in frequency domain characteristic figure, can satisfy wide frequency domain excitation.
In view of UPS upper performance score of the inertia type instrument test equipment in design, such as maximum overload, load factor can be born
Limitation n is introduced for excitation waveform0With the magnitude margin for being respectively intended to limitation acceleration and speed of G.These adjust ginseng
Number damage inertia type instrument and inertia type instrument test equipment will not in input speed and larger acceleration value by adjusting waveform,
And can effectively limit acceleration, velocity location instruction be limited within the scope of the power of test of hardware.Represented by pumping signal
It is location information, first derivative and second dervative can be asked to it respectively for its velocity and acceleration:
The real time speed information of Y ' expression pumping signal, the acceleration information of Y ' expression live signal, for inertia apparatus
The considerations of table test equipment performance, n=2 is enabled, for wavy curve such as Fig. 2-4 of the position of pumping signal, velocity and acceleration
It is shown.It can be analyzed by waveform convertion rate with the increase for indicating time order magnitude, dynamic process starts more slowly, but dynamic
The aggravation speed of state process quickly, so for it needs to be determined that time order.Frequency spectrum of the time domain continuous signal in frequency domain
It is expressed as covering f0To fcRectangular area；According to practical inertia type instrument operating characteristic, frequency band threshold can be freely set.In order to more
It is comprehensive to improve test, introduce following expression:
Above formula makes the time of optional frequency available for input signal and obtains the frequency of any time, for reality
It is convenient that test operation and the data analysis on border provide.Parameters in signal are illustrated below for primary complete experimental design
Practical significance.In the test process of inertia type instrument, pass through the understanding to its working method and working performance, it can be deduced that its
Operating frequency range can be solved, original frequency if wanting to be excavated for the performance near a certain frequency according to above formula
Can arbitrarily it be arranged in efficient working range, wherein being divided into fc< f0And fc> f0Two kinds of situations.Work as fc> f0When continued
In the test of Shi Changwei T, the time for reaching setting optional frequency is tiIt can ask, in the T moment inertia type instrument of off-test
Working frequency is cutoff frequency fc.Work as fc< f0When carry out duration be T test in, due to the presence of decay factor
Second dervative can be made to reach peak value, i.e. frequency is 0, and the time that arrival rate is 0 is tz, taken in this case in 0-tzMoment
Test data analyzer.
Embodiment two: as shown in Figure 1, a kind of based on the inertance element error for sweeping pumping signal frequently involved in the present embodiment
Model Fast Identification Method, the harmonic analysis method specifically: the test mode combined using many attitude respectively obtains each appearance
The output of inertia testing element under the conditions of state, and to output carry out Fourier transformation analysis, by comparison obtain constant value term coefficient,
First harmonic term coefficient and second harmonic term coefficient, recognize error parameter model.
The identification of inertia type instrument error model parameters refers to from the output data of inertia type instrument using frequency analysis, filtering etc.
Interested harmonic term is isolated in processing.Current main approaches are to combine Inertial Navigation Testing Device error model and inertia
The characteristics of instrument error parameter model, determines system state variables, establishes system mode side according to the compensated input of error source
The expression of journey.Parameter identification mainly considers harmonic analysis method and entropy analytic approach.
Harmonic analysis method:
The dynamic error model of classical rotor gyro is shown below:
Accelerometer error model is shown below:
U=KF+KIaI+KIIaI 2+Koq|aI|aI+KIIIaI 3+KPaP+KPPaP 2+KPPPap 3+KOaO+KOOaO 2
+KOOOaO 3+KIPaIaP+KIOaIaO+KPOaPaO+KIPPaIaP 2+KIOOaIaO 2+KOPPaOaP 2
+KOIIaOaI 2+KPIIaPaI 2+KPOOaPaO 2+KIPOaIaPaO+ε
Constant value item and first order amplitude and influence degree in error model are bigger than higher order term, therefore carrier-borne in tradition
In inertia testing element, the influence of second order and higher order term is negligible, but in the task environments such as space flight and strategic missile
High overload is common, therefore the degree that higher order term is motivated also can be higher, therefore in the identification to SYSTEM ERROR MODEL, two
The identification of rank is also of great significance.During the experiment, the test mode combined using many attitude, respectively obtains each appearance
The output of inertia testing element under the conditions of state, and to output carry out Fourier transformation analysis, by comparison can obtain constant value term coefficient,
First harmonic term coefficient and second harmonic term coefficient realize the identification to error parameter model.
Entropy analytic approach:
Entropy analytic approach with by maximum entropy, the estimation of minimum cross-entropy constant entropy Optimality Criteria or pattern fitting method etc., it is gradually wide
It is general to be applied to the models such as various Mathematical Statistics Analysis, information and signal processing, network analysis and identification, error analysis and data processing
It encloses.The estimation principle of maximum entropy method is not remake any subjectivity it is assumed that i.e. by most in addition to according to measured data obtained
The method estimated under probabilistic principle；Minimum cross-entropy method is both also to have required data in accordance with elder generation using available data
The constraint of condition is tested, it is closest with prior information.In this application, data processing and Error model coefficients separation can be examined preferentially
Consider entropy analytic approach, obtains more information related with model parameter from inertia type instrument output data from the angle of information.
Embodiment three: as shown in Figs 1-4, a kind of involved in the present embodiment to be missed based on the inertance element for sweeping pumping signal frequently
The advantages of differential mode type Fast Identification Method, described the application:
Exiting principle designed by the application has larger innovation on energisation mode compared to the prior art, no longer limits to
Excitation (being such as input by input or uniform motion of weight component in different positions) under static conditions, and be conceived to and exceed
Dynamic exciting under carrying, there is very big innovation in input signal form, content.
Pumping signal designed by the application has in the excitation mechanism to system parameter more complete compared to the prior art
The improvement in face, in general, the static errors model coefficient of gyroscope is calibrated by the turntable test under gravity.However, gravitational field
In input acceleration it is small, and the second order error coefficient of gyroscope cannot be excited.In practice, gyroscope usually accelerates in height
It works under the conditions of degree, high-precision navigation in this case cannot ignore influence of the second order error to gyroscope precision.Therefore, lead to
The second order error coefficient for crossing the equipment Alignment gyroscope of high acceleration is very important.In order to more really obtain the dynamic of system
Step response, the working environment of reduction inertia testing element more true to nature, has selected high overload and frequency domain in the excitation to system
Wider frequency sweeps signal, the more fully high order parameters in excitation system, to higher order term in the error model of inertia testing element
The reliability and authenticity of the identification of coefficient improve a lot.
Test method designed by the application compared to the prior art in the lengthy and jumbled degree of test operation, draw by original state error
Enter, have great improvement on testing experiment time cost.The prior art generally require in a static condition by Multiple station method,
The a series of experiments that polar axis tumbling, geographical coordinate axis tumbling combine determine inertia testing element error model ginseng
Number, length of testing speech are tens hours, and test method designed by the application can be realized by excitation in tens seconds repeatedly.
Secondly, can all have measurement noise, deviation of the alignment and installation error error factors for testing every time, error model is joined
Number identification precision has certain influence, and the application can be achieved the goal by repeating pumping signal in short-term, realize efficiently test,
The purpose quickly tested.
Output data processing mode applied by the application passes through on system model gain of parameter compared to the prior art
The result of Fourier analysis carry out frequency analysis with disposably determine system each rank parameter or by each attitude data into
Row least square fitting has larger optimization compared to conventional method to obtain each rank parameter in computational complexity.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (3)
1. based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, which is characterized in that described to be swept based on frequency
The inertance element error model Fast Identification Method specific steps of pumping signal are as follows:
Step 1: designing pumping signal expression formula is
A=2 π (fc-f0)/(n+1)Tn
B=2 π f0
In formula, fcIndicate frequencies of interest；f0Indicate original frequency；T indicates pumping signal duration；n0Indicate attenuation coefficient；G is indicated
Amplitude gain, t indicate time variable, and n is the order of time variable；
Step 2: first derivative and second dervative is asked to obtain pumping signal speed and pumping signal acceleration pumping signal:
The real time speed information of pumping signal:
The acceleration information of live signal:
Step 3: pass through formulaInput signal obtains the time of optional frequency and obtains the frequency of any time
Rate；
Step 4: parameter identification is carried out using harmonic analysis method and entropy analytic approach.
2. it is according to claim 1 based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, it is special
Sign is, the n0、n、f0、fcIt can according to actual needs be that equipment tolerance range and component working environment are joined
Numerical value setting.
3. it is according to claim 1 based on the inertance element error model Fast Identification Method for sweeping pumping signal frequently, it is special
Sign is, the harmonic analysis method specifically: the test mode combined using many attitude is respectively obtained and is used under the conditions of each posture
Property testing element output, and to output carry out Fourier transformation analysis, by comparison obtain constant value term coefficient, first harmonic item
Coefficient and second harmonic term coefficient, recognize error parameter model.
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