CN111288982B - High-precision single-axis rotation measuring system of double-laser gyroscope - Google Patents
High-precision single-axis rotation measuring system of double-laser gyroscope Download PDFInfo
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- CN111288982B CN111288982B CN201811491266.5A CN201811491266A CN111288982B CN 111288982 B CN111288982 B CN 111288982B CN 201811491266 A CN201811491266 A CN 201811491266A CN 111288982 B CN111288982 B CN 111288982B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
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Abstract
The invention belongs to the technical field of laser gyro angle measurement, and discloses a double-laser-gyro high-precision single-axis rotation measurement system which comprises a substrate (1), a first single-axis rotating table (2a), a first laser gyro (3a), a second single-axis rotating table (2b) and a second laser gyro (3 b); the first single-axis rotary table (2a) and the second single-axis rotary table (2b) are respectively mounted on the substrate (1) and can rotate around respective axes perpendicular to the substrate (1) at different angular speeds; first laser top (3a) and second laser top (3b) are fixed respectively first unipolar revolving stage (2a) with on second unipolar revolving stage (2 b). The system reduces the angle measurement error by the simultaneous working of the two laser gyroscopes, and can prevent the influence of the locking threshold value on the angle measurement performance.
Description
Technical Field
The invention relates to the technical field of laser gyro angle measurement, in particular to a double-laser-gyro high-precision single-axis rotation measurement system.
Background
The laser gyro is an instrument capable of accurately positioning the direction of a moving object, is an inertial navigation instrument widely used in the modern aviation, navigation, aerospace and national defense industries, and has very important strategic significance on the development of the national industry, the national defense and other high-tech developments. In particular, in the field of military application, the requirements for long-time and high-precision measurement of the laser gyroscope are higher.
The principle of the laser gyro is to measure the angular velocity of rotation using the optical path difference (Sagnac effect). In the closed optical path, two beams of light transmitted clockwise and counterclockwise from the same light source interfere with each other, and the angular velocity of the closed optical path can be measured by detecting the phase difference or the change of the interference fringes. However, the laser gyro has a latch-up effect, that is, when the rotation angular velocity of the laser gyro is small, the laser gyro does not output, and latch-up occurs. The range of angular velocities that produces the latch-up effect is called the latch-up threshold.
At present, a method for preventing a locking effect is mainly to mount a laser gyroscope on a mechanical shaking device, apply periodic shaking to the laser gyroscope and prevent the laser gyroscope from falling into a locking state for a long time. However, the mechanical jitter increases the noise of the laser gyro, and it is difficult to avoid short-time locking due to the mechanical jitter, and a large error is also formed due to accumulation of errors caused by short-time locking.
The laser gyro is an autonomous angle measuring instrument independent of external signals, and system errors and random errors in the working process of the laser gyro are accumulated along with the lapse of time, so that the requirement on error control is higher. The measurement error of the current laser gyro is controlled by a computer algorithm, the error control effect is poor, and the method is useless for errors which cannot be controlled by the algorithm, such as random errors.
Disclosure of Invention
The invention aims to solve the problems of poor error control effect and error generation in the mechanical shaking process in the prior art, and provides a double-laser-gyroscope high-precision single-axis rotation measurement system which has the advantages of not needing mechanical shaking and being capable of controlling system errors and random errors simultaneously.
In order to achieve the above object, the present invention provides a dual-laser gyro high-precision single-axis rotation measurement system, which includes a substrate, a first single-axis rotation stage, a first laser gyro, a second single-axis rotation stage, and a second laser gyro; the first single-axis rotary table and the second single-axis rotary table are respectively mounted on the substrate and can rotate around respective axes perpendicular to the substrate at different angular speeds; the first laser gyro and the second laser gyro are respectively fixed on the first single-shaft rotating table and the second single-shaft rotating table; the first laser gyro and the second laser gyro can output measurement information to a computer system for processing so as to obtain angle measurement information.
Preferably, the first single-axis rotating table and the second single-axis rotating table rotate in opposite directions. The design of reverse rotation of the first single-shaft rotating platform and the second single-shaft rotating platform is adopted, so that the offset frequency phase difference of the two laser gyros is larger.
Further preferably, the rotation rates of the first single-axis rotating table and the second single-axis rotating table are the same. The first single-shaft rotating platform and the second single-shaft rotating platform reversely rotate at the same speed, interference of some external factors on the laser gyros has opposite influence on the two laser gyros, and offset is generated through synthesis of output signals on the two laser gyros, so that the anti-interference capacity of the system is improved, and the precision of the system is improved.
Further, first unipolar revolving stage with the second unipolar revolving stage is the uniform velocity rotation. The uniform rotation not only makes the driving and control of the turntable simpler, but also makes the method for removing the offset frequency of the computer system simpler and more convenient.
Preferably, the first laser gyro and the second laser gyro have the same specification. The system errors of the laser gyros with the same specification are relatively close, and the errors generated under the influence of external factors are also relatively close, so that the errors are easy to remove by a technical method.
Preferably, the first laser gyro and the first single-axis rotating table and the second laser gyro and the second single-axis rotating table are rigidly fixed. The rigid fixation can avoid the system from jumping in violent movement posture caused by the deformation of the shock absorber, and the measurement precision of the system is improved.
Preferably, the first laser gyro and the second laser gyro output measurement information to a computer system for processing to obtain angle measurement information is that, when any one of the first laser gyro and the second laser gyro is in a locked state, the output information of the other laser gyro is adopted for processing to obtain angle measurement information; otherwise, the output information of the first laser gyro and the second laser gyro is respectively processed, and the average value of the two is used as angle measurement information. The processing mode not only avoids the influence of the locking threshold value of the laser gyro on the angle measurement result, but also can reduce the influence of random errors and partial system errors in the measurement process on the measurement result, and improves the angle measurement precision of the system.
According to the technical scheme, the double-laser-gyro high-precision single-axis rotation measuring system provided by the invention adopts synchronous measurement of the double laser gyros rotating at different angular speeds, so that the two laser gyros cannot be in a locked state at the same time, the influence of a locked domain value on an angle measurement result is effectively avoided, mechanical jitter does not need to be applied to the laser gyros, mechanical noise is reduced, and the angle measurement precision is improved. The laser gyroscope is fixed on a platform rotating at a constant speed for measurement, partial system errors can be reduced in the accumulation process of position information, and the measurement precision is improved. The measurement results obtained by averaging the two laser gyros can reduce the random error of measurement. Two laser gyros with the same specification are fixed on a platform which rotates reversely at the same speed to measure simultaneously, and some external interference and some system errors can be counteracted. The rigid connection of the laser gyro and the single-shaft rotating platform can prevent errors caused by deformation of the buffer system.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a dual-laser gyro high-precision single-axis rotation measurement system.
Description of the reference numerals
1 substrate 2a first single-axis turntable
2b second Single-axis rotating stage 3a first laser gyro
3b second laser gyro
Detailed Description
In the present invention, unless otherwise specified, the positional or orientational relationships indicated by the terms "upper" and "lower" are based on the positional or orientational relationships shown in the drawings.
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, and it is to be understood that the detailed description is provided for purposes of illustration and explanation and is not intended to limit the scope of the invention.
As shown in fig. 1, the dual-laser gyro high-precision single-axis rotation measurement system according to the embodiment of the present invention includes a substrate 1, a first single-axis rotation table 2a, a first laser gyro 3a, a second single-axis rotation table 2b, and a second laser gyro 3 b; the first single-axis rotary table 2a and the second single-axis rotary table 2b are cylindrical tables having the same height, are mounted on the substrate 1 with the axis vertical to the substrate 1, and are rotatable at different angular speeds around respective axes vertical to the substrate 1; a first laser gyro 3a and a second laser gyro 3b are fixed on the first single-axis rotation stage 2a and the second single-axis rotation stage 2b, respectively, in the same manner; the first laser gyro 3a and the second laser gyro 3b output respective measurement information at the same time, and the computer system performs comprehensive processing on the measurement information of the two to obtain angle measurement information. Because the first single-axis rotating platform 2a and the second single-axis rotating platform 2b rotate at different angular speeds, which is equivalent to applying different offset frequencies to the first laser gyroscope 3a and the second laser gyroscope 3b, the first laser gyroscope 3a and the second laser gyroscope 3b cannot be in a locking state at the same time, the influence of a locking threshold value of the laser gyroscope on a measuring system can be eliminated after the processing of a computer system, the influence of adding a mechanical shaking mechanism on the measuring precision is also avoided, and the measuring precision is improved. In addition, the mode that two laser gyros work simultaneously is adopted, so that the influence of random errors on the measurement result can be reduced.
In some embodiments of the invention, the first single-axis rotary table 2a and the second single-axis rotary table 2b rotate in opposite directions. The reverse rotation of the first single-axis rotation platform 2a and the second single-axis rotation platform 2b enables the offset frequency difference between the first laser gyro 3a and the second laser gyro 3b to be larger, and meanwhile, the opposite offset frequency can also enable certain specific interference to generate opposite influence on the first laser gyro 3a and the second laser gyro 3b, so that the interference can be mutually counteracted.
In some embodiments of the invention, the first single-axis rotation stage 2a and the second single-axis rotation stage 2b are counter-rotating at the same rate, so that the first laser gyro 3a and the second laser gyro 3b are in a symmetrical state at any one time. In this state, more error types can be offset, and the error offset effect is better.
In some embodiments of the invention, the first single-axis rotating table 2a and the second single-axis rotating table 2b rotate at a constant speed in opposite directions at the same speed. The uniform rotation mode of the single-shaft rotating platform enables the time of each position of the laser gyro on the rotating path to be the same, and drifts of the laser gyro on the positions opposite to each other can be offset.
In some embodiments of the present invention, the first laser gyro 3a and the second laser gyro 3b are of the same specification. The system errors generated by the laser gyros with the same specification are similar, and similar random errors are easily generated, so that the errors can be offset.
In some embodiments of the present invention, the first laser gyro 3a and the first uniaxial rotary table 2a and the second laser gyro 3b and the second uniaxial rotary table 2b are rigidly fixed. The rigid fixing mode can prevent the measuring error caused by the deformation of the shock absorber in the buffer connection mode, and the measuring precision is improved.
In some embodiments of the present invention, the computer system processes the measurement information output by the first laser gyro 3a and the second laser gyro 3b in such a manner that, when the computer system detects that any one of the first laser gyro 3a and the second laser gyro 3b is in a locked state without being output, the computer system directly processes the output information of the other laser gyro to obtain angle measurement information, and directly outputs the angle measurement information. The first laser gyro 3a and the second laser gyro 3b are positioned in the same plane and in different offset frequency states, and cannot be in a locking state at the same time, so that the measurement error caused by frequency locking can be completely avoided. When the first laser gyro 3a and the second laser gyro 3b are not in a locked state, the output information of the first laser gyro 3a and the second laser gyro 3b is respectively processed to obtain angle measurement information, and the average value of the angle measurement information of the two laser gyros is output. Random errors in the average value are restrained, partial system errors are offset, and the angle measurement precision is higher.
In summary, according to the double-laser-gyroscope high-precision single-axis rotation measurement system, because the two laser gyroscopes with different offset frequency states are adopted on the same plane for angle measurement, measurement errors caused by the fact that the laser gyroscopes are in a locking state are effectively avoided, a complex mechanical shaking structure can be omitted, measurement errors and noise caused by a mechanical shaking mechanism are reduced, and the angle measurement precision of the system is improved. The first single-axis rotating platform 2a and the second single-axis rotating platform 2b rotate reversely at a constant speed at the same speed, so that the first laser gyroscope 3a on the first single-axis rotating platform 2a and the second laser gyroscope 3b on the second single-axis rotating platform 2b are always in a symmetrical state, and the time of each position in the rotating process is equal, thereby effectively inhibiting random errors and offsetting system errors including laser gyroscope drift in time and space, and further improving the angle measurement precision of the system from another aspect. The rigid fixing mode between the single-shaft rotating platform and the laser gyro can avoid the jump of the motion attitude caused by the deformation of the shock absorber and reduce the angle measurement error caused by the jump. After the output states of the two laser gyros are integrated by the computer system, the error of the measuring system is obviously inhibited, and the angle measuring precision is obviously improved.
Reference throughout this specification to "some embodiments" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. In this specification, the schematic representations thereof do not necessarily have to be directed to the same embodiment.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including any suitable combination of specific features, and in order to avoid unnecessary repetition, the invention will not be described in detail in relation to the various possible combinations. Such simple modifications and combinations should also be considered as disclosed in the present invention, and all such modifications and combinations are intended to be included within the scope of the present invention.
Claims (6)
1. A double-laser-gyro high-precision single-axis rotation measuring system is characterized by comprising a substrate (1), a first single-axis rotating table (2a), a first laser gyro (3a), a second single-axis rotating table (2b) and a second laser gyro (3 b);
the first single-axis rotary table (2a) and the second single-axis rotary table (2b) are respectively mounted on the substrate (1) and can rotate around respective axes perpendicular to the substrate (1) at different angular speeds; the first laser gyro (3a) and the second laser gyro (3b) are respectively fixed on the first single-shaft rotating platform (2a) and the second single-shaft rotating platform (2 b); the first laser gyro (3a) and the second laser gyro (3b) can output measurement information to a computer system for processing, and when any one of the first laser gyro (3a) and the second laser gyro (3b) is in a locked state, the output information of the other laser gyro is adopted for processing to obtain angle measurement information; otherwise, the output information of the first laser gyro (3a) and the second laser gyro (3b) is respectively processed, and the average value of the two is used as angle measurement information.
2. Double laser gyro high precision single axis rotation measurement system according to claim 1, characterized in that the direction of rotation of the first single axis rotation stage (2a) and the second single axis rotation stage (2b) are opposite.
3. Double laser gyro high precision single axis rotation measurement system according to claim 2, characterized in that the rotation rate of the first single axis rotation stage (2a) and the second single axis rotation stage (2b) is the same.
4. A dual laser gyro high precision single axis rotation measurement system according to claim 3, characterized in that the first single axis rotation stage (2a) and the second single axis rotation stage (2b) are both rotating at a constant speed.
5. The dual laser gyro high precision uniaxial rotation measurement system of claim 1, wherein the specifications of the first laser gyro (3a) and the second laser gyro (3b) are the same.
6. Double laser gyro high precision single axis rotation measurement system according to claim 1, characterized in that the first laser gyro (3a) and the first single axis rotation stage (2a) and the second laser gyro (3b) and the second single axis rotation stage (2b) are rigidly fixed to each other.
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| CN207907898U (en) * | 2018-01-29 | 2018-09-25 | 北京汽车股份有限公司 | A kind of gyroscope mounting device |
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| US5414511A (en) * | 1990-09-14 | 1995-05-09 | Rockwell International Corporation | Dual optical amplifier ring laser gyroscope with reduced phase locking |
| KR100297228B1 (en) * | 1999-06-14 | 2001-09-22 | 박호군 | High accuracy ring laser interferometer based on external cavity ring laser |
| CN1277102C (en) * | 2002-12-06 | 2006-09-27 | 北京大学 | Dicyclic resonant fiber gyro |
| CN100559123C (en) * | 2007-10-25 | 2009-11-11 | 北京航空航天大学 | The gyrostatic difference measurement method of a kind of MEMS |
| CN101975574A (en) * | 2010-10-01 | 2011-02-16 | 中国人民解放军国防科学技术大学 | Small jitter frequency stabilization method of four-frequency laser gyro |
| CN204359317U (en) * | 2014-12-05 | 2015-05-27 | 浙江大学 | The single shaft double tops systems stabilisation that band controls |
| CN106289207A (en) * | 2015-06-26 | 2017-01-04 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of high-precision measuring method based on difference MEMS gyroscope |
| ITUA20162160A1 (en) * | 2016-03-31 | 2017-10-01 | St Microelectronics Srl | MICROMECHANICAL STRUCTURE FOR DETECTION OF A MEMS MULTI-FACTORY GYROSCOPE, HAVING REDUCED DERIVED FROM RELATED ELECTRICAL CHARACTERISTICS |
| CN106767801B (en) * | 2016-12-01 | 2019-08-09 | 北京航天时代光电科技有限公司 | A kind of highly reliable uniaxial used examining system of slack gyro |
| CN207850389U (en) * | 2017-12-27 | 2018-09-11 | 东莞前沿技术研究院 | It is tethered at the flight control system and its attitude angle device of ship |
| CN108592946B (en) * | 2018-04-26 | 2022-02-08 | 北京航空航天大学 | Inertial device drift online monitoring method based on two sets of rotary inertial navigation redundancy configuration |
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| CN207907898U (en) * | 2018-01-29 | 2018-09-25 | 北京汽车股份有限公司 | A kind of gyroscope mounting device |
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