CN111337053A - A kind of fiber optic gyroscope dynamic error characteristic measurement and calibration method and calibration system - Google Patents
A kind of fiber optic gyroscope dynamic error characteristic measurement and calibration method and calibration system Download PDFInfo
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Abstract
本发明提供一种光纤陀螺动态误差特性测量标定方法及标定系统，解决现有光纤陀螺的速度反馈精度或速度平稳性测量精度不能满足要求的问题。该方法包括：步骤一、搭建光纤陀螺动态误差特性测量标定系统；步骤二、激振器工作，使得旋转平台按照设定幅频曲线转动；步骤三、数据处理单元分别采集第一加速度传感器、第二加速度传感器、被测光纤陀螺和激振器的数据；步骤四、根据第一加速度传感器、第二加速度传感器的数据计算旋转平台的角速度；步骤五、计算被测光纤陀螺的角速度输出噪声；步骤六、获取被测光纤陀螺的动态误差特性表；步骤七、误差标定，将步骤六得到的动态误差特性表对实时采集的数据进行标定，得到标定后的角速度测量误差值。
The invention provides a method and a calibration system for measuring and calibrating the dynamic error characteristic of an optical fiber gyroscope, which solves the problem that the speed feedback accuracy or the speed stability measurement accuracy of the existing fiber optic gyroscope cannot meet the requirements. The method includes: step 1, building a fiber optic gyroscope dynamic error characteristic measurement and calibration system; step 2, operating the vibration exciter, so that the rotating platform rotates according to the set amplitude-frequency curve; step 3, the data processing unit collects the first acceleration sensor, the second 2. The data of the acceleration sensor, the fiber-optic gyroscope under test and the vibration exciter; Step 4, calculate the angular velocity of the rotating platform according to the data of the first acceleration sensor and the second acceleration sensor; Step 5, calculate the angular velocity output noise of the fiber-optic gyroscope under test; Step Sixth, obtain the dynamic error characteristic table of the fiber optic gyroscope under test; step seven, error calibration, calibrate the data collected in real time with the dynamic error characteristic table obtained in step six, and obtain the calibrated angular velocity measurement error value.
Description
技术领域technical field
本发明涉及光纤陀螺领域，具体涉及一种光纤陀螺动态误差特性测量标定方法及标定系统。The invention relates to the field of fiber optic gyroscopes, in particular to a method and a calibration system for measuring and calibrating dynamic error characteristics of fiber optic gyroscopes.
背景技术Background technique
光纤陀螺由于结构简单、角速度测量速度范围大、精度高、带宽大、响应速度快、光纤全固态环境适应性好等优点被广泛应用。光电经纬仪多采用光纤陀螺作为测速反馈或速度平稳性测量基准。通常光纤陀螺出厂时对其静态参数均做过精细标定。但是，对于动态特性，尤其动态噪声等未进行标定。光纤陀螺用于速度平稳性测试标定时，采用光纤陀螺采集的原始数据与拟合曲线做差求取均方根或峰值作为测试结果，光纤陀螺的动态噪声将直接叠加到测试结果中。因此，光纤陀螺自身的动态噪声将直接影响光电经纬仪的速度平稳性调试及速度平稳性测试结果，使得光纤陀螺的速度反馈精度或速度平稳性测量精度不能满足要求。Fiber optic gyroscopes are widely used due to their simple structure, large range of angular velocity measurement speed, high precision, large bandwidth, fast response speed, and good adaptability to all-solid-state optical fibers. Photoelectric theodolites mostly use fiber optic gyroscopes as speed feedback or speed stability measurement benchmarks. Usually, the static parameters of the fiber optic gyroscope are finely calibrated when leaving the factory. However, dynamic characteristics, especially dynamic noise, etc., are not calibrated. When the fiber optic gyroscope is used for speed stability test calibration, the difference between the original data collected by the fiber optic gyroscope and the fitting curve is used to obtain the root mean square or peak value as the test result, and the dynamic noise of the fiber optic gyroscope will be directly added to the test result. Therefore, the dynamic noise of the fiber optic gyroscope itself will directly affect the speed stability debugging and speed stability test results of the photoelectric theodolite, so that the speed feedback accuracy or speed stability measurement accuracy of the fiber optic gyroscope cannot meet the requirements.
发明内容SUMMARY OF THE INVENTION
本发明的目的是解决现有光纤陀螺的速度反馈精度或速度平稳性测量精度不能满足要求的问题，提供一种光纤陀螺动态误差特性测量标定方法及标定系统。该系统和方法对光纤陀螺不同速度和不同振动频率响应下的动态误差进行测试，获取动态误差特性表，对实时采集的数据进行标定，从而提高了光纤陀螺的速度反馈精度和速度平稳性测量精度。The purpose of the invention is to solve the problem that the speed feedback accuracy or the speed stability measurement accuracy of the existing fiber optic gyroscope cannot meet the requirements, and to provide a method and a calibration system for measuring and calibrating the dynamic error characteristics of the fiber optic gyroscope. The system and method test the dynamic error of the fiber optic gyroscope under different speeds and different vibration frequency responses, obtain the dynamic error characteristic table, and calibrate the data collected in real time, thereby improving the speed feedback accuracy and the speed stability measurement accuracy of the fiber optic gyroscope .
为实现以上发明目的，本发明的技术方案如下：For realizing the above object of the invention, the technical scheme of the present invention is as follows:
一种光纤陀螺动态误差特性测量标定方法，包括以下步骤：A method for measuring and calibrating dynamic error characteristics of an optical fiber gyroscope, comprising the following steps:
步骤一、搭建光纤陀螺动态误差特性测量标定系统；Step 1, build a fiber optic gyro dynamic error characteristic measurement and calibration system;
所述光纤陀螺动态误差特性测量标定系统包括旋转平台、第一加速度传感器、第二加速度传感器、被测光纤陀螺、激振器和数据处理单元；所述第一加速度传感器和第二加速度传感器分别设置在旋转平台的两侧，所述被测光纤陀螺安装在旋转平台上，且与旋转平台同轴；所述激振器与旋转平台连接，用于按照设定幅频曲线驱动旋转平台转动；所述数据处理单元分别采集第一加速度传感器、第二加速度传感器、被测光纤陀螺和激振器的数据；The optical fiber gyroscope dynamic error characteristic measurement and calibration system includes a rotating platform, a first acceleration sensor, a second acceleration sensor, a tested fiber optic gyroscope, a vibration exciter and a data processing unit; the first acceleration sensor and the second acceleration sensor are respectively set On both sides of the rotating platform, the fiber optic gyroscope to be tested is installed on the rotating platform and is coaxial with the rotating platform; the vibration exciter is connected with the rotating platform, and is used to drive the rotating platform to rotate according to the set amplitude-frequency curve; The data processing unit collects the data of the first acceleration sensor, the second acceleration sensor, the fiber optic gyroscope under test and the vibration exciter respectively;
步骤二、激振器工作，使得旋转平台按照设定幅频曲线转动；Step 2, the exciter works, so that the rotating platform rotates according to the set amplitude-frequency curve;
步骤三、数据处理单元分别采集第一加速度传感器、第二加速度传感器、被测光纤陀螺和激振器的数据；
步骤四、根据第一加速度传感器、第二加速度传感器的数据计算旋转平台的角速度
L-第一加速度传感器与第二加速度传感器之间的距离；L-the distance between the first acceleration sensor and the second acceleration sensor;
步骤五、计算角速度输出噪声Δω(f)；Step 5. Calculate the angular velocity output noise Δω(f);
n-频率为f时，数据处理单元采集数据的次数；When n-frequency is f, the number of times the data processing unit collects data;
步骤六、获取被测光纤陀螺的动态误差特性表；
重复步骤三至步骤五，在不同速度和不同振动频率响应下，对被测光纤陀螺的角速度输出噪声进行测试，该角速度输出噪声即为动态误差修正值，进而获取动态误差特性表；Repeat
步骤七、误差标定；Step 7. Error calibration;
将步骤六得到的动态误差特性表对实时采集的数据进行标定，得到标定后的角速度测量误差值，标定计算公式如下：The dynamic error characteristic table obtained in
Δ(fi)＝ΔωG(fi)-Δω(fi)Δ(fi )=Δω G (fi ) -Δω (fi )
Δ(fi)-频率为fi时，光纤陀螺测试输出的实际动态角速度测量误差；Δ(f i ) - when the frequency is f i , the actual dynamic angular velocity measurement error of the fiber optic gyro test output;
ΔωG(fi)-频率为fi时，被测光纤陀螺输出的角速度误差的均方根值；Δω G (f i ) - the root mean square value of the angular velocity error output by the tested fiber optic gyro when the frequency is f i ;
Δω(fi)-频率为fi时，转速为ω、振动频率为fi时的光纤陀螺动态误差修正值。Δω(f i ) - When the frequency is f i , the rotational speed is ω, and the vibration frequency is f i , the dynamic error correction value of the fiber optic gyroscope.
进一步地，步骤一中，所述第一加速度传感器、第二加速度传感器均为压电式加速度传感器。Further, in step 1, the first acceleration sensor and the second acceleration sensor are both piezoelectric acceleration sensors.
进一步地，步骤一中，所述激振器的振动频率范围不小于0Hz～500Hz，激振器的激励加速度选取1g及以下，激振器激励选取1倍频程及以下。Further, in step 1, the vibration frequency range of the exciter is not less than 0 Hz to 500 Hz, the excitation acceleration of the exciter is 1 g and below, and the excitation of the exciter is 1 octave and below.
进一步地，步骤一中，所述激振器上设置有力传感器，所述力传感器用于激振器的激励和控制反馈。Further, in step 1, a force sensor is provided on the vibration exciter, and the force sensor is used for excitation and control feedback of the vibration exciter.
进一步地，步骤一中，所述被测光纤陀螺与旋转平台通过螺栓连接。Further, in step 1, the fiber optic gyro to be tested and the rotating platform are connected by bolts.
同时，本发明提供一种光纤陀螺动态误差特性测量标定系统，包括旋转平台、第一加速度传感器、第二加速度传感器、被测光纤陀螺、激振器和数据处理单元；所述第一加速度传感器和第二加速度传感器分别设置在旋转平台的两侧，所述被测光纤陀螺安装在旋转平台上，且与旋转平台同轴；所述激振器与旋转平台连接，用于按照设定幅频曲线驱动旋转平台转动；所述数据处理单元分别采集和处理第一加速度传感器、第二加速度传感器、被测光纤陀螺、激振器的数据。At the same time, the present invention provides a fiber optic gyro dynamic error characteristic measurement and calibration system, including a rotating platform, a first acceleration sensor, a second acceleration sensor, a tested fiber optic gyroscope, a vibration exciter and a data processing unit; the first acceleration sensor and The second acceleration sensors are respectively arranged on both sides of the rotating platform, the fiber optic gyro to be tested is installed on the rotating platform, and is coaxial with the rotating platform; the vibration exciter is connected with the rotating platform, and is used to follow the set amplitude-frequency curve The rotating platform is driven to rotate; the data processing unit collects and processes the data of the first acceleration sensor, the second acceleration sensor, the fiber optic gyroscope under test, and the vibration exciter respectively.
进一步地，所述第一加速度传感器、第二加速度传感器均为压电式加速度传感器。Further, the first acceleration sensor and the second acceleration sensor are both piezoelectric acceleration sensors.
进一步地，所述激振器的振动频率范围不小于0Hz～500Hz，激振器的激励加速度选取1g及以下，激振器激励选取1倍频程及以下。Further, the vibration frequency range of the exciter is not less than 0 Hz to 500 Hz, the excitation acceleration of the exciter is 1 g or less, and the excitation of the exciter is 1 octave or less.
进一步地，所述激振器上设置有力传感器，所述力传感器用于激振器的激励和控制反馈。Further, a force sensor is provided on the vibration exciter, and the force sensor is used for excitation and control feedback of the vibration exciter.
进一步地，所述被测光纤陀螺与旋转平台通过螺栓连接。Further, the tested fiber optic gyroscope and the rotating platform are connected by bolts.
与现有技术相比，本发明技术方案具有如下优势：Compared with the prior art, the technical solution of the present invention has the following advantages:
1.本发明光纤陀螺动态误差特性测量标定方法及标定系统可以得到光纤陀螺在不同速度和不同振动频率响应下的动态噪声，获取动态误差特性表，对实时采集的数据进行标定，从而提高了光纤陀螺的速度反馈精度和速度平稳性测量精度。1. The optical fiber gyroscope dynamic error characteristic measurement and calibration method and the calibration system of the present invention can obtain the dynamic noise of the fiber optic gyroscope under different speeds and different vibration frequency responses, obtain the dynamic error characteristic table, and calibrate the data collected in real time, thereby improving the fiber optic gyroscope. The speed feedback accuracy and speed stability measurement accuracy of the gyroscope.
2.本发明光纤陀螺动态误差特性测量标定方法及标定系统在定频、定幅值振动激励模式下可大幅降低不同传感器之间采样的时间同步精度要求。2. The optical fiber gyroscope dynamic error characteristic measurement and calibration method and calibration system of the present invention can greatly reduce the time synchronization accuracy requirements for sampling between different sensors in the vibration excitation mode of constant frequency and constant amplitude.
3.本发明光纤陀螺动态误差特性测量标定系统组成简单，适应性及可行性强。3. The optical fiber gyroscope dynamic error characteristic measurement and calibration system of the present invention is simple in composition, strong in adaptability and feasibility.
4.本发明光纤陀螺动态误差特性测量标定方法及标定系统选用激振器作为动态激励，具有振动频率、幅值可精密调谐、控制和反馈灵敏度高、控制频率高的特点。4. The optical fiber gyroscope dynamic error characteristic measurement and calibration method and calibration system of the present invention use an exciter as the dynamic excitation, which has the characteristics of precise tuning of vibration frequency and amplitude, high control and feedback sensitivity, and high control frequency.
5.本发明光纤陀螺动态误差特性测量标定方法及标定系统采用压电式加速度传感器计算角速度作为参考基准，具有响应速度快、测量带宽较宽、输出频率高、测量精度高的特点。5. The optical fiber gyroscope dynamic error characteristic measurement and calibration method and calibration system of the present invention use the piezoelectric acceleration sensor to calculate the angular velocity as a reference, and have the characteristics of fast response speed, wide measurement bandwidth, high output frequency and high measurement accuracy.
6.本发明光纤陀螺动态误差特性测量标定方法及标定系统选用小幅往复线振动激励旋转平台的一端，使旋转平台产生旋转驱动力矩，小幅振动可保证加速度计测量结果线性度良好。6. The optical fiber gyroscope dynamic error characteristic measurement and calibration method and calibration system of the present invention use a small amplitude reciprocating line vibration to excite one end of the rotating platform, so that the rotating platform generates a rotating driving torque, and the small amplitude vibration can ensure that the accelerometer measurement results have good linearity.
附图说明Description of drawings
图1为本发明光纤陀螺动态误差特性测量标定系统结构示意图；Fig. 1 is the structure schematic diagram of the optical fiber gyroscope dynamic error characteristic measurement and calibration system of the present invention;
图2为本发明光纤陀螺动态误差特性测量标定方法流程图。FIG. 2 is a flow chart of the method for measuring and calibrating the dynamic error characteristic of the fiber optic gyroscope according to the present invention.
附图标记：1-被测光纤陀螺，2-旋转平台，3-激振器，4-第一加速度传感器，5-第二加速度传感器，6-数据处理单元，7-力传感器。Reference numerals: 1- fiber optic gyro under test, 2- rotating platform, 3- exciter, 4- first acceleration sensor, 5- second acceleration sensor, 6- data processing unit, 7- force sensor.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明的内容作进一步详细描述。The content of the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
如图1所示，本发明提供一种光纤陀螺动态误差特性测量标定系统，该系统包括旋转平台2、第一加速度传感器4、第二加速度传感器5、力传感器7、被测光纤陀螺1、激振器3和数据处理单元6；第一加速度传感器4和第二加速度传感器5分别设置在旋转平台2的两侧，被测光纤陀螺1安装在旋转平台2的中部，且与旋转平台2同轴；激振器3与旋转平台2连接，用于按照设定幅频曲线驱动旋转平台2转动；力传感器7安装在激振器3上，作为激振器3的激励和控制反馈；数据处理单元6分别采集和处理第一加速度传感器4、第二加速度传感器5、被测光纤陀螺1、激振器3的数据信息。在本发明实施例中，光纤陀螺与旋转平台2通过螺栓连接，第一加速度传感器4、第二加速度传感器5均为压电式加速度传感器。As shown in FIG. 1 , the present invention provides a fiber optic gyroscope dynamic error characteristic measurement and calibration system, which includes a rotating platform 2, a first acceleration sensor 4, a second acceleration sensor 5, a force sensor 7, a tested fiber optic gyroscope 1, an excitation The
测试时，激振器3按照设定幅频曲线驱动旋转平台2的一端，使旋转平台2进行往复转动，同步对被测光纤陀螺1的输出速度、力传感器7、第一加速度传感器4和第二加速度传感器5数据进行读取、显示并传送到数据处理单元6中进行处理，即可以得到获取被测光纤陀螺1的动态噪声值，同时可对不同速度下的动态噪声值进行标定。During the test, the
本发明光纤陀螺动态误差特性测量标定系统组成简单，适应性及可行性强。系统选用激振器作为动态激励，具有振动频率、幅值可精密调谐、控制和反馈灵敏度高、控制频率高的特点。采用压电式加速度传感器计算角速度作为参考基准，具有响应速度快、测量带宽、输出频率高、测量精度高的特点。The optical fiber gyro dynamic error characteristic measurement and calibration system of the invention is simple in composition, and has strong adaptability and feasibility. The system uses an exciter as the dynamic excitation, which has the characteristics of precise tuning of vibration frequency and amplitude, high control and feedback sensitivity, and high control frequency. The piezoelectric acceleration sensor is used to calculate the angular velocity as a reference, which has the characteristics of fast response speed, measurement bandwidth, high output frequency and high measurement accuracy.
本发明光纤陀螺动态误差特性测量标定系统通过线振动激励旋转平台的一端，使旋转平台产生旋转驱动。激振器频率范围需要覆盖被测光纤陀螺的响应带宽，频率越高，可标定的光纤陀螺动态参数覆盖频率越大，因此激振器振动频率范围不小于0Hz～500Hz；小幅振动可保证加速度计测量结果线性度良好，同时大幅振动有可能导致光纤陀螺损坏，因此激振器的激励加速度选取1g及以下；为保证动态噪声和动态参数测量精细程度，激振器激励选取1倍频程及以下，使激励频率缓慢增加以实现频率细分。The optical fiber gyroscope dynamic error characteristic measurement and calibration system of the present invention excites one end of the rotating platform through linear vibration, so that the rotating platform generates rotational drive. The frequency range of the exciter needs to cover the response bandwidth of the FOG under test. The linearity of the measurement results is good, and at the same time, large vibration may cause damage to the fiber optic gyroscope, so the excitation acceleration of the exciter is selected to be 1g or less; in order to ensure the fineness of dynamic noise and dynamic parameter measurement, the excitation of the exciter is selected to be 1 octave and below. , the excitation frequency is slowly increased to achieve frequency subdivision.
如图2所示，本发明提供一种光纤陀螺动态误差特性测量标定方法，其包括以下步骤：As shown in FIG. 2 , the present invention provides a method for measuring and calibrating the dynamic error characteristic of a fiber optic gyroscope, which includes the following steps:
步骤一、搭建光纤陀螺动态误差特性测量标定系统；Step 1, build a fiber optic gyro dynamic error characteristic measurement and calibration system;
光纤陀螺动态误差特性测量标定系统包括激振器3、被测光纤陀螺1、旋转平台2、第一加速度传感器4、第二加速度传感器5和数据处理单元6；第一加速度传感器4和第二加速度传感器5分别设置在旋转平台2的两侧；被测光纤陀螺1放置在旋转平台2上，且与旋转平台2同轴；激振器3与旋转平台2连接，用于按照设定幅频曲线驱动旋转平台2转动；数据处理单元6分别采集第一加速度传感器4、第二加速度传感器5、被测光纤陀螺1和激振器3的数据；The fiber optic gyro dynamic error characteristic measurement and calibration system includes an
步骤二、激振器工作，使得旋转平台按照设定幅频曲线转动；Step 2, the exciter works, so that the rotating platform rotates according to the set amplitude-frequency curve;
步骤三、数据处理单元分别采集第一加速度传感器、第二加速度传感器、被测光纤陀螺和激振器的数据；
步骤四、根据第一加速度传感器、第二加速度传感器的输出数据计算旋转平台的角速度
L-第一加速度传感器与第二加速度传感器之间的距离；L-the distance between the first acceleration sensor and the second acceleration sensor;
步骤五、计算角速度输出噪声Δω(f)；Step 5. Calculate the angular velocity output noise Δω(f);
月-频率为f时，数据处理单元采集数据的次数；Month - the number of times the data processing unit collects data when the frequency is f;
步骤六、获取被测光纤陀螺的动态误差特性表；
重复步骤三至步骤五，分别对被测光纤陀螺不同速度和不同振动频率响应下的角速度输出噪声进行测试，该角速度输出噪声即为动态误差修正值，进而获取动态误差特性表；动态误差特性表有两个变量，分别为速度和频率；Repeat steps 3 to 5 to test the angular velocity output noise of the tested fiber optic gyroscope under different speeds and different vibration frequency responses, the angular velocity output noise is the dynamic error correction value, and then obtain the dynamic error characteristic table; dynamic error characteristic table There are two variables, speed and frequency;
例如，被测光纤陀螺当10°/s转速在50Hz振动频率下的角速度动态误差即Δω(f)中ω＝10°/s、f＝50Hz的角速度噪声误差Δ记入下表第5行第3列。For example, the dynamic error of the angular velocity of the fiber optic gyro under test at a vibration frequency of 10°/s at a vibration frequency of 50Hz, that is, the angular velocity noise error Δ of ω=10°/s and f=50Hz in Δω(f) is recorded in the fifth row of the table below. 3 columns.
步骤七、误差标定；Step 7. Error calibration;
将步骤六得到的动态误差特性表对实时采集的数据进行标定，得到该转速下不同振动频率下光纤陀螺动态测量噪声标定后的测量值；The dynamic error characteristic table obtained in
标定计算公式如下：The calibration formula is as follows:
Δ(fi)＝ΔωG(fi)-Δω(fi)Δ(fi )=Δω G (fi ) -Δω (fi )
Δ(fi)-频率为fi时，光纤陀螺测试输出的实际动态角速度测量误差；Δ(f i ) - when the frequency is f i , the actual dynamic angular velocity measurement error of the fiber optic gyro test output;
ΔωG(fi)-频率为fi时，被测光纤陀螺输出的角速度误差的均方根值；Δω G (f i ) - the root mean square value of the angular velocity error output by the tested fiber optic gyro when the frequency is f i ;
Δω(fi)-频率为fi时，转速为ω、振动频率为fi时的光纤陀螺动态误差修正值。Δω(f i ) - When the frequency is f i , the rotational speed is ω, and the vibration frequency is f i , the dynamic error correction value of the fiber optic gyroscope.
本发明光纤陀螺动态误差特性测量标定方法及标定系统可以得到光纤陀螺不同速度下、不同振动频率下的动态噪声，从而对实时采集的数据进行标定，从而提高了光纤陀螺的速度反馈精度和速度平稳性测量精度。同时，本发明光纤陀螺动态误差特性测量标定方法及标定系统在定频、定幅值振动激励模式下可大幅降低不同传感器之间采样的时间同步精度要求。例如，在定频测试时，激振器可在同一频率下稳定连续激励数十秒至数分钟，期间只要选取数秒加速度计和光纤陀螺的输出数据即可完成该频率下的测试和标定，加速度计、光纤陀螺、激振器(力传感器)三者之间或两两之间无需同步开启或同步采集。The method and the calibration system for measuring and calibrating the dynamic error characteristics of the fiber optic gyroscope of the present invention can obtain the dynamic noise of the fiber optic gyroscope at different speeds and different vibration frequencies, thereby calibrating the data collected in real time, thereby improving the speed feedback accuracy and speed stability of the fiber optic gyroscope Sex measurement accuracy. At the same time, the optical fiber gyroscope dynamic error characteristic measurement and calibration method and calibration system of the present invention can greatly reduce the time synchronization accuracy requirements for sampling between different sensors in the fixed frequency and constant amplitude vibration excitation modes. For example, in a fixed-frequency test, the exciter can be continuously excited for tens of seconds to several minutes at the same frequency. During this period, only a few seconds of output data from the accelerometer and fiber-optic gyroscope can be selected to complete the test and calibration at this frequency. There is no need for synchronous opening or synchronous acquisition among the meter, fiber optic gyroscope, and vibration exciter (force sensor) or between two.
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