CN111609869B - Positive and negative multi-position fiber-optic gyroscope orientation effect judgment method based on hypothesis testing - Google Patents
Positive and negative multi-position fiber-optic gyroscope orientation effect judgment method based on hypothesis testing Download PDFInfo
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Abstract
The invention discloses a method for judging the orientation effect of a forward and backward multi-position fiber-optic gyroscope based on hypothesis testing, which comprises the following steps: rotating a gyro sensitive shaft of the optical fiber gyroscope clockwise; the angular velocity of the optical fiber gyroscope is statically tested by equally dividing the angle every time the gyroscope rotates a circle; calculating to obtain equivalent zero errors of the gyroscope under different positive and negative position working conditions; calculating the data collected by each position gyroscope to obtain an average value; and (4) adopting a normal test method to judge whether the gyroscope has obvious azimuth effect errors or not by using the measured equivalent zero error data. The method for judging the positive and negative multi-position fiber-optic gyroscope orientation effect based on hypothesis testing has the advantages of low requirement on operating equipment, simple and quick operation process and capability of adapting to basic quick checking and judging before the fiber-optic gyroscope or a fiber-optic gyroscope system is used.
Description
Technical Field
The invention relates to the technical field of calibration of north system measurement errors, in particular to a positive and negative multi-position fiber-optic gyroscope orientation effect judgment method based on hypothesis testing.
Background
The orientation effect error of the traditional mechanical gyroscope is caused by the change error of the scale factor of the gyroscope, the internal and external vibration, the orthogonal caused by the unbalance of the gyroscope, the uneven temperature field and other factors, so that the constant drift of the gyroscope is changed, and the navigation orientation and other system errors are caused. In addition, the significance of the azimuth effect is different according to different gyroscope devices, for example, the heading effect of the dynamically tuned gyroscope platform is very significant, and the heading effect of different initial azimuths is different.
The Fiber Optic Gyroscope (FOG) is a novel all-solid-state gyroscope based on the ABgnBB effect, and has the advantages of impact resistance, high sensitivity, long service life, low power consumption, reliable integration and the like. The magnetic field of the fiber-optic gyroscope is generally required to be better magnetically shielded, once the magnetic shielding is not in place or the effect is poor, the output of the fiber-optic gyroscope in different directions can be polluted by the influence of residual magnetism, namely the influence of the magnetic field in the direction of the sensitive axis can be superposed by the constant zero bias of the fiber-optic gyroscope, the performance of the magnetic field is similar to the direction effect error, and the north-seeking and navigation accuracy of the fiber-optic gyroscope are greatly influenced.
The existing method is based on the fact that after azimuth effect errors exist in the known system, the gyro azimuth effect is accurately calibrated and compensated, and the purpose of improving the actual use precision of the system is achieved. This requires relatively high precision operating equipment, relatively complex testing steps and associated data processing procedures to complete calibration compensation. For the possible orientation effect of the fiber-optic gyroscope, firstly, whether the orientation effect is influenced or not is quickly judged, and the method is expected to be carried out by using corresponding simple operation equipment and simple test steps, so that the method cannot be directly carried out by using the existing method.
Disclosure of Invention
The method can be widely applied to inertial navigation equipment mainly comprising an optical fiber gyroscope, particularly to the calibration of the azimuth effect of a multi-position strapdown north-seeking system, and can effectively eliminate the measurement error caused by the azimuth effect, thereby improving the measurement accuracy of the multi-position strapdown north-seeking system.
In order to achieve the purpose, the overall technical scheme of the invention is as follows:
the method for judging the orientation effect of the forward and reverse multi-position fiber-optic gyroscope based on hypothesis testing comprises the following steps (assuming that the fiber-optic gyroscope is subjected to conventional calibration compensation, a measured value subjected to calibration compensation can be directly output):
s1, rotating the gyro sensitive axis of the fiber optic gyroscope clockwise;
s2, dividing the angle equally when the gyroscope rotates a circle, statically testing the angular speed of the optical fiber gyroscope, and measuring and recording the data of the optical fiber gyroscope;
s3, calculating the data collected by each position gyroscope to obtain the mean value, which is respectively expressed as omega1、ω2、......、ωnWherein n is an even number;
s4, calculating the average value of the output data of the gyroscope at the positions of the front and the back 180 degrees apart one by one, namely obtaining the equivalent zero errors of the gyroscope under the working conditions corresponding to the different positions of the front and the back;
s5, carrying out preliminary magnitude judgment on each equivalent zero error: if the zero error is too large, the gyro is considered to be unqualified, and the work is judged to be stopped; if the current time is within the reasonable range, the method goes to step S8, and continues to perform hypothesis testing and judgment work downwards;
s6, judging whether the measured equivalent zero error data meet normal distribution by adopting a normal test method; if the normality assumption is rejected, the fiber optic gyroscope is considered to have possible azimuth effect errors; if the normality assumption is refused to be accepted, the gyroscope is not considered to have obvious azimuth effect errors.
Preferably, the testing time in step S2 is not less than 2 min.
According to the positive and negative multi-position fiber optic gyroscope orientation effect judgment method based on hypothesis testing, the method specifically comprises the following steps:
a1, horizontally placing the sensitive axis of the optical fiber gyroscope on a single-axis turntable (with the rotating shaft upward), and taking any initial orientation as a reference 0-degree position;
a2, opening the optical fiber gyroscope, and preheating the optical fiber gyroscope after the optical fiber gyroscope is started;
a3, starting the turntable, and clockwise rotating the gyro sensitive shaft;
a4, statically testing the angular speed of the optical fiber gyroscope when the turntable rotates 30 degrees, and measuring and recording the data of the optical fiber gyroscope;
a5 calculating the mean value of the data collected by each position gyroscope, and respectively representing the mean value as omega1、ω2、ω3、ω4、ω5、ω6、ω7、ω8、ω9、ω10、ω11、ω12；
A6, calculating the average value of the output data of the gyroscope at the positions of positive and negative positions 180 degrees apart one by one, namely obtaining the equivalent zero errors of the gyroscope under the working conditions corresponding to different positions of positive and negative positions, and recording the equivalent zero errors as follows:
a7 pair B1～B6And (3) carrying out preliminary magnitude judgment on equivalent zero errors of all items: if the zero error is too large, the gyro is considered to be unqualified, and the work is judged to be stopped; if the range is within the reasonable range, entering the step A8, and continuing to perform hypothesis testing and judgment work downwards;
a8 measuring equivalent zero error data B1～B6Judging whether the normal distribution is met by adopting an AhBpiro-Wilk hypothesis test method; if the normality assumption is rejected, the fiber optic gyroscope is considered to have possible azimuth effect errors; if the normality assumption is refused to be accepted, the gyroscope is not considered to have obvious azimuth effect errors.
The step A8 comprises the following specific steps:
b1: suppose H0 indicates that the equivalent zero errors fit into a normal distribution; h1 indicates that equivalent zero errors do not fit in a normal distribution;
b2: rearranging the observed values of equivalent zero errors according to the magnitude of the numerical value to ensure that B1≤B2≤B3≤B4≤B5≤B6；
B3, selecting proper statistic W, wherein W is expressed as:
wherein the coefficient ai(W) a table of coefficients for which the W check is available;
b4: according to a given test level alpha (selected according to the precision requirement when in use) and the sample capacity 6, the p quantile number of the statistic W is searched to obtain the quantile number W of the statistic Wα；
B5: calculating W, and mixing W with WαBy comparison, if W < WαH0 is rejected, and the fiber optic gyroscope is considered to have possible azimuth effect errors; otherwise, H0 is accepted, and the gyroscope is considered to have no obvious orientation effect error.
Based on the fiber optic gyroscope orientation effect judgment method, the invention also discloses a calibration method of the measurement error of the multi-position strapdown north-seeking system, which comprises the following steps:
c1: fixing the multi-position strapdown north-seeking system on a mechanical indexing turntable;
c2: indexing according to a circle uniform division point of the rotary table;
c3: when the mechanical turntable rotates for one equipartition angle value every time, the true north prism system is used for determining the included angle between the reference prism of the strapdown north-seeking system and the true north direction when the initial rotation position of the north-seeking system is determined, and recording is carried out;
c4: then comparing the north values measured by the multi-position strapdown north-seeking system to calculate an error value;
c5: and fitting an error curve according to the error characteristics to calibrate the orientation effect of the gyroscope.
The invention has the beneficial effects that:
1. the method for judging the positive and negative multi-position fiber-optic gyroscope orientation effect based on hypothesis testing has the advantages of low requirement on operating equipment, simple and quick operation process and capability of adapting to basic quick checking and judging before the fiber-optic gyroscope or a fiber-optic gyroscope system is used.
2. The calibration method of the multi-position strapdown north-seeking system measurement error based on the hypothesis testing positive and negative multi-position fiber-optic gyroscope azimuth effect judgment method is simple, and can effectively eliminate the measurement error caused by the azimuth effect, thereby improving the measurement accuracy of the multi-position strapdown north-seeking system.
Drawings
FIG. 1 is a flow chart of a method for determining the orientation effect of a forward and backward multi-position fiber-optic gyroscope based on hypothesis testing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
The method for judging the positive and negative multi-position fiber-optic gyroscope orientation effect based on hypothesis testing in the embodiment comprises the following steps:
according to the positive and negative multi-position fiber optic gyroscope orientation effect judgment method based on hypothesis testing, the method specifically comprises the following steps:
a1, horizontally placing the sensitive axis of the optical fiber gyroscope on a single-axis turntable (with the rotating shaft upward), and taking any initial orientation as a reference 0-degree position;
a2, opening the optical fiber gyroscope, and preheating the optical fiber gyroscope after the optical fiber gyroscope is started;
a3, starting the turntable, and clockwise rotating the gyro sensitive shaft;
a4, statically testing the angular speed of the optical fiber gyroscope at each 30-degree rotation of the turntable for 2min, and measuring and recording the data of the optical fiber gyroscope;
a5 calculating the mean value of the data collected by each position gyroscope, and respectively representing the mean value as omega1、ω2、ω3、ω4、ω5、ω6、ω7、ω8、ω9、ω10、ω11、ω12；
A6, calculating the average value of the output data of the gyroscope at the positions of positive and negative positions 180 degrees apart one by one, namely obtaining the equivalent zero errors of the gyroscope under the working conditions corresponding to different positions of positive and negative positions, and recording the equivalent zero errors as follows:
a7 pair B1～B6And (3) carrying out preliminary magnitude judgment on equivalent zero errors of all items: if the zero error is too large, the gyro is considered to be unqualified, and the work is judged to be stopped; if the range is within the reasonable range, entering the step A8, and continuing to perform hypothesis testing and judgment work downwards;
a8 measuring equivalent zero error data B1～B6Judging whether the normal distribution is met by adopting an AhBpiro-Wilk hypothesis test method; if the normality assumption is rejected, the fiber optic gyroscope is considered to have possible azimuth effect errors; if the normality assumption is refused to be accepted, the gyroscope is not considered to have obvious azimuth effect errors.
The step A8 comprises the following specific steps:
b1: suppose H0 indicates that the equivalent zero errors fit into a normal distribution; h1 indicates that equivalent zero errors do not fit in a normal distribution;
b2: rearranging the observed values of equivalent zero errors according to the magnitude of the numerical value to ensure that B1≤B2≤B3≤B4≤B5≤B6；
B3, selecting proper statistic W, wherein W is expressed as:
wherein the coefficient ai(W) a table of coefficients for which the W check is available;
b4: according to a given test level alpha (selected according to the precision requirement when in use) and the sample capacity 6, the p quantile number of the statistic W is searched to obtain the quantile number W of the statistic Wα；
B5: calculating W, and mixing W with WαBy comparison, if W < WαH0 is rejected, and the fiber optic gyroscope is considered to have possible azimuth effect errors; otherwise, H0 is accepted, and the gyroscope is considered to have no obvious orientation effect error.
The method for judging the orientation effect of the forward and reverse multi-position fiber-optic gyroscope based on hypothesis testing in the embodiment has the advantages of low requirement on operating equipment, simple and quick operation process and capability of adapting to basic quick checking and judging before the fiber-optic gyroscope or a fiber-optic gyroscope system is used.
It should be noted that the 12-position normal method and the normal method specified in this embodiment are the best embodiments, and in reality, there are also multi-position equivalent null tests and other normal methods similar to the present invention, all within the protection scope.
Example 2
Based on the method for judging the orientation effect of the fiber-optic gyroscope in the embodiment 1, the embodiment discloses a method for calibrating the measurement error of a multi-position strapdown north-seeking system, which comprises the following steps:
c1: fixing the multi-position strapdown north-seeking system on a mechanical indexing turntable;
c2: indexing according to a circle uniform division point of the rotary table;
c3: when the mechanical turntable rotates for one equipartition angle value every time, the true north prism system is used for determining the included angle between the reference prism of the strapdown north-seeking system and the true north direction when the initial rotation position of the north-seeking system is determined, and recording is carried out;
c4: then comparing the north values measured by the multi-position strapdown north-seeking system to calculate an error value;
c5: and fitting an error curve according to the error characteristics to calibrate the orientation effect of the gyroscope.
The calibration method for the measurement error of the multi-position strapdown north-seeking system in the embodiment is simple, and can effectively eliminate the measurement error caused by the azimuth effect, so that the measurement accuracy of the multi-position strapdown north-seeking system is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The method for judging the positive and negative multi-position fiber-optic gyroscope orientation effect based on hypothesis testing is characterized by comprising the following steps of:
s1, rotating the gyro sensitive axis of the fiber optic gyroscope clockwise;
s2, dividing the angle equally when the gyroscope rotates a circle, statically testing the angular speed of the optical fiber gyroscope, and measuring and recording the data of the optical fiber gyroscope;
s3, calculating the data collected by each position gyroscope to obtain the average value, which is respectively expressed as
、
、......、
Wherein n is the number of data sets, wherein the total number of data sets is an even number;
s4, calculating the average value of the output data of the gyroscope at the positions of the front and the back 180 degrees apart one by one, namely obtaining the equivalent zero errors of the gyroscope under the working conditions corresponding to the different positions of the front and the back;
s5, carrying out preliminary magnitude judgment on each equivalent zero error: if the zero error is too large, the gyro is considered to be unqualified, and the work is judged to be stopped; if the current time is within the reasonable range, the method goes to step S6, and continues to perform hypothesis testing and judgment work downwards;
s6, judging whether the measured equivalent zero error data meet normal distribution by adopting a normal test method; if the normality assumption is rejected, the fiber optic gyroscope is considered to have possible azimuth effect errors; if the normality assumption is accepted, the gyroscope is considered to have no obvious azimuth effect error;
the normal test method in the step S6 comprises the following specific steps:
b1: suppose H0 indicates that the equivalent zero errors fit into a normal distribution; h1 indicates that equivalent zero errors do not fit in a normal distribution;
b2: rearranging the observed values of equivalent zero errors according to the magnitude of the numerical values to ensure that
;
B3 selecting the appropriate statistic
，
Expressed as:
wherein the coefficients
Can check
A checked coefficient table;
b4: according to a given level of examination
And a sample volume 6, wherein
Selecting, checking and counting quantity according to precision requirement when in use
P quantiles of (a) to obtain statistics
Quantile of
;
B5: computing
And will be
And
in comparison, if
<
H0 is rejected, and the fiber optic gyroscope is considered to have possible azimuth effect errors; otherwise, H0 is accepted, and the gyroscope is considered to have no obvious azimuth effect errorAnd (4) poor.
2. The method for determining the orientation effect of a fiber optic gyroscope based on hypothesis testing as claimed in claim 1, wherein the testing time in step S2 is not less than 2 min.
3. The method for determining the orientation effect of the forward-backward multi-position fiber-optic gyroscope based on hypothesis testing as claimed in claim 1, comprising the steps of:
a1, horizontally placing the sensitive axis of the fiber gyroscope on a single-axis turntable with the rotating shaft facing upwards, and taking any initial orientation as a reference 0-degree position;
a2, opening the optical fiber gyroscope, and preheating the optical fiber gyroscope after the optical fiber gyroscope is started;
a3, starting the turntable, and clockwise rotating the gyro sensitive shaft;
a4, statically testing the angular speed of the optical fiber gyroscope when the turntable rotates 30 degrees, and measuring and recording the data of the optical fiber gyroscope;
a5 calculating the mean value of the data collected by each position gyroscope, and respectively representing the mean value as
、
、
、
、
、
、
、
、
、
、
、
；
A6, calculating the average value of the output data of the gyroscope at the positions of positive and negative positions 180 degrees apart one by one, namely obtaining the equivalent zero errors of the gyroscope under the working conditions corresponding to different positions of positive and negative positions, and recording the equivalent zero errors as follows:
、
、
、
、
、
；
a7 pair
Each equivalent zero error is taken as a preliminary quantityGrade judgment: if the zero error is too large, the gyro is considered to be unqualified, and the work is judged to be stopped; if the range is within the reasonable range, entering the step A8, and continuing to perform hypothesis testing and judgment work downwards;
a8 measuring the equivalent zero error data
Judging whether the normal distribution is met by adopting an AhBpiro-Wilk hypothesis test method; if the normality assumption is rejected, the fiber optic gyroscope is considered to have possible azimuth effect errors; if the assumption of normality is accepted, the gyroscope is considered to have no obvious azimuth effect error.
4. The calibration method for the multi-position strapdown north-seeking system measurement error based on the hypothesis testing based positive and negative multi-position fiber-optic gyroscope orientation effect judgment method according to claim 1 or 3, is characterized by comprising the following steps:
c1: fixing the multi-position strapdown north-seeking system on a mechanical indexing turntable;
c2: indexing according to a circle uniform division point of the rotary table;
c3: when the mechanical turntable rotates for one equipartition angle value every time, the true north prism system is used for determining the included angle between the reference prism of the strapdown north-seeking system and the true north direction when the initial rotation position of the north-seeking system is determined, and recording is carried out;
c4: then comparing the north values measured by the multi-position strapdown north-seeking system to calculate an error value;
c5: and fitting an error curve according to the error characteristics to calibrate the orientation effect of the gyroscope.
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| CN101639364A (en) * | 2009-07-22 | 2010-02-03 | 哈尔滨工程大学 | Calibration method of high-precision optical fiber gyro component used for ship |
| CN102865881A (en) * | 2012-03-06 | 2013-01-09 | 武汉大学 | Quick calibration method for inertial measurement unit |
| CN105157723A (en) * | 2015-07-14 | 2015-12-16 | 北京理工大学 | Fiber gyro-based strapdown inertial navigation system calibration method |
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| CN101187568A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | Multi-position strapping north-seeking system direction effect calibration method |
| CN101639364A (en) * | 2009-07-22 | 2010-02-03 | 哈尔滨工程大学 | Calibration method of high-precision optical fiber gyro component used for ship |
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| CN105157723A (en) * | 2015-07-14 | 2015-12-16 | 北京理工大学 | Fiber gyro-based strapdown inertial navigation system calibration method |
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Denomination of invention: A Method for Judging the Azimuth Effect of Forward and Reverse Multi position Fiber Optic Gyroscope Based on Hypothesis Testing Effective date of registration: 20230323 Granted publication date: 20211022 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: Guangdong Guotian Space-time Technology Co.,Ltd. Registration number: Y2023980035909 |