CN111337053A - Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope - Google Patents
Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope Download PDFInfo
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Abstract
The invention provides a method and a system for measuring and calibrating dynamic error characteristics of a fiber-optic gyroscope, which solve the problem that the measurement precision of the speed feedback precision or the speed stability of the conventional fiber-optic gyroscope cannot meet the requirement. The method comprises the following steps: step one, building a fiber optic gyroscope dynamic error characteristic measurement calibration system; secondly, the vibration exciter works, so that the rotary platform rotates according to a set amplitude-frequency curve; thirdly, the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter; calculating the angular velocity of the rotating platform according to the data of the first acceleration sensor and the second acceleration sensor; step five, calculating the angular speed output noise of the measured fiber-optic gyroscope; step six, acquiring a dynamic error characteristic table of the measured fiber-optic gyroscope; and step seven, error calibration, namely calibrating the data acquired in real time by using the dynamic error characteristic table obtained in the step six to obtain a calibrated angular velocity measurement error value.
Description
Technical Field
The invention relates to the field of fiber optic gyroscopes, in particular to a method and a system for measuring and calibrating dynamic error characteristics of a fiber optic gyroscope.
Background
The optical fiber gyroscope has the advantages of simple structure, large angular velocity measurement speed range, high precision, large bandwidth, high response speed, good adaptability of the all-solid-state environment of the optical fiber and the like, and is widely applied. The photoelectric theodolite mostly adopts a fiber optic gyroscope as a speed measurement feedback or speed stability measurement reference. Usually, the static parameters of the fiber-optic gyroscope are finely calibrated when the fiber-optic gyroscope leaves a factory. However, dynamic characteristics, particularly dynamic noise and the like, are not calibrated. When the fiber-optic gyroscope is used for testing and calibrating speed stability, the original data acquired by the fiber-optic gyroscope and a fitting curve are subtracted to obtain the root mean square or the peak value as a test result, and the dynamic noise of the fiber-optic gyroscope is directly superposed into the test result. Therefore, the dynamic noise of the fiber optic gyroscope directly affects the speed stability debugging and speed stability testing results of the photoelectric theodolite, so that the speed feedback precision or speed stability measuring precision of the fiber optic gyroscope cannot meet the requirements.
Disclosure of Invention
The invention aims to solve the problem that the measurement precision of the speed feedback precision or the speed stability of the conventional optical fiber gyroscope cannot meet the requirement, and provides a method and a system for measuring and calibrating the dynamic error characteristic of the optical fiber gyroscope. The system and the method test the dynamic errors of the fiber-optic gyroscope under different speeds and different vibration frequency responses, obtain a dynamic error characteristic table, and calibrate the data acquired in real time, thereby improving the speed feedback precision and the speed stability measurement precision of the fiber-optic gyroscope.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a method for measuring and calibrating dynamic error characteristics of a fiber-optic gyroscope comprises the following steps:
step one, building a fiber optic gyroscope dynamic error characteristic measurement calibration system;
the fiber-optic gyroscope dynamic error characteristic measurement calibration system comprises a rotating platform, a first acceleration sensor, a second acceleration sensor, a measured fiber-optic gyroscope, a vibration exciter and a data processing unit; the first acceleration sensor and the second acceleration sensor are respectively arranged on two sides of the rotating platform, and the measured fiber-optic gyroscope is arranged on the rotating platform and is coaxial with the rotating platform; the vibration exciter is connected with the rotary platform and used for driving the rotary platform to rotate according to a set amplitude-frequency curve; the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter;
secondly, the vibration exciter works, so that the rotary platform rotates according to a set amplitude-frequency curve;
thirdly, the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter;
fourthly, calculating the angular speed of the rotating platform according to the data of the first acceleration sensor and the second acceleration sensor
l-the distance between the first acceleration sensor and the second acceleration sensor;
step five, calculating angular speed output noise delta omega (f);
when the n-frequency is f, the data processing unit collects the data times;
step six, acquiring a dynamic error characteristic table of the measured fiber-optic gyroscope;
repeating the third step to the fifth step, testing the angular speed output noise of the measured fiber-optic gyroscope under different speeds and different vibration frequency responses, wherein the angular speed output noise is a dynamic error correction value, and further acquiring a dynamic error characteristic table;
step seven, error calibration;
calibrating the data acquired in real time by using the dynamic error characteristic table obtained in the step six to obtain a calibrated angular velocity measurement error value, wherein a calibration calculation formula is as follows:
Δ(fi)＝ΔωG(fi)-Δω(fi)
Δ(fi) A frequency of fiMeasuring the actual dynamic angular velocity measurement error output by the fiber-optic gyroscope;
ΔωG(fi) A frequency of fiThen, the root mean square value of the angular speed error output by the measured fiber-optic gyroscope is measured;
Δω(fi) A frequency of fiAt a rotation speed of omega and a vibration frequency of fiAnd (5) correcting the dynamic error of the fiber-optic gyroscope.
Further, in the first step, the first acceleration sensor and the second acceleration sensor are both piezoelectric acceleration sensors.
Further, in the first step, the vibration frequency range of the vibration exciter is not less than 0 Hz-500 Hz, the excitation acceleration of the vibration exciter is 1g or less, and the excitation of the vibration exciter is 1 octave or less.
Further, in the first step, a force sensor is arranged on the vibration exciter, and the force sensor is used for excitation and control feedback of the vibration exciter.
Further, in the first step, the measured fiber optic gyroscope is connected with the rotating platform through a bolt.
Meanwhile, the invention provides a system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope, which comprises a rotating platform, a first acceleration sensor, a second acceleration sensor, a measured fiber-optic gyroscope, a vibration exciter and a data processing unit, wherein the rotating platform is used for rotating the first acceleration sensor and the second acceleration sensor; the first acceleration sensor and the second acceleration sensor are respectively arranged on two sides of the rotating platform, and the measured fiber-optic gyroscope is arranged on the rotating platform and is coaxial with the rotating platform; the vibration exciter is connected with the rotary platform and used for driving the rotary platform to rotate according to a set amplitude-frequency curve; and the data processing unit is used for respectively acquiring and processing data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter.
Furthermore, the first acceleration sensor and the second acceleration sensor are both piezoelectric acceleration sensors.
Furthermore, the vibration frequency range of the vibration exciter is not less than 0 Hz-500 Hz, the excitation acceleration of the vibration exciter is 1g or less, and the excitation of the vibration exciter is 1 octave or less.
Further, a force sensor is arranged on the vibration exciter and used for excitation and control feedback of the vibration exciter.
Further, the measured fiber optic gyroscope is connected with the rotating platform through a bolt.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the method and the system for measuring and calibrating the dynamic error characteristics of the optical fiber gyroscope can obtain the dynamic noise of the optical fiber gyroscope under different speeds and different vibration frequency responses, obtain the dynamic error characteristic table and calibrate the data acquired in real time, thereby improving the speed feedback precision and the speed stability measurement precision of the optical fiber gyroscope.
2. The method and the system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope can greatly reduce the requirement on the time synchronization precision of sampling among different sensors in a fixed-frequency and fixed-amplitude vibration excitation mode.
3. The fiber-optic gyroscope dynamic error characteristic measurement calibration system is simple in composition and strong in adaptability and feasibility.
4. The method and the system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope select the vibration exciter as dynamic excitation, and have the characteristics of precisely tunable vibration frequency and amplitude, high control and feedback sensitivity and high control frequency.
5. The method and the system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope adopt the angular velocity calculated by the piezoelectric acceleration sensor as a reference standard, and have the characteristics of high response speed, wide measurement bandwidth, high output frequency and high measurement precision.
6. The method and the system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope select one end of the small reciprocating linear vibration excitation rotating platform to enable the rotating platform to generate the rotating driving moment, and the small vibration can ensure that the linearity of the measuring result of the accelerometer is good.
Drawings
FIG. 1 is a schematic structural diagram of a measurement and calibration system for dynamic error characteristics of a fiber-optic gyroscope according to the present invention;
FIG. 2 is a flow chart of the method for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope of the present invention.
Reference numerals: 1-a measured fiber-optic gyroscope, 2-a rotating platform, 3-a vibration exciter, 4-a first acceleration sensor, 5-a second acceleration sensor, 6-a data processing unit and 7-a force sensor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the present invention provides a fiber-optic gyroscope dynamic error characteristic measurement calibration system, which includes a rotating platform 2, a first acceleration sensor 4, a second acceleration sensor 5, a force sensor 7, a measured fiber-optic gyroscope 1, a vibration exciter 3, and a data processing unit 6; the first acceleration sensor 4 and the second acceleration sensor 5 are respectively arranged at two sides of the rotary platform 2, and the measured fiber-optic gyroscope 1 is arranged in the middle of the rotary platform 2 and is coaxial with the rotary platform 2; the vibration exciter 3 is connected with the rotary platform 2 and is used for driving the rotary platform 2 to rotate according to a set amplitude-frequency curve; the force sensor 7 is arranged on the vibration exciter 3 and used for exciting and controlling feedback of the vibration exciter 3; the data processing unit 6 collects and processes data information of the first acceleration sensor 4, the second acceleration sensor 5, the measured fiber-optic gyroscope 1 and the vibration exciter 3 respectively. In the embodiment of the invention, the fiber-optic gyroscope is connected with the rotating platform 2 through a bolt, and the first acceleration sensor 4 and the second acceleration sensor 5 are both piezoelectric acceleration sensors.
During testing, the vibration exciter 3 drives one end of the rotary platform 2 according to a set amplitude-frequency curve, so that the rotary platform 2 rotates in a reciprocating manner, the data of the output speed of the measured optical fiber gyroscope 1, the data of the force sensor 7, the data of the first acceleration sensor 4 and the data of the second acceleration sensor 5 are synchronously read, displayed and transmitted to the data processing unit 6 for processing, and then the dynamic noise value of the measured optical fiber gyroscope 1 can be obtained, and meanwhile, the dynamic noise values at different speeds can be calibrated.
The fiber-optic gyroscope dynamic error characteristic measurement calibration system is simple in composition and strong in adaptability and feasibility. The system selects a vibration exciter as dynamic excitation, and has the characteristics of precisely tunable vibration frequency and amplitude, high control and feedback sensitivity and high control frequency. The piezoelectric acceleration sensor is adopted to calculate the angular velocity as a reference standard, and the method has the characteristics of high response speed, high measurement bandwidth, high output frequency and high measurement precision.
The dynamic error characteristic measurement and calibration system of the fiber-optic gyroscope excites one end of the rotating platform through linear vibration, so that the rotating platform generates rotation drive. The frequency range of the vibration exciter needs to cover the response bandwidth of the measured fiber-optic gyroscope, the higher the frequency is, the larger the coverage frequency of the dynamic parameters of the fiber-optic gyroscope capable of being calibrated is, and therefore, the vibration frequency range of the vibration exciter is not less than 0 Hz-500 Hz; the small-amplitude vibration can ensure that the linearity of the measurement result of the accelerometer is good, and meanwhile, the large-amplitude vibration can possibly cause the damage of the fiber-optic gyroscope, so that the excitation acceleration of the vibration exciter is selected to be 1g or less; in order to ensure the measuring fineness of dynamic noise and dynamic parameters, the excitation of the vibration exciter is selected to be 1 octave or less, so that the excitation frequency is slowly increased to realize frequency subdivision.
As shown in fig. 2, the invention provides a method for measuring and calibrating dynamic error characteristics of a fiber-optic gyroscope, which comprises the following steps:
step one, building a fiber optic gyroscope dynamic error characteristic measurement calibration system;
the fiber-optic gyroscope dynamic error characteristic measurement calibration system comprises a vibration exciter 3, a measured fiber-optic gyroscope 1, a rotating platform 2, a first acceleration sensor 4, a second acceleration sensor 5 and a data processing unit 6; the first acceleration sensor 4 and the second acceleration sensor 5 are respectively arranged on two sides of the rotary platform 2; the measured optical fiber gyroscope 1 is placed on the rotary platform 2 and is coaxial with the rotary platform 2; the vibration exciter 3 is connected with the rotary platform 2 and is used for driving the rotary platform 2 to rotate according to a set amplitude-frequency curve; the data processing unit 6 respectively collects data of the first acceleration sensor 4, the second acceleration sensor 5, the measured fiber-optic gyroscope 1 and the vibration exciter 3;
secondly, the vibration exciter works, so that the rotary platform rotates according to a set amplitude-frequency curve;
thirdly, the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter;
fourthly, calculating the angular speed of the rotating platform according to the output data of the first acceleration sensor and the second acceleration sensor
l-the distance between the first acceleration sensor and the second acceleration sensor;
step five, calculating angular speed output noise delta omega (f);
the number of times the data processing unit acquires data when the month-frequency is f;
step six, acquiring a dynamic error characteristic table of the measured fiber-optic gyroscope;
repeating the third step to the fifth step, respectively testing angular speed output noise of the tested fiber-optic gyroscope under different speeds and different vibration frequency responses, wherein the angular speed output noise is a dynamic error correction value, and further acquiring a dynamic error characteristic table; the dynamic error characteristic table has two variables, namely speed and frequency;
for example, in the angular velocity dynamic error Δ ω (f) of the measured fiber optic gyroscope at a rotational speed of 10 °/s at a vibration frequency of 50Hz, an angular velocity noise error Δ of 10 °/s and 50Hz is shown in row 5, column 3 of the following table.
Step seven, error calibration;
calibrating the data acquired in real time by using the dynamic error characteristic table obtained in the sixth step to obtain a measured value after the fiber-optic gyroscope dynamically measures noise calibration at different vibration frequencies at the rotating speed;
the calibration calculation formula is as follows:
Δ(fi)＝ΔωG(fi)-Δω(fi)
Δ(fi) A frequency of fiMeasuring the actual dynamic angular velocity measurement error output by the fiber-optic gyroscope;
ΔωG(fi) A frequency of fiThen, the root mean square value of the angular speed error output by the measured fiber-optic gyroscope is measured;
Δω(fi) A frequency of fiAt a rotation speed of omega and a vibration frequency of fiAnd (5) correcting the dynamic error of the fiber-optic gyroscope.
The method and the system for measuring and calibrating the dynamic error characteristics of the optical fiber gyroscope can obtain the dynamic noise of the optical fiber gyroscope at different speeds and different vibration frequencies, so as to calibrate the data acquired in real time, thereby improving the speed feedback precision and the speed stability measurement precision of the optical fiber gyroscope. Meanwhile, the method and the system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope can greatly reduce the requirement on the time synchronization precision of sampling among different sensors in a fixed-frequency and fixed-amplitude vibration excitation mode. For example, in a fixed frequency test, the vibration exciter can stably and continuously excite for tens of seconds to minutes under the same frequency, the test and calibration under the frequency can be completed only by selecting output data of the accelerometer and the fiber-optic gyroscope for several seconds, and synchronous starting or synchronous acquisition is not needed among the accelerometer, the fiber-optic gyroscope and the vibration exciter (force sensor) or among every two accelerometers.
Claims (10)
1. A method for measuring and calibrating dynamic error characteristics of a fiber-optic gyroscope is characterized by comprising the following steps:
step one, building a fiber optic gyroscope dynamic error characteristic measurement calibration system;
the fiber-optic gyroscope dynamic error characteristic measurement calibration system comprises a rotating platform, a first acceleration sensor, a second acceleration sensor, a measured fiber-optic gyroscope, a vibration exciter and a data processing unit; the first acceleration sensor and the second acceleration sensor are respectively arranged on two sides of the rotating platform, and the measured fiber-optic gyroscope is arranged on the rotating platform and is coaxial with the rotating platform; the vibration exciter is connected with the rotary platform and used for driving the rotary platform to rotate according to a set amplitude-frequency curve; the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter;
secondly, the vibration exciter works, so that the rotary platform rotates according to a set amplitude-frequency curve;
thirdly, the data processing unit respectively acquires data of the first acceleration sensor, the second acceleration sensor, the measured fiber-optic gyroscope and the vibration exciter;
fourthly, calculating the angular speed of the rotating platform according to the data of the first acceleration sensor and the second acceleration sensor
l-the distance between the first acceleration sensor and the second acceleration sensor;
step five, calculating angular speed output noise delta omega (f);
when the n-frequency is f, the data processing unit collects the data times;
step six, acquiring a dynamic error characteristic table of the measured fiber-optic gyroscope;
repeating the third step to the fifth step, testing the angular speed output noise of the measured fiber-optic gyroscope under different speeds and different vibration frequency responses, wherein the angular speed output noise is a dynamic error correction value, and further acquiring a dynamic error characteristic table;
step seven, error calibration;
calibrating the data acquired in real time by using the dynamic error characteristic table obtained in the step six to obtain a calibrated angular velocity measurement error value, wherein a calibration calculation formula is as follows:
Δ(fi)＝ΔωG(fi)-Δω(fi)
Δ(fi) A frequency of fiMeasuring the actual dynamic angular velocity measurement error output by the fiber-optic gyroscope;
ΔωG(fi) A frequency of fiThen, the root mean square value of the angular speed error output by the measured fiber-optic gyroscope is measured;
Δω(fi) A frequency of fiAt a rotation speed of omega and a vibration frequency of fiAnd (5) correcting the dynamic error of the fiber-optic gyroscope.
2. The method for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 1, characterized in that: in the first step, the first acceleration sensor and the second acceleration sensor are both piezoelectric acceleration sensors.
3. The method for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 1 or 2, characterized in that: in the first step, the vibration frequency range of the vibration exciter is not less than 0 Hz-500 Hz, the excitation acceleration of the vibration exciter is 1g or less, and the excitation of the vibration exciter is 1 octave or less.
4. The method for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 3, characterized in that: in the first step, a force sensor is arranged on the vibration exciter and used for excitation and control feedback of the vibration exciter.
5. The method for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 4, characterized in that: in the first step, the measured fiber optic gyroscope is connected with the rotating platform through a bolt.
6. The utility model provides a fiber optic gyroscope dynamic error characteristic measurement calibration system which characterized in that: the device comprises a rotary platform (2), a first acceleration sensor (4), a second acceleration sensor (5), a measured fiber-optic gyroscope (1), a vibration exciter (3) and a data processing unit (6); the first acceleration sensor (4) and the second acceleration sensor (5) are respectively arranged on two sides of the rotating platform (2), and the measured optical fiber gyroscope (1) is installed on the rotating platform (2) and is coaxial with the rotating platform (2); the vibration exciter (3) is connected with the rotary platform (2) and is used for driving the rotary platform (2) to rotate according to a set amplitude-frequency curve; the data processing unit (6) respectively collects and processes data of the first acceleration sensor (4), the second acceleration sensor (5), the measured fiber-optic gyroscope (1) and the vibration exciter (3).
7. The system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 6, characterized in that: the first acceleration sensor (4) and the second acceleration sensor (5) are both piezoelectric acceleration sensors.
8. The system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 6 or 7, characterized in that: the vibration frequency range of the vibration exciter (3) is not less than 0 Hz-500 Hz, the excitation acceleration of the vibration exciter (3) is 1g or less, and the excitation of the vibration exciter (3) is 1 octave or less.
9. The system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 8, characterized in that: and a force sensor (7) is arranged on the vibration exciter (3), and the force sensor (7) is used for excitation and control feedback of the vibration exciter (3).
10. The system for measuring and calibrating the dynamic error characteristics of the fiber-optic gyroscope according to claim 9, characterized in that: the measured optical fiber gyroscope (1) is connected with the rotating platform (2) through a bolt.
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