CN114061617A - Non-orthogonal dynamic calibration method for optical fiber gyroscope - Google Patents
Non-orthogonal dynamic calibration method for optical fiber gyroscope Download PDFInfo
- Publication number
- CN114061617A CN114061617A CN202010777072.2A CN202010777072A CN114061617A CN 114061617 A CN114061617 A CN 114061617A CN 202010777072 A CN202010777072 A CN 202010777072A CN 114061617 A CN114061617 A CN 114061617A
- Authority
- CN
- China
- Prior art keywords
- optical fiber
- fiber gyroscope
- sensitive
- angular rate
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000013307 optical fiber Substances 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000012360 testing method Methods 0.000 claims abstract description 48
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 19
- 239000000835 fiber Substances 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention relates to a non-orthogonal dynamic calibration method of an optical fiber gyroscope, which comprises the following steps: non-orthogonal testing: a sensitive shaft of the optical fiber gyroscope and a rotating shaft of a testing turntable are obliquely arranged at a first angle, the sensitive shaft is marked as a first sensitive shaft, and the testing turntable drives the optical fiber gyroscope to rotate; data acquisition and calculation: acquiring the actual output angular rate of the first sensitive axis during the rotation of the optical fiber gyroscope; calibrating the fiber-optic gyroscope: and carrying out calibration calculation on the optical fiber gyroscope according to the principle that the earth angular rates of the south and north opposite directions of the sensitive shaft are mutually offset in the rotation process. Compared with the prior art, the method has the advantages that the multi-axis fiber-optic gyroscope scale factor is calibrated quickly, repeated operation in the testing process is simplified, the rated time required by the calibration test of the multi-axis fiber-optic gyroscope scale factor is shortened, and the expected test-allowed test system error is ensured.
Description
Technical Field
The invention relates to the field of calibration of optical fiber gyroscopes, in particular to a non-orthogonal dynamic calibration method of an optical fiber gyroscope.
Background
Various medium and low precision fiber optic gyroscopes have been commercialized in the last decade and are widely used in aerospace, marine, weaponry systems, and other industrial fields. In the research and development and production processes of the optical fiber gyroscope, the performance difference of required optical and electric devices is large, so that the performance index requirement of the optical fiber gyroscope is difficult to reach optimal matching, the one-time debugging qualification rate level of the optical fiber gyroscope in engineering production is limited, and the debugging test in the production process and the angular rate compensation test under the full-temperature environment must be increased for improving the angular speed measurement precision and the production yield of the optical fiber gyroscope.
As shown in fig. 3 and 4, the calibration methods of the conventional optical fiber gyroscope are orthogonal calibration, and it is required to ensure that a sensitive axis of the optical fiber gyroscope coincides with the rotation axis of the test turntable. The invention with the authorization notice number of CN104634364B discloses a self-calibration method of a fiber-optic gyroscope scale factor based on step wave modulation, which comprises the following steps: recording the digital quantity output by the gyroscope; respectively calculating the data processing by using a whole national standard method; inputting the angular speed into the corresponding gyroscope output; two beams of light with different transmission directions in the optical fiber loop will generate Sagnac phase difference proportional to the rotation speed; adding the digital quantity obtained by calculation to the FPGA by using a VHDL language; the slope was determined by the least square method.
In the calibration process, orthogonal calibration must be ensured, when the method is applied to the calibration of the multi-axis optical fiber gyroscope, multiple sensitive axes are required to be calibrated respectively, the test period is long, the efficiency is low, the cost is high, and the development of the industrialization of the optical fiber gyroscope is limited.
Disclosure of Invention
The invention aims to provide a non-orthogonal dynamic calibration method of an optical fiber gyroscope, aiming at overcoming the defects of long test period and low efficiency in the prior art.
The purpose of the invention can be realized by the following technical scheme:
a non-orthogonal dynamic calibration method for an optical fiber gyroscope comprises the following steps:
non-orthogonal testing: a sensitive shaft of the optical fiber gyroscope and a rotating shaft of a testing turntable are obliquely arranged at a first angle, the sensitive shaft is marked as a first sensitive shaft, and the testing turntable drives the optical fiber gyroscope to rotate;
data acquisition and calculation: acquiring the actual output angular rate of the first sensitive axis during the rotation of the optical fiber gyroscope;
calibrating the fiber-optic gyroscope: and carrying out calibration calculation on the optical fiber gyroscope according to the principle that the earth angular rates of the south and north opposite directions of the sensitive shaft are mutually offset in the rotation process.
Further, in the step of calibrating the fiber optic gyroscope, the step of calibrating the fiber optic gyroscope specifically comprises the steps of,
calculating the input angular rate of the first sensitive shaft without the earth angular rate component according to the rotating speed of the test turntable and the first angle;
according to the principle that the earth angular rates of the two opposite directions of north and south of the sensitive shaft are mutually offset in the rotating process, calculating the calibrated output angular rate of the first sensitive shaft according to the actual output angular rate of the first sensitive shaft;
and carrying out calibration calculation on the optical fiber gyroscope according to the input angular rate and the calibration output angular rate.
Further, the computational expression of the input angular rate of the first sensitive axis not including the earth angular rate component is:
ωx＝Ωcosθχ
in the formula, ωxThe input angular rate of the first sensitive shaft without the earth angular rate component is shown as omega, the rotating speed of the test rotary table is shown as thetaχIs said first angle at which said first sensitive axis is tilted with respect to said test turret.
Further, the principle that the earth angular velocities of the sensitive shaft in the north and south opposite directions cancel each other in the rotation process is specifically as follows:
ωN＝ωi+ωiecosθcos(2kπ+Δφ)
ωS＝ωi+(-ωiecosθcos(2kπ+Δφ))
ωN+ωS＝2ωi
in the formula, ωNInput angular rate, ω, for the sensitive axis in the north directionSInput angular velocity, ω, of axis of sensitivity in the south directioniThe input angular rate at which the sensitive axis does not contain a component of the earth's angular rate, θ is the current latitude, and Δ φ is the amount of angular change per unit time.
Further, the calculation of the calibrated output angular rate is specifically to obtain the calibrated output angular rate by adding and averaging the actual output angular rates in the north and south opposite directions of the first sensitive axis, which are obtained by the optical fiber gyroscope.
Further, in the data acquisition and calculation step, the actual output angular rate of the first sensitive axis is acquired in cycles, and in the fiber optic gyroscope calibration step, the calibration output angular rate of each cycle is calculated and averaged to obtain the calibration output angular rate for performing calibration calculation of the fiber optic gyroscope.
Further, in the step of calibrating the fiber optic gyroscope, the calibration calculation of the fiber optic gyroscope is performed by a least square method.
Further, in the non-orthogonal testing step, the first angle is in a range of 5 degrees to 85 degrees.
Further, the optical fiber gyroscope is a multi-axis optical fiber gyroscope which comprises a plurality of sensitive axes, and the non-orthogonal dynamic calibration method of the optical fiber gyroscope further comprises the step of respectively calculating included angles between the other sensitive axes and the rotating shaft of the test turntable according to the first angle, so that the non-orthogonal dynamic calibration is simultaneously carried out on each sensitive axis.
Furthermore, the included angles between the other sensitive shafts and the rotating shaft of the testing turntable are within the range of 5-85 degrees.
Compared with the prior art, the invention has the following advantages:
(1) the invention is applied to the test process of the fiber-optic gyroscope, can quickly calibrate the calibration of the multi-axis fiber-optic gyroscope scale factor, reduces the investment of test resources such as a test rate turntable, a high-low temperature box, a collecting device and the like required by the production of the fiber-optic gyroscope, simplifies the repeated operation of the test process, shortens the rated time required by the calibration test of the multi-axis fiber-optic gyroscope scale factor, can realize the calibration test under the condition of the non-traditional orthogonal rotation state, and achieves the expected test system error allowed by the test.
Drawings
FIG. 1 is a schematic flow chart of a non-orthogonal dynamic calibration method of an optical fiber gyroscope according to the present invention;
FIG. 2 is a schematic diagram illustrating the principle that the earth angular velocities of the sensing shaft in the north and south directions cancel each other during the rotation process;
FIG. 3 is a first schematic diagram of a conventional quadrature calibration method;
FIG. 4 is a second schematic diagram of a conventional quadrature calibration method;
FIG. 5 is a first schematic diagram of a non-orthogonal dynamic calibration method of an optical fiber gyroscope according to the present invention;
FIG. 6 is a second schematic diagram of the non-orthogonal dynamic calibration method of the optical fiber gyroscope according to the present invention;
FIG. 7 is a third schematic diagram of a non-orthogonal dynamic calibration method of an optical fiber gyroscope according to the present invention;
FIG. 8 is a fourth schematic diagram of the non-orthogonal dynamic calibration method of the optical fiber gyroscope according to the present invention;
in the figure, the rotating shaft of the testing rotary table, the horizontal plane of the testing rotary table and the input angular rate required by forward and reverse rotation according to requirements are shown, wherein X is an X axial sensitive shaft of the optical fiber gyroscope, Y is an Y axial sensitive shaft of the optical fiber gyroscope, and Z is a Z axial sensitive shaft of the optical fiber gyroscope.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
As shown in fig. 1, this embodiment provides a non-orthogonal dynamic calibration method for an optical fiber gyroscope, where the optical fiber gyroscope is a multi-axis optical fiber gyroscope, the multi-axis optical fiber gyroscope includes multiple sensitive axes, and the method includes the following steps:
non-orthogonal test step S1: as shown in fig. 5 to 8, a sensitive axis of the optical fiber gyroscope and a rotating axis of the testing turntable are obliquely arranged at a first angle, the sensitive axis is referred to as a first sensitive axis, and the optical fiber gyroscope is driven to rotate by the testing turntable;
data acquisition and calculation step S2: respectively calculating included angles between the other sensitive shafts and a rotating shaft of the test turntable according to the first angle, and acquiring the actual output angular rate of each sensitive shaft in the rotating process of the optical fiber gyroscope;
in this embodiment, the first angle and the included angles between the remaining sensitive axes and the rotation axis of the testing turntable are all within a range of 5 degrees to 85 degrees.
Fiber-optic gyroscope calibration step S3: and carrying out calibration calculation on the optical fiber gyroscope according to the principle that the earth angular rates of the south and north opposite directions of the sensitive shaft are mutually offset in the rotation process.
Taking the first sensitive axis as an example, in the fiber optic gyroscope calibration step, the calibration calculation of the fiber optic gyroscope is specifically performed,
s301: calculating the input angular rate of the first sensitive shaft without the earth angular rate component by testing the rotating speed and the first angle of the rotary table;
the computational expression for the input angular rate for which the first sensitive axis does not contain a component of the earth's angular rate is:
ωx＝Ωcosθχ
s302: according to the principle that the earth angular rates of the south and north opposite directions of the sensitive shaft are mutually offset in the rotating process, calculating the calibrated output angular rate of the first sensitive shaft through the actual output angular rate of the first sensitive shaft;
the principle that the earth angular velocities of the sensitive shaft in the north and south opposite directions are mutually offset in the rotating process is as follows:
ωN＝ωi+ωiecosθcos(2kπ+Δφ)
ωS＝ωi+(-ωiecosθcos(2kπ+Δφ))
ωN+ωS＝2ωi
in the formula, ωNInput angular rate, ω, for the sensitive axis in the north directionSInput angular velocity, ω, of axis of sensitivity in the south directioniFor input angular rates where the sensitive axis does not contain a component of the earth's angular rate, θ is the current dimension and Δ φ is the amount of angular change per unit time.
The calculation of the calibrated output angular rate is specifically to obtain the calibrated output angular rate by adding and averaging the actual output angular rates in the north and south opposite directions of the first sensitive axis, which are obtained by the optical fiber gyroscope.
The input and the output of the angular speed of the optical fiber gyroscope are in linear proportion. The input angular velocity component and the inclination angle meet the trigonometric function change relationship, and the rate change mutual offset principle is carried out on the integral variation of the south-north position of the sensitive axis of the optical fiber gyroscope corresponding to the integral variation of the earth rotation rate in the calibration process, so that the actual input and output proportional relationship in the unit time in the calibration process of the optical fiber gyroscope still meets the linear proportional relationship, and the requirement of a single-axis rate turntable for simultaneously completing the dynamic calibration test of the multi-axis optical fiber gyroscope is met.
S303: and according to the input angular rate and the calibrated output angular rate, performing calibration calculation on the optical fiber gyroscope by a least square method.
Specifically, the calibration factor K is calculated by the following formula.
In the formula, BOZero offset, ω, of the piece under testiAngular velocity input component, F, for the sensitive axis at standard input angular velocityiThe output equivalent of the sensitive axis at the ith input angular rate, n is the test data volume,
is FiIs determined by the average value of (a) of (b),
is omegaiAverage value of (a).
By adopting the non-orthogonal dynamic calibration method of the optical fiber gyroscope, when the optical fiber gyroscope is dynamically calibrated in a non-orthogonal mode, the output model of the calibration in an orthogonal mode can be satisfied.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A non-orthogonal dynamic calibration method for an optical fiber gyroscope is characterized by comprising the following steps:
non-orthogonal testing: a sensitive shaft of the optical fiber gyroscope and a rotating shaft of a testing turntable are obliquely arranged at a first angle, the sensitive shaft is marked as a first sensitive shaft, and the testing turntable drives the optical fiber gyroscope to rotate;
data acquisition and calculation: acquiring the actual output angular rate of the first sensitive axis during the rotation of the optical fiber gyroscope;
calibrating the fiber-optic gyroscope: and carrying out calibration calculation on the optical fiber gyroscope according to the principle that the earth angular rates of the south and north opposite directions of the sensitive shaft are mutually offset in the rotation process.
2. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 1, wherein in the step of calibrating the optical fiber gyroscope, the calibration calculation of the optical fiber gyroscope is specifically,
calculating the input angular rate of the first sensitive shaft without the earth angular rate component according to the rotating speed of the test turntable and the first angle;
according to the principle that the earth angular rates of the two opposite directions of north and south of the sensitive shaft are mutually offset in the rotating process, calculating the calibrated output angular rate of the first sensitive shaft according to the actual output angular rate of the first sensitive shaft;
and carrying out calibration calculation on the optical fiber gyroscope according to the input angular rate and the calibration output angular rate.
3. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 2, wherein the computational expression of the input angular rate of the first sensitive axis without the earth angular rate component is:
ωx＝Ωcosθχ
in the formula, ωxThe input angular rate of the first sensitive shaft without the earth angular rate component is shown as omega, the rotating speed of the test rotary table is shown as thetaχIs said first angle at which said first sensitive axis is tilted with respect to said test turret.
4. The method for non-orthogonal dynamic calibration of the optical fiber gyroscope according to claim 2, wherein the principle that the earth angular velocities of the sensitive axis in the north and south opposite directions cancel each other during the rotation process is specifically as follows:
ωN＝ωi+ωiecosθcos(2kπ+Δφ)
ωS＝ωi+(-ωiecosθcos(2kπ+Δφ))
ωN+ωS＝2ωi
in the formula, ωNInput angular rate, ω, for the sensitive axis in the north directionSInput angular velocity, ω, of axis of sensitivity in the south directioniFor input angular rates where the sensitive axis does not contain a component of the earth's angular rate, θ is the current dimension and Δ φ is the amount of angular change per unit time.
5. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 2, wherein the calibration output angular rate is calculated by adding and averaging the actual output angular rates of the two opposite north and south directions of the first sensitive axis acquired by the optical fiber gyroscope.
6. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 2, wherein in the data acquisition and calculation step, the actual output angular rate of the first sensitive axis is acquired in cycles, and in the fiber gyroscope calibration step, the calibrated output angular rate of each cycle is calculated and averaged to obtain the calibrated output angular rate for calibration calculation of the optical fiber gyroscope.
7. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 2, wherein in the step of calibrating the optical fiber gyroscope, the calibration calculation of the optical fiber gyroscope is performed by a least square method.
8. The method for non-orthogonal dynamic calibration of an optical fiber gyroscope according to claim 1, wherein in the non-orthogonal testing step, the first angle is in a range from 5 degrees to 85 degrees.
9. The method for non-orthogonal dynamic calibration of the optical fiber gyroscope according to claim 1, wherein the optical fiber gyroscope is a multi-axis optical fiber gyroscope, the multi-axis optical fiber gyroscope includes a plurality of sensitive axes, and the method for non-orthogonal dynamic calibration of the optical fiber gyroscope further includes calculating included angles between the remaining sensitive axes and a rotating axis of the test turntable according to the first angle, so as to perform non-orthogonal dynamic calibration on the sensitive axes simultaneously.
10. The method for non-orthogonal dynamic calibration of the optical fiber gyroscope according to claim 9, wherein the included angles between the remaining sensitive axes and the rotation axis of the test turntable are all in a range from 5 degrees to 85 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010777072.2A CN114061617B (en) | 2020-08-05 | 2020-08-05 | Non-orthogonal dynamic calibration method for fiber-optic gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010777072.2A CN114061617B (en) | 2020-08-05 | 2020-08-05 | Non-orthogonal dynamic calibration method for fiber-optic gyroscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114061617A true CN114061617A (en) | 2022-02-18 |
| CN114061617B CN114061617B (en) | 2024-04-09 |
Family
ID=80231993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010777072.2A Active CN114061617B (en) | 2020-08-05 | 2020-08-05 | Non-orthogonal dynamic calibration method for fiber-optic gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114061617B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2204806C1 (en) * | 2001-12-18 | 2003-05-20 | Военная академия Ракетных войск стратегического назначения им. Петра Великого | Method of calibration of gyros |
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| JP2007263689A (en) * | 2006-03-28 | 2007-10-11 | Railway Technical Res Inst | Azimuth measuring method for apparatus in environment where external information can not be acquired |
| CN101216313A (en) * | 2007-12-27 | 2008-07-09 | 浙江大学 | Multi-location north seeking method based on optical fibre gyroscope |
| CN101509785A (en) * | 2009-03-16 | 2009-08-19 | 浙江大学 | Misalignment evaluating method for optical fibre gyro input axis |
| CN105659809B (en) * | 2005-06-02 | 2010-05-05 | 北京航天时代光电科技有限公司 | Based on fiber gyro north seeker and the north finding method of slope compensation and thick smart block position method |
| CN101907460A (en) * | 2010-02-10 | 2010-12-08 | 南京航空航天大学 | Particle filtering method for north-seeking of fiber optic gyroscope |
| CN102749477A (en) * | 2012-07-11 | 2012-10-24 | 浙江大学 | Method for measuring angular deviation between surface and rotating shaft of turntable by utilizing fiber-optic gyroscope |
| CN103234560A (en) * | 2013-05-17 | 2013-08-07 | 哈尔滨工程大学 | Zero calibration method for strapdown inertial navigation system |
| CN103808331A (en) * | 2014-03-05 | 2014-05-21 | 北京理工大学 | MEMS (micro-electromechanical system) three-axis gyroscope error calibration method |
| CN103837162A (en) * | 2014-03-25 | 2014-06-04 | 东南大学 | Method for determining combined parameters of combination orientation device of fiber-optic gyroscope total station |
| CN104713543A (en) * | 2013-12-11 | 2015-06-17 | 中国航空工业第六一八研究所 | Method for preciously measuring dynamic lock region of laser gyroscope |
| CN106052714A (en) * | 2016-05-23 | 2016-10-26 | 浙江大学 | Multi-shaft diagonal fiber-optic gyroscope combination scale factor performance testing method |
| CN108168536A (en) * | 2017-12-13 | 2018-06-15 | 陕西宝成航空仪表有限责任公司 | The accurate measurement method of optical fibre gyro zero bias |
-
2020
- 2020-08-05 CN CN202010777072.2A patent/CN114061617B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2204806C1 (en) * | 2001-12-18 | 2003-05-20 | Военная академия Ракетных войск стратегического назначения им. Петра Великого | Method of calibration of gyros |
| CN105659809B (en) * | 2005-06-02 | 2010-05-05 | 北京航天时代光电科技有限公司 | Based on fiber gyro north seeker and the north finding method of slope compensation and thick smart block position method |
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| JP2007263689A (en) * | 2006-03-28 | 2007-10-11 | Railway Technical Res Inst | Azimuth measuring method for apparatus in environment where external information can not be acquired |
| CN101216313A (en) * | 2007-12-27 | 2008-07-09 | 浙江大学 | Multi-location north seeking method based on optical fibre gyroscope |
| CN101509785A (en) * | 2009-03-16 | 2009-08-19 | 浙江大学 | Misalignment evaluating method for optical fibre gyro input axis |
| CN101907460A (en) * | 2010-02-10 | 2010-12-08 | 南京航空航天大学 | Particle filtering method for north-seeking of fiber optic gyroscope |
| CN102749477A (en) * | 2012-07-11 | 2012-10-24 | 浙江大学 | Method for measuring angular deviation between surface and rotating shaft of turntable by utilizing fiber-optic gyroscope |
| CN103234560A (en) * | 2013-05-17 | 2013-08-07 | 哈尔滨工程大学 | Zero calibration method for strapdown inertial navigation system |
| CN104713543A (en) * | 2013-12-11 | 2015-06-17 | 中国航空工业第六一八研究所 | Method for preciously measuring dynamic lock region of laser gyroscope |
| CN103808331A (en) * | 2014-03-05 | 2014-05-21 | 北京理工大学 | MEMS (micro-electromechanical system) three-axis gyroscope error calibration method |
| CN103837162A (en) * | 2014-03-25 | 2014-06-04 | 东南大学 | Method for determining combined parameters of combination orientation device of fiber-optic gyroscope total station |
| CN106052714A (en) * | 2016-05-23 | 2016-10-26 | 浙江大学 | Multi-shaft diagonal fiber-optic gyroscope combination scale factor performance testing method |
| CN108168536A (en) * | 2017-12-13 | 2018-06-15 | 陕西宝成航空仪表有限责任公司 | The accurate measurement method of optical fibre gyro zero bias |
Non-Patent Citations (4)
| Title |
|---|
| 李政;张志利;周召发;: "基于双轴位置转台的光纤陀螺惯组标定方法", 压电与声光, no. 04, 15 August 2016 (2016-08-15) * |
| 江一夫;陈勇;: "基于陀螺系的速率偏频惯性测量组合标定方法", 导航与控制, no. 06 * |
| 赵岩;翟百臣;武克用;陈涛;: "加速度计在非陀螺寻北系统中的应用研究", 兵工学报, no. 02 * |
| 魏莉莉;黄军;傅长松;刘春宁;: "带斜置元件的光纤陀螺捷联惯组标定方法", 中国惯性技术学报, no. 01 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114061617B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106052595B (en) | Three-axle table axis verticality detection method based on laser gyro strap down inertial navigation | |
| CN110361031B (en) | IMU full-parameter error rapid calibration method based on backtracking theory | |
| CN102636183B (en) | Quadratic overload term test method for flexible gyroscope based on optical fiber monitoring and centrifuge with two-axis turntable | |
| CN106052714B (en) | The test method of the tilting optical fibre gyro combination constant multiplier performance of multiaxis | |
| CN104316081B (en) | Based on the turntable error of division detection method of laser gyro | |
| WO2022174831A1 (en) | Continuous north-seeking apparatus and method, electronic device, and storage medium | |
| CN102879032A (en) | Dynamic measuring device for angle measurement precision | |
| CN105157723A (en) | Fiber gyro-based strapdown inertial navigation system calibration method | |
| CN101629830A (en) | Calibration method and device of three-axis integrative high precision fiber optic gyro | |
| CN111089576A (en) | Method for determining actual output value of fiber-optic gyroscope and method for testing threshold value of fiber-optic gyroscope | |
| CN110849294B (en) | Turntable non-orthogonality test method based on fiber-optic gyroscope | |
| CN104634364A (en) | Fiber-optic gyroscope scale factor self-calibration system based on step pulse modulation | |
| CN102636185B (en) | Non-linear specific force sensitive item measuring method for flexible gyroscope based on centrifugal machine with uniaxial reverse truntable | |
| CN108318051B (en) | Method for testing threshold value of closed-loop fiber optic gyroscope | |
| Lu et al. | A self-calibration method for error of photoelectric encoder based on gyro in rotational inertial navigation system | |
| CN104006828B (en) | A kind of inertia device axial system error scaling method | |
| CN114061617B (en) | Non-orthogonal dynamic calibration method for fiber-optic gyroscope | |
| CN104792339B (en) | The calibration method of optic fiber gyroscope inclinometer | |
| CN104697552A (en) | Misalignment angle calibration method for two-dimensional autocollimator | |
| CN110954131B (en) | Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope | |
| CN105466411A (en) | Four-axis optical fiber gyro and north finding method thereof | |
| Jing et al. | Calibration and data processing technology of gyroscope in dual axis rotational inertial navigation system | |
| CN114264318B (en) | Method and device for testing natural frequency of closed-loop fiber optic gyroscope | |
| Shen et al. | Design and realization of low-cost, fast and high-precision fog north finder | |
| CN115574797A (en) | Method for testing angular velocity measurement error based on rotary table position mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |