CN111337054B - Method for measuring and correcting dynamic characteristics of fiber-optic gyroscope - Google Patents
Method for measuring and correcting dynamic characteristics of fiber-optic gyroscope Download PDFInfo
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- CN111337054B CN111337054B CN202010230684.XA CN202010230684A CN111337054B CN 111337054 B CN111337054 B CN 111337054B CN 202010230684 A CN202010230684 A CN 202010230684A CN 111337054 B CN111337054 B CN 111337054B
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Abstract
The invention provides a method for measuring and correcting dynamic characteristics of a fiber-optic gyroscope, which solves the problem that the existing fiber-optic gyroscope has poor measurement precision of speed feedback precision or speed stability in a high frequency band. The method comprises the following steps: step one, building a dynamic characteristic measurement and correction system of the fiber-optic gyroscope; 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; calculating the angular velocity mean value of the rotating platform based on the acceleration; step six, calculating the angular velocity mean value output by the fiber optic gyroscope; step seven, calculating a scale factor correction factor; step eight, acquiring a dynamic parameter correction table of the fiber-optic gyroscope; and step nine, data correction.
Description
Technical Field
The invention relates to the field of fiber optic gyroscopes, in particular to a method for measuring and correcting dynamic characteristics of a fiber optic gyroscope.
Background
The optical fiber gyroscope has the advantages of simple structure, large angular speed measuring speed range, high precision, large bandwidth, high response speed, good adaptability of optical fiber all-solid-state environment and the like, and the length of an optical fiber loop reaches kilometer level. 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, and the dynamic characteristics of the fiber-optic gyroscope are less concerned. The longer the fiber loop, the smaller its dynamic response bandwidth, typically less than 100 Hz. Along with the improvement of the precision of the optical fiber gyroscope, the length of the optical fiber is further increased, the contradiction that the response bandwidth of the optical fiber gyroscope is insufficient is gradually shown, particularly in the related fields of micro-vibration noise measurement, speed stability measurement and the like, because the vibration magnitude of a measured signal is small, the high-precision optical fiber gyroscope is required to be adopted, the measured noise is often wide in frequency spectrum distribution, the limited dynamic response range of the high-precision optical fiber gyroscope enables the optical fiber gyroscope to be like a low-frequency band-pass filter, high-frequency information is attenuated, the acquired high-frequency vibration information is seriously distorted, and the error of a test result is very easy to cause to be large.
Disclosure of Invention
The invention aims to solve the problem that the measurement accuracy of the existing fiber-optic gyroscope on the speed feedback accuracy or speed stability of a high frequency band is poor, and provides a method for measuring and correcting the dynamic characteristics 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 correcting dynamic characteristics of a fiber-optic gyroscope comprises the following steps:
step one, building a dynamic characteristic measurement and correction system of the fiber-optic gyroscope;
the optical fiber gyroscope dynamic characteristic measurement and correction system comprises a rotating platform, a first acceleration sensor, a second acceleration sensor, a measured optical fiber 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 the angular velocity root mean square value of the rotating platform based on the acceleration
When the n-frequency is f, the data processing unit collects the data times;
sixthly, calculating the root mean square value of the angular velocity output by the fiber-optic gyroscope
Wherein the content of the first and second substances,
-the ith angular velocity of the output of the fiber optic gyroscope at frequency f;
step seven, calculating a scale factor correction factor Nm(f)；
Step eight, acquiring a dynamic parameter correction table of the fiber-optic gyroscope;
repeating the third step to the seventh step, and calculating scale factor correction factors of the measured fiber-optic gyroscope under the same speed and different vibration frequency responses to obtain a fiber-optic gyroscope dynamic parameter correction table;
step nine, data correction;
and D, correcting the data acquired in real time by using the dynamic parameter correction table of the fiber-optic gyroscope obtained in the step eight to obtain a corrected measured value.
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.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the method for measuring and correcting the dynamic characteristics of the optical fiber gyroscope is simple and reliable, the software and hardware of the optical fiber gyroscope are not required to be changed, and the response bandwidth of the optical fiber gyroscope is increased to more than 500Hz from within 100Hz only through subsequent data processing, so that the effectiveness of high-frequency-band measurement data is ensured, and the measurement precision of the speed feedback precision or the speed stability of the optical fiber gyroscope in a high frequency band is improved.
2. The method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope selects the 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.
3. The method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope adopts the piezoelectric acceleration sensor to calculate the angular velocity as a reference standard, and has the characteristics of high response speed, wide measurement bandwidth, high output frequency and high measurement precision.
4. The dynamic characteristic measurement and correction method of the fiber optic gyroscope selects small-amplitude reciprocating linear vibration to excite one end of the rotating platform, so that the rotating platform generates rotating driving moment, and the small-amplitude vibration can ensure that the linearity of the measurement result of the accelerometer is good.
Drawings
FIG. 1 is a schematic structural diagram of a dynamic characteristic measurement and correction system of a fiber-optic gyroscope according to the present invention;
FIG. 2 is a flow chart of the method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope according to the present invention;
FIG. 3a is a schematic diagram of high frequency signal distortion caused by low measurement bandwidth of an optical fiber gyro when uncorrected;
FIG. 3b is a schematic diagram showing that the corrected high-frequency signal acquired by the fiber-optic gyroscope is not distorted due to bandwidth increase;
FIG. 4a is a schematic diagram of the measurement bandwidth with the scale factor uncorrected;
FIG. 4b is a schematic diagram of the improvement of the measurement bandwidth after the scale factor correction
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 characteristic measurement and correction system, which comprises a rotating platform 2, a first acceleration sensor 4, a second acceleration sensor 5, a force sensor 7, a measured fiber-optic gyroscope 1, an 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 installed on the vibration exciter 3 and used for exciting and controlling feedback of the vibration exciter 3, and the data processing unit 6 is used for collecting and processing data 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 drives one end of the rotary platform according to a set amplitude-frequency curve to enable the rotary platform to rotate in a reciprocating mode, the data of the output speed of the fiber-optic gyroscope, the data of the force sensor and the data of the acceleration sensor are synchronously read, displayed and transmitted to the data processing unit to be processed, the scale factor correction factor value of the measured fiber-optic gyroscope can be obtained, and the measured values under different frequency responses can be corrected.
The method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope selects the 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 angular velocity calculated by the charge type acceleration sensor is used 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 method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope excites one end of the rotating platform through linear vibration to drive the rotating platform to rotate. 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 higher the coverage frequency of the measurable fiber-optic gyroscope dynamic parameters 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 fine degree of dynamic parameter measurement, 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.
Meanwhile, as shown in fig. 2, the invention also provides a method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope, which comprises the following steps:
step one, building a dynamic characteristic measurement and correction system of the fiber-optic gyroscope;
the optical fiber gyroscope dynamic characteristic measurement and correction system comprises a vibration exciter, a measured optical fiber gyroscope, a rotating platform, a first acceleration sensor, a second acceleration sensor and a data processing computer; the first acceleration sensor and the second acceleration sensor are respectively arranged on two sides of the rotating platform; the measured optical fiber gyroscope is arranged on the rotary platform and is coaxial with the rotary 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 output 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 the angular velocity root mean square value of the rotating platform based on the acceleration
When the n-frequency is f, the data processing unit collects the data times;
sixthly, calculating the root mean square value of the angular velocity output by the fiber-optic gyroscope
Wherein the content of the first and second substances,
-the ith angular velocity of the output of the fiber optic gyroscope at frequency f;
step seven, calculating a scale factor correction factor Nm(f)；
Wherein N ism(f) -a scale factor correction factor for the fiber optic gyroscope at frequency f;
step eight, acquiring a dynamic parameter correction table of the fiber-optic gyroscope;
repeating the third step to the seventh step, and calculating scale factor correction factors of the measured fiber-optic gyroscope under the same speed and different vibration frequency responses to obtain a fiber-optic gyroscope dynamic parameter correction table; the dynamic parameter table has a variable, which is the vibration frequency,
for example, the dynamic parameter of the measured fiber-optic gyroscope at a vibration frequency of 50Hz, such as the scale factor correction factor Nm(f) Scale factor correction factor N of 200HzmThe following table is entered on line 2, column 5.
| Frequency of | …… | 100Hz | …… | 200Hz | …… |
| Scaling factor | Nm |
Step nine, data correction;
and C, correcting the data acquired in real time by using the fiber-optic gyroscope dynamic parameter correction table obtained in the step eight to obtain a corrected measurement value, wherein a correction calculation formula is as follows:
wherein the content of the first and second substances,
is the corrected angular velocity measurement;
As shown in fig. 3a, fig. 3b, fig. 4a and fig. 4b, the method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope is simple and reliable, the software and hardware of the fiber-optic gyroscope are not required to be changed, and the response bandwidth of the fiber-optic gyroscope is increased from within 100Hz to over 500Hz only through subsequent data processing, so that the effectiveness of high-frequency-band measurement data is ensured, and the speed feedback precision or the speed stability measurement precision of the fiber-optic gyroscope in a high frequency band is improved.
The method for measuring and correcting the dynamic characteristics of the fiber-optic gyroscope can greatly reduce the requirement on the sampling time synchronization precision between 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 correction 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 (5)
1. A method for measuring and correcting the dynamic characteristics of a fiber-optic gyroscope is characterized by comprising the following steps:
step one, building a dynamic characteristic measurement and correction system of the fiber-optic gyroscope;
the optical fiber gyroscope dynamic characteristic measurement and correction system comprises a rotating platform, a first acceleration sensor, a second acceleration sensor, a measured optical fiber 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 one end of the rotary platform is driven according to a set amplitude-frequency curve to enable the rotary platform to rotate in a reciprocating mode; 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 the angular velocity root mean square value of the rotating platform based on the acceleration
When the n-frequency is f, the data processing unit collects the data times;
sixthly, calculating the root mean square value of the angular velocity output by the fiber-optic gyroscope
Wherein the content of the first and second substances,
-the ith angular velocity of the output of the fiber optic gyroscope at frequency f;
step seven, calculating a scale factor correction factor Nm(f)；
Step eight, acquiring a dynamic parameter correction table of the fiber-optic gyroscope;
repeating the third step to the seventh step, and calculating scale factor correction factors of the measured fiber-optic gyroscope under the same speed and different vibration frequency responses to obtain a fiber-optic gyroscope dynamic parameter correction table;
step nine, data correction;
and D, correcting the data acquired in real time by using the dynamic parameter correction table of the fiber-optic gyroscope obtained in the step eight to obtain a corrected measured value.
2. The method for measuring and correcting the dynamic 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 correcting the dynamic 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 correcting the dynamic 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 correcting the dynamic characteristics of the fiber-optic gyroscope according to claim 4, wherein the method comprises the following steps: in the first step, the measured fiber optic gyroscope is connected with the rotating platform through a bolt.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102221372A (en) * | 2011-03-25 | 2011-10-19 | 北京航空航天大学 | Method for calibrating error of inertia measurement unit by using centrifugal machine and turntable |
| CN102927926A (en) * | 2012-11-14 | 2013-02-13 | 武汉理工大学 | Dynamic correcting method of linear measurement system based on fiber-optic gyroscope |
| CN105571578A (en) * | 2015-12-14 | 2016-05-11 | 武汉大学 | In-situ rotating modulating north-seeking method utilizing pseudo-observation instead of precise turntable |
| CN109596143A (en) * | 2018-11-07 | 2019-04-09 | 深圳市欧盛自动化有限公司 | Test method, system, equipment and the computer readable storage medium of gyroscope |
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| US20160363460A1 (en) * | 2015-06-12 | 2016-12-15 | 7725965 Canada Inc. | Orientation model for inertial devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221372A (en) * | 2011-03-25 | 2011-10-19 | 北京航空航天大学 | Method for calibrating error of inertia measurement unit by using centrifugal machine and turntable |
| CN102927926A (en) * | 2012-11-14 | 2013-02-13 | 武汉理工大学 | Dynamic correcting method of linear measurement system based on fiber-optic gyroscope |
| CN105571578A (en) * | 2015-12-14 | 2016-05-11 | 武汉大学 | In-situ rotating modulating north-seeking method utilizing pseudo-observation instead of precise turntable |
| CN109596143A (en) * | 2018-11-07 | 2019-04-09 | 深圳市欧盛自动化有限公司 | Test method, system, equipment and the computer readable storage medium of gyroscope |
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