CN110530395A - Small-range accelerometer scaling method - Google Patents
Small-range accelerometer scaling method Download PDFInfo
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- CN110530395A CN110530395A CN201910470225.6A CN201910470225A CN110530395A CN 110530395 A CN110530395 A CN 110530395A CN 201910470225 A CN201910470225 A CN 201910470225A CN 110530395 A CN110530395 A CN 110530395A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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Abstract
Small-range accelerometer scaling method belongs to inertia type instrument field of measuring technique.The present invention demarcates accelerometer using double axle table, wherein double axle table outline border is used to be arranged the angle of measured axis and horizontal plane, the sensitive different gravitational acceleration component of tested accelerometer sensitive axis is driven by turntable, to be less than the input of acceleration of gravity to accelerometer one, and then the parameter of isolated accelerometer, inside casing is used to select different accelerometer sensitive axis, to be demarcated respectively to axially different accelerometer, it solves the problems, such as not demarcating small-range accelerometer using ground gravity acceleration directly on marble plate.Stated accuracy is improved by the way of zero compensation, realizes the high-precision calibrating in acceleration channel.
Description
Technical field
The present invention relates to small-range accelerometer scaling methods, in particular to acceleration sensitive axis is at tilting orthogonality relation
Small-range, high-precision accelerometer, linear acceleration and measurement range for needing precise measurement carrier are less than acceleration of gravity
Accelerometer calibration and test, belong to inertia type instrument field of measuring technique.
Background technique
The mark that spacecraft develops as high and new technology plays particularly important role in the national defense construction in China,
And inertial navigation system plays vital effect in the airmanships such as attitude measurement, the positioned/oriented of spacecraft, adds
Speedometer is as translational acceleration of the spacecraft relative to inertial space is measured in inertial navigation system, to realize that spacecraft is stablized
The docking that crosses in orbit and accurately provides important metrical information, validity, the essence of reasonability and calibrating parameters of design
True property has not insignificant meaning to the stable operation of spacecraft.
Accelerometer system uses quartz flexible accelerometer+high-precision I/F conversion circuit scheme, and accelerometer will regard
Acceleration signal is converted to proportional current signal, and high-precision I/F conversion circuit is converted to the current signal of accelerometer
Proportional pulse signal, so that signal processing and interface circuit being capable of operation and processing；To guarantee conversion accuracy, I/F conversion
Circuit board is using from by the way of temperature compensation, and selection improves precision with the constant-current source from temperature compensation function, while I/F conversion circuit will
It receives control subsystem and examines signal while No. 3 accelerometers are provided.
Accelerometer for measuring translational acceleration of the spacecraft relative to inertial space, present invention relates to spacecraft
Need it is long-term the linear acceleration of precise measurement carrier is needed when becoming rail in orbit, which has high
Precision and measurement range are -0.1g0~+0.1g0.The acceleration analysis range brings biggish tired to the calibration test on ground
Difficulty can not directly demarcate accelerometer using ground gravity acceleration, therefore cannot utilize traditional marble plate
Accelerometer is demarcated.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide small-range accelerometer calibration side
Method demarcates accelerometer using two-axis position turntable, and then realizes high-precision acceleration analysis, by setting twin shaft
The input that the different location of turntable keeps accelerometer sensitive different, and then the parameter of isolated accelerometer, wherein inside casing control
Make different sensitive axes, the angle of outline border control input, so that sensitive arrive corresponding gravitational acceleration component.
The technical solution of the invention is as follows: small-range accelerometer scaling method includes the following steps:
S1 prepares double axle table；
S2 rotates the double axle table inside casing, selectes an accelerometer sensitive axis, carries out Angle Position test, obtains angle
Position test data；
S3, diagonal position test data are fitted, and obtain the zero bias and constant multiplier of selected accelerometer sensitive axis；
S4 calculates error angle caused by the error in the zero bias and arrangements of accelerometers to be measured as double axle table, and defeated
Zero bias and constant multiplier out through the compensated selected accelerometer sensitive axis of the error angle are as the accelerometer channel
Final calibration result；
Double axle table inside casing is rotated predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4 by S5；Again will
Double axle table inside casing rotates predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4, completes all to measuring acceleration
Count the calibration of sensitive axes.
Further, the step of Angle Position is tested are as follows: adjustment double axle table outline border, it is pre- for setting gradually its Angle Position
If testing angle, acceleration sensitive axis input acceleration under default test angle is calculated.
Further, acceleration sensitive axis input acceleration is a under the default test anglei=g0*sin(αi), 1≤i≤
N, i are integer, and n is the number at default test angle；Wherein, αiFor accelerometer sensitive axis corresponding with default test angle and level
The angle in face, g0For local gravitational acceleration.
Further, the method that the diagonal position test data is fitted are as follows: calculate separately under default test angle to
The output speed increment of measuring acceleration meter obtains n group output speed incremental data；N group output speed incremental data is intended
It closes；N is the number at default test angle.
Further, the output speed increment of accelerometer to be measured is N under the default test anglei=K*ai+N0；Wherein,
K is constant multiplier, N0For zero bias.
Further, the method being fitted to n group output speed incremental data is least square method.
Further, the method for error angle is calculated are as follows:
S71 calculates the output speed increment N of the accelerometer to be measured under the influence of error angle；
Double axle table outline border is rotated default rotation angle, calculates the acceleration to be measured under the influence of postrotational error angle by S72
Spend the output speed increment N ' of meter；
S73, by N-N '=2Kg0Cos α sin β calculates error angle；
S74 calculates the zero bias and constant multiplier in the compensated selected accelerometer channel of error angle；If constant multiplier
Error is met the requirements, then exports the final calibration result of the zero bias and constant multiplier as the accelerometer channel；If being unsatisfactory for
It is required that then repeatedly S73~S74.
Further, the N=Kg0·sin(α+β)+N0；Wherein, K is constant multiplier, N0For zero bias, α is acceleration
The angle of sensitive axes and horizontal plane is counted, β is error angle, g0For local gravitational acceleration.
Further, the N '=Kg0·sin(α-β)+N0。
Further, the default rotation angle is 169 °.
The advantages of the present invention over the prior art are that:
(1) present invention can well solve existing accelerometer module and generally be above acceleration of gravity, ground mark
Periodically, it can be demarcated directly on marble plate by acceleration of gravity, but for small-range accelerometer, this side
The not applicable problem of method；
(2) present invention considers that the error in the zero bias and used group structure of turntable introduces error angle, and in data processing
Stated accuracy is improved using null compensator testing.The precision of Angle Position is very big on the calibration in acceleration channel and measurement influence, according to
Product structure calculates the ideal value of angle with horizontal plane, but due to the mistake in the zero bias and used group structure of turntable when actual measurement
Difference, leading to practical angle is not ideal value, and there are error angles, improves the calibration of small-range accelerometer using null compensator testing
Precision, and the constant multiplier after being compensated with iterative algorithm calculates.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is the distribution schematic diagram of acceleration sensitive axis of the invention；
Fig. 3 is the distribution top view of acceleration sensitive axis of the invention；
Fig. 4 is the accelerometer sensitive axis angle with horizontal plane schematic diagram that the calibration technique in the present invention is related to；
Calibration technique in Fig. 5 present invention is related to iterative algorithm flow chart.
Specific embodiment
Small-range accelerometer scaling method, as shown in Figure 1, including the following steps:
S1 prepares double axle table；
S2 rotates the double axle table inside casing, selectes an accelerometer sensitive axis, carries out Angle Position test, obtains angle
Position test data；
S3, diagonal position test data are fitted, and obtain the zero bias and constant multiplier of selected accelerometer sensitive axis；
S4 calculates error angle caused by the error in the zero bias and arrangements of accelerometers to be measured as double axle table, and defeated
Zero bias and constant multiplier out through the compensated selected accelerometer sensitive axis of the error angle are as the accelerometer channel
Final calibration result；
Double axle table inside casing is rotated predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4 by S5；Again will
Double axle table inside casing rotates predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4, completes all to measuring acceleration
Count the calibration of sensitive axes.The step of Angle Position is tested are as follows: adjustment double axle table outline border, it is default for setting gradually its Angle Position
Angle is tested, acceleration sensitive axis input acceleration under default test angle is calculated.
Acceleration sensitive axis input acceleration is a under the default test anglei=g0*sin(αi), 1≤i≤n, i are whole
Number, n are the number at default test angle；Wherein, αiFor the folder of corresponding with default test angle accelerometer sensitive axis and horizontal plane
Angle.The method that the diagonal position test data is fitted are as follows: calculate separately the defeated of accelerometer to be measured under default test angle
Speed increment out obtains n group output speed incremental data；N group output speed incremental data is fitted；N is default test
The number at angle.The output speed increment of accelerometer to be measured is N under the default test anglei=K*ai+N0；Wherein, K is scale
Factor, N0For zero bias.The method being fitted to n group output speed incremental data is least square method.
The method for calculating error angle are as follows:
S71 calculates the output speed increment N of the accelerometer to be measured under the influence of error angle；
Double axle table outline border is rotated default rotation angle, calculates the acceleration to be measured under the influence of postrotational error angle by S72
Spend the output speed increment N ' of meter；
S73, by N-N '=2Kg0Cos α sin β calculates error angle；
S74 calculates the zero bias and constant multiplier in the compensated selected accelerometer channel of error angle；If constant multiplier
Error is met the requirements, then exports the final calibration result of the zero bias and constant multiplier as the accelerometer channel；If being unsatisfactory for
It is required that then repeatedly S73~S74.
The N=Kg0·sin(α+β)+N0；Wherein, K is constant multiplier, N0For zero bias, α is accelerometer sensitive axis
With the angle of horizontal plane, β is error angle, g0For local gravitational acceleration.The N '=Kg0·sin(α-β)+N0.It is described pre-
If rotating angle is 169 °.
There are 3 acceleration sensitive axis on inertial navigation unit, at tilting orthogonality relation between three axis, accelerometer uniformly divides
It is distributed in the circular cone body side surface that semi-cone angle is 54.7356 °, bottom surface projects 120 ° and is uniformly distributed, as shown in Figure 2,3.
According to composite structure characteristic, is demarcated and tested using high-precision dual-axis turntable, double axle table position precision: 2
Rad peak-to-peak value；Position resolution :≤± 0.036 rad；Position repeatability :≤± 1 rad；Wherein double axle table outline border is used to
The angle of measured axis and horizontal plane is set, to input the acceleration within ± a 0.1g0 to accelerometer, inside casing has been used to
At axis operation is changed, 120 ° of rotation, which can be completed, changes axis.
By the way that turntable outline border Angle Position is arranged, acceleration sensitive axis input acceleration a under different Angle Positions is obtainednFollowing institute
Show:
Wherein α is the angle by the way that accelerometer sensitive axis and horizontal plane that turntable outline border Angle Position obtains is arranged, and is used to group
Output speed increment (umber of pulse) is expressed as follows:
Wherein K is constant multiplier, N0For zero bias.Least square fitting is carried out by the n group data that Angle Position is tested
The constant multiplier and zero bias in acceleration channel can be obtained.
In order to realize high-precision calibrating and the measurement in acceleration channel, need to analyze error source.By dividing above
It is found that the precision of Angle Position is very big on the calibration in acceleration channel and measurement influence, α is calculated according to product structure for analysis
Ideal value, but due to the error in the zero bias and used group structure of turntable when actual measurement, leading to practical angle is not ideal value,
Assuming that error angle is β, as shown in figure 4, then above formula need to be write as
N=Kg0·sin(α+β)+N0
=Kg0·sinα·cosβ+K·g0·cosα·sinβ+N0 (3)
In order to measure the value of angle of deviation β, by turntable outline border rotate 169 ° of progress zero compensations, due to revolving table position precision compared with
Height, it is available
N '=Kg0·sin(α-β)+N0
=Kg0·sinα·cosβ-K·g0·cosα·sinβ+N0 (4)
Subtract formula (4) with formula (3) to obtain
N-N '=2Kg0·cosα·sinβ (5)
From the above equation, we can see that if acquiring K can be obtained β, but in order to acquire accurate K, and being needed in situation known to α
Know the value of β, it is therefore desirable to use iterative algorithm, specific calculation process such as Fig. 5.
Embodiment
Steps are as follows for the realization of small-range accelerometer scaling method of the present invention:
1, double axle table inside casing selectes an accelerometer channel, adjusts double axle table outline border, sets gradually its Angle Position
It is -29.764444 °, -30.264444 °, -30.764444 °, -31.264444 °, -32.264444 °, -33.264444 °, -
34.264444 °, -35.264444 °, -36.26444 °, -37.264444 °, -38.264444 °, -39.264444 °, -
39.764444 °, -40.264444 °, -40.764444 °, the angle α of accelerometer sensitive axis and horizontal planenRespectively 5.5 °,
5.0 °, 4.5 °, 4.0 °, 3.0 °, 2.0 °, 1.0 °, 0 °, -1.0 °, -2.0 °, -3.0 °, -4.0 °, -4.5 °, -5.0 °, -5.5 °, phase
The acceleration input a answerednRespectively 0.095846g0, 0.087156g0, -0.078459g0, 0.069756g0, 0.052336g0,
0.034899g0, 0.017452g0, 0, -0.017452g0, -0.034899g0, -0.052336g0, -0.069756g0,-
0.078459g0, -0.087156g0, -0.095846g0, wherein g0Indicate local gravitational acceleration.By above-mentioned αnIt substitutes into formula (1)
Calculate acceleration sensitive axis input acceleration a under different Angle Positionsn, formula (2) is recycled to calculate used group output speed increment, benefit
Least square fitting is carried out with 15 groups of data that Angle Position is tested, obtains the zero bias and constant multiplier in accelerometer channel.
To which calibration obtains the zero bias N in the positive and negative channel of acceleration0+、N0-And constant multiplier K+And K-；
2, turntable outline border is then rotated 169 ° again, that is, it is -209.764444 ° that its Angle Position, which is arranged, accelerometer sensitive
Axis angle with horizontal plane is theoretically also -5.5 °, and corresponding acceleration input is -0.095846g0, with Angle Position be-
Accelerometer input at 40.764444 ° is identical, and output also should be identical, but since there are error angles, there is also inclined for output
Difference.Using the zero bias and constant multiplier acquired in the N and N ' of reality output pulse twice, theory input angle α and step 1, calculate
Error angle β is obtained, by error angle compensation into the input of accelerometer Angle Position, to obtain new acceleration input, weight
New fitting obtains the zero bias and constant multiplier in new accelerometer channel.Judge whether output meets absolute error requirement, if not
Meet, continue iteration, until meeting the requirements, terminates iterative algorithm, export compensated accelerometer bias and constant multiplier i.e.
For final calibration result.
3, turntable inside casing rotates 120 ° of completions and changes axis, repeats the above steps 1, is similarly operated to other two axis, complete
At parameter calibration.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. small-range accelerometer scaling method, which comprises the steps of:
S1 prepares double axle table；
S2 rotates the double axle table inside casing, selectes an accelerometer sensitive axis, carries out Angle Position test, obtains Angle Position
Test data；
S3, diagonal position test data are fitted, and obtain the zero bias and constant multiplier of selected accelerometer sensitive axis；
S4 calculates error angle caused by the error in the zero bias and arrangements of accelerometers to be measured as double axle table, and exports warp
The zero bias and constant multiplier of the compensated selected accelerometer sensitive axis of error angle as the accelerometer channel most
Whole calibration result；
Double axle table inside casing is rotated predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4 by S5；Again by twin shaft
Turntable inside casing rotates predetermined angle, replaces accelerometer sensitive axis, repeats step S2~S4, and it is quick to complete all accelerometers to be measured
Feel the calibration of axis.
2. small-range accelerometer scaling method according to claim 1, which is characterized in that the step of the Angle Position test
Suddenly are as follows: adjustment double axle table outline border, setting gradually its Angle Position is default test angle, calculates acceleration sensitive under default test angle
Axis input acceleration.
3. small-range accelerometer scaling method according to claim 2, it is characterised in that add under the default test angle
Speed sensitive axis input acceleration is ai=g0*sin(αi), 1≤i≤n, i are integer, and n is the number at default test angle；Wherein,
αiFor the angle of corresponding with default test angle accelerometer sensitive axis and horizontal plane, g0For local gravitational acceleration.
4. small-range accelerometer scaling method according to claim 1, it is characterised in that: the diagonal position tests number
According to the method being fitted are as follows: the output speed increment for calculating separately accelerometer to be measured under default test angle obtains n group and exports
Speed increment data；N group output speed incremental data is fitted；N is the number at default test angle.
5. small-range accelerometer scaling method according to claim 4, it is characterised in that: under the default test angle to
The output speed increment of measuring acceleration meter is Ni=K*ai+N0；Wherein, K is constant multiplier, N0For zero bias.
6. small-range accelerometer scaling method according to claim 4, it is characterised in that: described to n group output speed
The method that incremental data is fitted is least square method.
7. small-range accelerometer scaling method according to claim 1, which is characterized in that the method for calculating error angle
Are as follows:
S71 calculates the output speed increment N of the accelerometer to be measured under the influence of error angle；
Double axle table outline border is rotated default rotation angle, calculates the accelerometer to be measured under the influence of postrotational error angle by S72
Output speed increment N '；
S73, by N-N '=2Kg0Cos α sin β calculates error angle；
S74 calculates the zero bias and constant multiplier in the compensated selected accelerometer channel of error angle；If the error of constant multiplier
It meets the requirements, then exports the final calibration result of the zero bias and constant multiplier as the accelerometer channel；If being unsatisfactory for requiring,
Then repeat S73~S74.
8. small-range accelerometer scaling method according to claim 7, it is characterised in that: the N=Kg0·sin(α
+β)+N0；Wherein, K is constant multiplier, N0For zero bias, α is the angle of accelerometer sensitive axis and horizontal plane, and β is error angle, g0
For local gravitational acceleration.
9. small-range accelerometer scaling method according to claim 8, it is characterised in that: the N '=Kg0·sin
(α-β)+N0。
10. small-range accelerometer scaling method according to claim 7, it is characterised in that: the default rotation angle
It is 169 °.
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| CN114324978A (en) * | 2021-12-17 | 2022-04-12 | 兰州空间技术物理研究所 | Ground static calibration method for accelerometer capture range |
| CN114413886A (en) * | 2021-12-24 | 2022-04-29 | 上海航天控制技术研究所 | Zero compensation method for combination of satellite-borne accelerometers |
| CN114509580A (en) * | 2021-12-24 | 2022-05-17 | 北京航天时代光电科技有限公司 | High-precision temperature modeling method for small-range accelerometer |
| CN118050029A (en) * | 2024-04-16 | 2024-05-17 | 贵州航天控制技术有限公司 | MEMS inertial measurement unit high-low temperature calibration-free method |
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