CN113670336B - Method for determining temperature coefficient compensation characteristic of scale factor of quartz flexible accelerometer - Google Patents
Method for determining temperature coefficient compensation characteristic of scale factor of quartz flexible accelerometer Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention discloses a method for determining temperature coefficient compensation characteristics of a scale factor of a quartz flexible accelerometer. The method comprises the following steps: 1. acquiring temperature coefficient compensation characteristic curves of three different quartz flexible accelerometer scale factors; 2. acquiring a temperature coefficient characteristic curve of an analog-to-digital conversion circuit in an IMU accelerometer channel; 3. determining an IMU accelerometer channel temperature compensation characteristic target; 4. the method comprises the steps of respectively assembling three quartz flexible accelerometers with analog-to-digital conversion circuits, processing three IMU accelerometer channels according to a compensation algorithm, and then performing calibration test to obtain the temperature compensation characteristics of the three IMU accelerometer channels, wherein the temperature compensation characteristics of the IMU accelerometer channels are determined in the step 3, and the target of the temperature compensation characteristics of the IMU accelerometer channels is most matched with the temperature coefficient compensation characteristics of the scale factors of the quartz flexible accelerometers.
Description
Technical Field
The invention relates to a temperature coefficient compensation characteristic technology of a quartz flexible accelerometer, in particular to a method for determining a scale factor temperature coefficient compensation characteristic of the quartz flexible accelerometer.
Background
The quartz flexible accelerometer has the advantages of high precision, high reliability, low power and the like, so that the quartz flexible accelerometer is widely applied to various inertial navigation systems. The quartz flexible accelerometer is used as a key sensor unit of the inertial navigation system, and the temperature coefficient characteristic of the quartz flexible accelerometer has great influence on the temperature coefficient characteristic of an accelerometer channel of an Inertial Measurement Unit (IMU), so that the accuracy and the rapidity of the inertial navigation system are directly influenced. Wherein, the temperature coefficient refers to the rate or the size of the change of the technical index or the physical property of the system along with the change of temperature.
In order to ensure the striking precision and the rapidity of the inertial navigation system, a software algorithm is required to compensate the IMU accelerometer channel. The IMU accelerometer channel mainly comprises a quartz flexible accelerometer body and an analog-to-digital conversion circuit for signal transmission conversion, so that the temperature coefficient characteristic of the accelerometer channel is mainly determined by superposition of the temperature coefficient characteristics of the quartz flexible accelerometer body and the analog-to-digital conversion circuit, and the temperature coefficient characteristic of the analog-to-digital conversion circuit is relatively fixed, so that the change of the temperature coefficient characteristic of the quartz flexible accelerometer body can cause the change of the temperature coefficient characteristic of the whole IMU accelerometer channel.
The key technical index in the aspect of the temperature coefficient characteristic of the quartz flexible accelerometer body is the temperature coefficient of a scale factor, and the temperature coefficient of the scale factor can be calculated by testing and calibrating the accelerometer at different temperatures.
With the development requirement of high-precision equipment in recent years, the index requirement on the quartz flexible accelerometer is higher and higher, and particularly the requirement on rapidity is met while high precision is ensured, so that the requirement on an IMU accelerometer channel is higher.
Due to structural design, material and process limitations, the temperature coefficient of the quartz flexible accelerometer body cannot tend to be infinitely small. The literature (Chen Fubin, zhang Kebei quartz flexible accelerometer temperature compensation algorithm [ J ]. Chinese Inertion technology journal, 2016,24 (1), 98-102) mainly designs a temperature model identification test aiming at parameters of an accelerometer body, and then fits and establishes the accelerometer temperature compensation algorithm, but the algorithm does not consider an output temperature model of an analog-to-digital conversion circuit in an IMU accelerometer channel, and does not conduct matching research on the characteristics of output temperature coefficients between the analog-to-digital conversion circuit and the accelerometer body. This algorithm therefore has the following drawbacks:
1) Because the temperature characteristic compensation of the IMU accelerometer channel is not taken as a target, the algorithm of the IMU accelerometer channel is easy to cause precision loss of the whole accelerometer channel and compensation failure;
2) The temperature coefficient compensation target of the accelerometer body is unclear.
Disclosure of Invention
In order to solve the problem that the temperature compensation characteristic of the body of the current quartz flexible accelerometer cannot be accurately obtained, the invention provides a method for determining the temperature coefficient compensation characteristic of the scale factor of the quartz flexible accelerometer.
The specific technical scheme of the invention is as follows:
a quartz flexible accelerometer temperature coefficient compensation characteristic determining method comprises the following steps:
step 1: the temperature coefficient compensation characteristic curves of the scale factors of the three types of quartz flexible accelerometers are obtained through carrying out full-temperature range calibration test on the quartz flexible accelerometers provided with a plurality of different compensation ring sizes and analyzing;
step 2: acquiring a temperature coefficient characteristic curve of an analog-to-digital conversion circuit in an IMU accelerometer channel;
step 3: determining an IMU accelerometer channel temperature compensation characteristic target according to actual use requirements and a compensation algorithm;
step 4: and (3) assembling three quartz flexible accelerometers with temperature coefficient compensation characteristics of three quartz flexible accelerometer scale factors respectively with an analog-to-digital conversion circuit, processing the three IMU accelerometer channels according to a compensation algorithm, and then performing full-temperature range calibration test to obtain the temperature compensation characteristics of the three IMU accelerometer channels, thereby selecting the temperature coefficient compensation characteristics which are most matched with the temperature compensation characteristic targets of the IMU accelerometer channels determined in the step (3) as the guiding items of the temperature coefficient compensation characteristics of the quartz flexible accelerometers, and guiding the modulation and the determination of the temperature characteristic states of the accelerometer in the research and development production process.
Further, in the temperature coefficient compensation characteristic curves of the scale factors of the three quartz flexible accelerometers, the following characteristics are shown:
the trend of the first type of curve is: the accelerometer is parabolic with upward openings, and the low-temperature section scale factor and the high-temperature section scale factor of the accelerometer are basically symmetrical about 0 ℃;
the trend of the second class of curves is: class exponential function a X And 0 < a < 1; the standard factor of the low-temperature section of the accelerometer is larger than 0 ℃ to the high-temperature section;
the trend of the third class of curves is: class exponential function a X And a > 1; the scale factor of the high-temperature section of the accelerometer is larger than that of the low-temperature section to 0 ℃.
The invention has the beneficial effects that:
1. according to the invention, through test analysis, three different temperature coefficient compensation characteristic curves of the quartz flexible accelerometer scale factors are obtained, the temperature compensation characteristic of the IMU accelerometer channel in the inertial navigation system is taken as a target, and when the temperature coefficient characteristic target of the quartz flexible accelerometer is confirmed, the temperature coefficient characteristic of an analog-to-digital conversion circuit in the IMU accelerometer channel is considered, so that the uniqueness, the effectiveness, the realization, the integrity and the accuracy of the target confirmation are ensured.
2. According to the method provided by the invention, the temperature coefficient of the scale factor of the quartz flexible accelerometer is used as a key index, so that the determination of the temperature coefficient compensation characteristic of the quartz flexible accelerometer is realized, the temperature coefficient compensation characteristic is more matched with the temperature coefficient compensation algorithm of the IMU accelerometer channel, and the method is easier to realize;
3. the temperature coefficient compensation characteristic of the quartz flexible accelerometer is mainly realized by adjusting the size of the compensation ring, no new part is added, and once the state is confirmed in the research and development design stage, the consistency of parameters and the effectiveness of the final compensation effect can be ensured.
Drawings
FIG. 1 is a graph of temperature coefficient compensation characteristics for a first type of quartz flexible accelerometer scale factor.
FIG. 2 is a graph of temperature coefficient compensation characteristics for a second type of quartz flexible accelerometer scale factor.
FIG. 3 is a graph of temperature coefficient compensation characteristics for a third class of quartz flexible accelerometer scale factors.
Detailed Description
Because of the requirements of accuracy and rapidity of an inertial navigation system, the temperature compensation algorithm of the IMU accelerometer channel is generally aimed at outputting the temperature coefficient of the whole channel in the whole temperature section of the actual working condition as small as possible, if the requirement is simply copied to the quartz flexible accelerometer, the temperature coefficient output by the analog-to-digital conversion circuit is ignored, the final compensation accuracy and effectiveness can not be ensured, and the research and development cost of the quartz flexible accelerometer is increased;
aiming at the development requirements of the precision and the rapidity of the current inertial navigation system, the invention analyzes the undefined target of the temperature coefficient characteristic compensation and the suitability of the compensation algorithm of the existing quartz flexible accelerometer, and the basic realization principle of the invention is as follows: the temperature coefficient compensation characteristic of the quartz flexible accelerometer is based on an IMU accelerometer channel temperature coefficient compensation algorithm, and on the premise of considering the temperature coefficient of the analog-to-digital conversion circuit, the matching research is carried out on the temperature coefficient characteristics between the analog-to-digital conversion circuit and the quartz flexible accelerometer body, so that the temperature coefficient compensation characteristic of the quartz flexible accelerometer is established.
Based on the basic realization principle, the invention provides a method for determining the temperature coefficient compensation characteristic of the quartz flexible accelerometer matched with the IMU accelerometer channel, which aims at the temperature coefficient compensation characteristic of the quartz flexible accelerometer scale factor and establishes a key factor for optimizing the temperature coefficient compensation characteristic of the quartz flexible accelerometer scale factor from the principle point of view.
Step 1: carrying out full-temperature range calibration test on quartz flexible accelerometers provided with a plurality of different compensation ring sizes, and analyzing to obtain temperature coefficient compensation characteristic curves of three types of quartz flexible accelerometer scale factors;
factors influencing the temperature coefficient characteristics of the scale factors of the quartz flexible accelerometer are more, such as the temperature coefficients of electric elements, quartz pendulous reed materials, structures and materials of torquers, adhesives used and the like in a servo circuit, wherein the temperature coefficients of permanent magnets in a magnetic circuit of the torquers are the most critical. The samarium cobalt permanent magnet used in the high-precision quartz flexible accelerometer has a minimum remanence temperature coefficient of 0.01%/DEG C, which means that the magnetic performance of the permanent magnet is unavoidable to be changed at low temperature and high temperature.
The quartz flexible accelerometer industry generally reduces the temperature coefficient of the working air gap flux density of the torquer by connecting a compensating ring of negative temperature coefficient material in parallel in the torquer magnetic loop, thereby reducing the temperature coefficient of the scale factor of the accelerometer, the heights of the parallel compensating rings are different, the compensating effect is also different, the compensating characteristics of the temperature coefficient of the scale factor of the accelerometer are also different, and the temperature coefficient compensating characteristic curve of the scale factor of the quartz flexible accelerometer obtained through analysis has the following three types of forms:
as shown in fig. 1, the trend of the first type of curve is: the whole body is parabolic with upward openings, and the low-temperature section scale factor and the high-temperature section scale factor of the accelerometer are basically symmetrical about 0 ℃; meanwhile, the temperature coefficients corresponding to the low-temperature section scale factors and the high-temperature section scale factors are larger than the temperature coefficient near 0 ℃ according to the curve, and the difference of the curve is that the scale factors of all the temperature sections are different in change.
As shown in fig. 2, the trend of the second class curve is: class exponential function a X And 0 < a < 1; the standard factor of the low-temperature section of the accelerometer is larger than 0 ℃ to the high-temperature section; also from this curve, it can be seen that the ratio is lower Wen DuanbiaoThe temperature coefficient corresponding to the degree factor is larger than that corresponding to the standard factor of the high-temperature section, the change of the degree factor from 0 ℃ to Wen Duanbiao ℃ is smaller, and the change of the temperature coefficient is smaller;
as shown in fig. 3, the trend of the third type of curve is: class exponential function a X And a > 1; the scale factor of the high-temperature section of the accelerometer is larger than that of the low-temperature section to 0 ℃. Meanwhile, according to the curve, the temperature coefficient corresponding to the high Wen Duanbiao degree factor is generally larger than the temperature coefficient corresponding to the low-temperature section scale factor, the change from the low-temperature section scale factor to the 0 ℃ scale factor is smaller, and the change of the temperature coefficient is also smaller;
the three types of scale factor temperature coefficient compensation characteristics have the following characteristics: the change of the scale factor in the whole temperature range is continuous and smooth, and no abnormal convex and concave singular points exist at any temperature point.
Step 2: testing the temperature coefficient characteristic of an analog-to-digital conversion circuit of the IMU accelerometer channel;
step 3: determining an IMU accelerometer channel temperature compensation characteristic target according to actual use requirements and a compensation algorithm;
step 4: and (3) assembling three quartz flexible accelerometers with temperature coefficient compensation characteristics of three quartz flexible accelerometer scale factors respectively with an analog-to-digital conversion circuit, processing the three IMU accelerometer channels according to a compensation algorithm, and then performing full-temperature range calibration test to obtain the temperature compensation characteristics of the three IMU accelerometer channels, thereby selecting the temperature coefficient compensation characteristics which are most matched with the temperature compensation characteristic targets of the IMU accelerometer channels determined in the step (3) as the guiding items of the temperature coefficient compensation characteristics of the quartz flexible accelerometers, and guiding the modulation and the determination of the temperature characteristic states of the accelerometer in the research and development production process.
Claims (1)
1. The method for determining the temperature coefficient compensation characteristic of the quartz flexible accelerometer is characterized by comprising the following steps of:
step 1: the temperature coefficient compensation characteristic curves of the scale factors of the three types of quartz flexible accelerometers are obtained through carrying out full-temperature range calibration test on the quartz flexible accelerometers provided with a plurality of different compensation ring sizes and analyzing;
the temperature coefficient compensation characteristic curves of the three types of quartz flexible accelerometer scale factors are as follows:
the trend of the first type of curve is: the accelerometer is parabolic with upward openings, and the low-temperature section scale factor and the high-temperature section scale factor of the accelerometer are basically symmetrical about 0 ℃;
the trend of the second class of curves is: class exponential function a X And 0 < a < 1; the standard factor of the low-temperature section of the accelerometer is larger than 0 ℃ to the high-temperature section;
the trend of the third class of curves is: class exponential function a X And a > 1; the scale factor of the high-temperature section of the accelerometer is larger than that of the low-temperature section to 0 ℃;
step 2: acquiring a temperature coefficient characteristic curve of an analog-to-digital conversion circuit in an IMU accelerometer channel;
step 3: determining an IMU accelerometer channel temperature compensation characteristic target according to actual use requirements and a compensation algorithm;
step 4: and (3) assembling three quartz flexible accelerometers with temperature coefficient compensation characteristics of three quartz flexible accelerometer scale factors respectively with an analog-to-digital conversion circuit, processing the three IMU accelerometer channels according to a compensation algorithm, and then performing full-temperature range calibration test to obtain the temperature compensation characteristics of the three IMU accelerometer channels, thereby selecting the temperature coefficient compensation characteristics which are most matched with the temperature compensation characteristic targets of the IMU accelerometer channels determined in the step (3) as the guiding items of the temperature coefficient compensation characteristics of the quartz flexible accelerometers, and guiding the modulation and the determination of the temperature characteristic states of the accelerometer in the research and development production process.
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