CN113375692B - Method for rapidly evaluating calibration precision of fiber-optic gyroscope - Google Patents
Method for rapidly evaluating calibration precision of fiber-optic gyroscope Download PDFInfo
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- CN113375692B CN113375692B CN202110511051.0A CN202110511051A CN113375692B CN 113375692 B CN113375692 B CN 113375692B CN 202110511051 A CN202110511051 A CN 202110511051A CN 113375692 B CN113375692 B CN 113375692B
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Abstract
The invention provides a method for rapidly evaluating the calibration precision of a fiber-optic gyroscope, which comprises the following steps: (1) carrying out multi-position test on the marble flat plate by using the optical fiber inertial navigation; (2) calculating the inclination angle of the fiber inertial navigation system in comparison with the horizontal plane on the meridian line through the output mean value of the north accelerometer at the current position, and calculating the corrected north and sky fiber gyroscope theoretical output according to the inclination angle; (3) calculating the difference between the output mean value of the fiber-optic gyroscope at each position and the theoretical output of the fiber-optic gyroscope, wherein the difference is the zero calibration precision of the fiber-optic gyroscope at the current position; (4) and solving the maximum value of the standard deviation or the absolute value of the calculated zero calibration precision of the fiber-optic gyroscope at each position, wherein the maximum value is the zero calibration precision of the fiber-optic gyroscope.
Description
Technical Field
The invention relates to a method for rapidly evaluating the calibration precision of a fiber-optic gyroscope, which can be used in a fiber-optic inertial navigation pure inertial navigation positioning precision test.
Background
The fiber optic gyroscope is an all-solid-state inertial instrument, the rotation angular velocity of a carrier is determined by detecting the phase difference of two beams of light through the Sagnac effect, and the fiber optic gyroscope has no moving part inside and has the advantages which are not possessed by the traditional gyroscope. With the continuous breakthrough and rapid development of domestic optical fiber gyroscope technology, optical fiber inertial navigation equipment is widely applied to the fields of aerospace satellite airships, aviation aircrafts, missile weapons, ships, vehicles and the like.
In order to improve the pure inertial navigation positioning accuracy of the optical fiber inertial navigation, the optical fiber inertial navigation needs to be calibrated, and then a pure inertial navigation accuracy test is carried out to verify the navigation positioning accuracy of the optical fiber inertial navigation. The common calibration method comprises a separated calibration and a system-level calibration, if calibration errors caused by calibration equipment or other reasons occur in the calibration, the precision of the pure inertial navigation test is over-poor, and at the moment, calibration data needs to be re-calibrated or re-checked to find the reason of the over-poor precision, so that the steps are very complicated and time-consuming.
A commonly used method for rapidly evaluating the calibration precision of the optical fiber inertial navigation is to install the optical fiber inertial navigation into a hexahedral tool/rotary table transition plate, lean against a north leaning block and an east leaning block of a marble flat plate/a rotary table leaning block, provide an attitude reference by depending on the levelness and angular position precision of the flat plate/the rotary table, and further evaluate the zero position precision of the optical fiber gyroscope in a static state. However, the method neglects the influence of angular deformation of the vibration damper and the self precision of the testing equipment, and is difficult to accurately evaluate the calibration precision of the optical fiber inertial navigation, especially the high-precision optical fiber inertial navigation (the zero offset of the optical fiber gyroscope is better than 0.01 degree/h).
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for quickly evaluating the calibration precision of a fiber-optic gyroscope after the calibration of fiber-optic inertial navigation is finished and before a pure inertial navigation precision experiment is carried out.
The purpose of the invention is realized by the following technical scheme: a method for rapidly evaluating the calibration precision of a fiber-optic gyroscope comprises the following steps:
the method comprises the following steps: acquiring a local geographical latitude L of a test site;
step two: loading the fiber inertial navigation system into a hexahedral tool, performing a multi-position test by using a marble flat plate, wherein each axis of the fiber-optic gyroscope/quartz accelerometer at each position points to the east/west direction, the south/north direction and the sky/ground direction respectively, testing for a certain time at each position, and then obtaining the output mean value of the fiber-optic gyroscope and the accelerometer at each position; recording the output mean values wx, wy and wz of the triaxial fiber-optic gyroscope, and recording the output mean values ax, ay and az of the triaxial accelerometer;
step three: outputting mean value a through north direction accelerometer of current position N Calculating to obtain the inclination angle alpha of the fiber inertial navigation phase to the horizontal plane in the meridian;
step four: calculating the corrected north and sky fiber-optic gyroscope theoretical output:
w N ＝15.0411*cos(L-α)
w U ＝15.0411*cos(π-L+α)
wherein, w N For the theoretical output of a northbound fiber optic gyroscope, w U Outputting an astronomical fiber optic gyroscope theory, wherein L is the local geographical latitude, and alpha is the inclination angle of the fiber optic inertial navigation phase calculated in the last step in the meridian;
step five: subtracting the output mean value of the fiber optic gyroscope at each position from the theoretical output of the fiber optic gyroscope to obtain the zero calibration precision of the fiber optic gyroscope at each position;
step six: and solving the standard deviation or the maximum value of the absolute value of the zero calibration precision of the obtained fiber-optic gyroscope at each position to obtain the zero calibration precision of the fiber-optic gyroscope.
The certain time is more than 5 min.
The inclination angle of the fiber inertial navigation phase to the horizontal plane in the meridian is obtained through calculation:
α＝arcsin(a N )
wherein, a N And alpha is the inclination angle of the fiber inertial navigation system in the meridian compared with the horizontal plane.
And calculating and correcting the north and the sky of the fiber optic gyroscope to output according to the theory:
w N ＝15.0411*cos(L-α)
w U ＝15.0411*cos(π-L+α)
wherein, w N For the theoretical output of a northbound fiber optic gyroscope, w U The theoretical output of the fiber optic gyroscope in the direction of the sky, and L is the local geographical latitude.
Compared with the prior art, the invention has the following advantages:
(1) the method can be carried out after calibration is finished, the zero position precision of the fiber-optic gyroscope can be evaluated only through testing at a plurality of positions, and compared with a pure inertial navigation test, the method greatly saves time resources and manpower and material resources;
(2) the theoretical output of the fiber-optic gyroscope is corrected through the actual output of the accelerometer under the unit, so that the zero evaluation precision of the fiber-optic gyroscope can be greatly improved;
(3) the method can minimize the influence of the angular deformation of the vibration absorber and the precision of the testing equipment on the evaluation precision of the fiber-optic gyroscope, and improves the applicability of the evaluation method.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
And (3) loading the fiber inertial navigation system into a hexahedral tool, performing a multi-position test by using a marble flat plate, wherein each axis of the fiber-optic gyroscope/quartz accelerometer at each position points to the east/west direction, the south/north direction and the sky/ground direction respectively, testing for a plurality of times (such as 5min) in each position test, and then calculating the output average value of the fiber-optic gyroscope and the accelerometer at each position.
When the optical fiber inertial navigation is in a static single position, the self levelness and angular position errors of the testing equipment and the angular deformation of the shock absorber can be regarded as constant values, so the average value output by the instrument in a period of time is the measured value of the angular velocity and the apparent acceleration of the current position, and the error between the average value and the measured value is the calibration precision of the optical fiber inertial navigation. The attitude reference of the position can be corrected through acceleration output, and the calibration precision of the zero position of the fiber-optic gyroscope is further calculated.
Assuming that the fiber inertial navigation position orientation is: the X-axis gyro/accelerometer is oriented east, the Y gyro/accelerometer is oriented north, and the Z gyro/accelerometer is oriented sky. The local geographical latitude is 40.0689 degrees, the theoretical output of the triaxial fiber-optic gyroscope is 0 degree/h (the included angle with the earth rotation angular velocity vector is 90 degrees), 11.5105 degrees/h (the included angle with the earth rotation angular velocity vector is 40.0689 degrees) and 9.6821 degrees/h (the included angle with the earth rotation angular velocity vector is 90-40.0689 degrees), and the theoretical output value of the fiber-optic gyroscope is obviously changed from the original value due to the self-precision of the testing equipment and the influence of the angular deformation of the shock absorber. For Y-axis and Z-axis gyroscopes located on meridians, the drift angle of the instrument pointing to the corresponding meridian can obviously affect the output of the theoretical value of the fiber optic gyroscope, and the small drift angle of the corresponding prime line can not affect the output of the theoretical value of the fiber optic gyroscope.
The output of the Y-axis accelerometer is 0.001g at the moment, which represents that the included angle of the X-axis instrument pointing to the same earth rotation angular velocity vector is almost unchanged, the included angle of the Y-axis instrument pointing to the same earth rotation angular velocity vector is reduced by 0.0573 degrees, and the included angle of the Z-axis instrument pointing to the same earth rotation angular velocity vector is reduced by 0.0573 degrees. The theoretical output of the three-axis fiber-optic gyroscope is 0 degree/h (the included angle with the rotational angular velocity vector of the earth is 90 degrees), 11.5202 degrees/h (the included angle with the rotational angular velocity vector of the earth is 40.0689 degrees-0.0573 degrees) and 9.6836 degrees/h (the included angle with the rotational angular velocity vector of the earth is 90 degrees-40.0689 degrees +0.0573 degrees).
TABLE 1 theoretical output of fiber optic gyroscope in fiber optic inertial navigation orientation of northeast orientation (attitude reference 0.0573 degree error)
As can be seen from table 1, when the test equipment and the shock absorber cause an error of 0.0573 ° in the attitude reference, if the fiber-optic gyroscope calibration accuracy is still evaluated according to the conventional method, an error of about 0.01 °/h is caused.
Therefore, for the output of the instrument under each position test of the fiber-optic inertial navigation, the attitude reference needs to be corrected through a north accelerometer (or a south accelerometer) so as to evaluate the zero calibration precision of the fiber-optic gyroscope.
The invention is described in further detail below with reference to the accompanying drawing 1:
the method provides a method for rapidly evaluating the calibration precision of the fiber-optic gyroscope, which comprises the following steps:
the method comprises the following steps:
and determining the local geographical latitude L of the test site.
Step two:
and (3) loading the fiber inertial navigation system into a hexahedral tool, performing a multi-position test by using a marble flat plate, wherein each axis of the fiber-optic gyroscope/quartz accelerometer at each position points to the east/west direction, the south/north direction and the sky/ground direction respectively, testing for a plurality of times (such as 5min) in each position test, and then obtaining the output average value of the fiber-optic gyroscope and the accelerometer at each position. The output average values of the three-axis fiber-optic gyroscope are wx, wy and wz, and the output average values of the three-axis accelerometer are ax, ay and az.
Step three:
calculating the inclination angle of the fiber inertial navigation system in the meridian line compared with the horizontal plane by the output mean value of the current position north accelerometer:
α＝arcsin(a N )
wherein, a N The average value of the output of the accelerometer pointing to the north direction (or the inverse number of the average value of the output of the accelerometer pointing to the south direction) is alpha, which is the fiber inertial navigation compared with the horizontal planeThe inclination of the meridian.
Step four:
calculating the corrected north and sky fiber-optic gyroscope theoretical output:
w N ＝15.0411*cos(L-α)
w U ＝15.0411*cos(π-L+α)
wherein, w N For the theoretical output of a northbound fiber optic gyroscope, w U And (4) outputting the theory of the fiber optic gyroscope in the sky direction, wherein L is the local geographical latitude, and alpha is the inclination angle of the fiber optic inertial navigation calculated in the last step compared with the horizontal plane in the meridian.
Step five:
and comparing the difference between the output average value of the optical fiber gyroscope at each position and the theoretical output of the optical fiber gyroscope, wherein the difference is the zero calibration precision of the optical fiber gyroscope at the current position.
For example, when the fiber inertial navigation is oriented to the northeast direction, the zero calibration precision of the Y-axis fiber optic gyroscope is as follows: w is a y -w N The zero calibration precision of the Z-axis fiber-optic gyroscope is as follows: w is a z -w U 。
Step six:
and solving the maximum value of the standard deviation or the absolute value of the calculated zero calibration precision of the fiber-optic gyroscope at each position, wherein the maximum value is the zero calibration precision of the fiber-optic gyroscope.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (2)
1. A method for rapidly evaluating the calibration precision of a fiber-optic gyroscope is characterized by comprising the following steps:
the method comprises the following steps: acquiring a local geographical latitude L of a test site;
step two: loading the optical fiber inertial navigation system into a hexahedral tool, and performing a multi-position test by using a marble flat plate;
step three: outputting mean value a through north direction accelerometer of current position N Calculating to obtain the inclination angle alpha of the fiber inertial navigation phase to the horizontal plane in the meridian;
step four: calculating to obtain corrected north and sky fiber gyroscope theoretical outputs;
step five: the average value of the output of the fiber-optic gyroscope at each position is differenced from the theoretical output of the fiber-optic gyroscope to obtain the zero calibration precision of the fiber-optic gyroscope at each position;
step six: calculating a standard deviation or calculating the maximum value of an absolute value of the zero calibration precision of the obtained fiber-optic gyroscope at each position to obtain the zero calibration precision of the fiber-optic gyroscope;
the specific process of the second step is as follows:
each axis of the fiber-optic gyroscope/quartz accelerometer at each position points to the east/west direction, the south/north direction and the sky/ground direction respectively, each position is tested for a certain time, and then the output average value of the fiber-optic gyroscope and the accelerometer at each position is obtained; recording the output mean values wx, wy and wz of the triaxial fiber optic gyroscope, and recording the output mean values ax, ay and az of the triaxial accelerometer;
the specific process of the step four is as follows:
calculating to obtain corrected north and sky fiber gyroscope theoretical outputs:
w N ＝15.0411*cos(L-α)
w U ＝15.0411*cos(π-L+α)
wherein, w N For the theoretical output of a northbound fiber optic gyroscope, w U Outputting an astronomical fiber optic gyroscope theory, wherein L is the local geographical latitude, and alpha is the inclination angle of the fiber optic inertial navigation phase calculated in the last step in the meridian;
the inclination angle of the fiber inertial navigation phase to the horizontal plane in the meridian is obtained through calculation:
α＝arcsin(a N )
wherein, a N And alpha is the inclination angle of the fiber inertial navigation system in the meridian compared with the horizontal plane.
2. The method for rapidly evaluating the calibration accuracy of a fiber-optic gyroscope of claim 1, wherein the certain time is more than 5 min.
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| CN101975872A (en) * | 2010-10-28 | 2011-02-16 | 哈尔滨工程大学 | Method for calibrating zero offset of quartz flexible accelerometer component |
| CN102003968A (en) * | 2010-09-03 | 2011-04-06 | 哈尔滨工程大学 | Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system |
| CN103234560A (en) * | 2013-05-17 | 2013-08-07 | 哈尔滨工程大学 | Zero calibration method for strapdown inertial navigation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102003968A (en) * | 2010-09-03 | 2011-04-06 | 哈尔滨工程大学 | Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system |
| CN101975872A (en) * | 2010-10-28 | 2011-02-16 | 哈尔滨工程大学 | Method for calibrating zero offset of quartz flexible accelerometer component |
| CN103234560A (en) * | 2013-05-17 | 2013-08-07 | 哈尔滨工程大学 | Zero calibration method for strapdown inertial navigation system |
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