CN114674343A - Full-temperature error compensation method for scale factor of optical fiber gyroscope - Google Patents
Full-temperature error compensation method for scale factor of optical fiber gyroscope Download PDFInfo
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- CN114674343A CN114674343A CN202210075267.1A CN202210075267A CN114674343A CN 114674343 A CN114674343 A CN 114674343A CN 202210075267 A CN202210075267 A CN 202210075267A CN 114674343 A CN114674343 A CN 114674343A
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- 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
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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Abstract
The invention relates to a method for compensating the full-temperature error of a scale factor of an optical fiber gyroscope, which is technically characterized by comprising the following steps: fixing the optical fiber gyroscope in a single-shaft turntable incubator; according to the using conditions of the optical fiber gyroscope, designing typical rotation rate schemes under different typical temperature conditions in a single-shaft turntable incubator control program; the single-shaft rotary table incubator works according to the set temperature and the set rotating speed, and records the output data of the optical fiber gyroscope in real time; and calculating the full-temperature error compensation coefficient of the optical fiber gyroscope according to the output data of the optical fiber gyroscope, and completing the full-temperature error compensation of the scale factor of the optical fiber gyroscope by constructing a model of the scale factor of the optical fiber gyroscope changing along with the temperature. The invention takes the measured temperature and the rotating speed of the turntable as parameter scalar quantities, reduces the full temperature error of the scale factor of the optical fiber gyroscope to be within 10ppm from 100ppm of the traditional compensation method, and solves the problem that the measurement error of the optical fiber gyroscope is generated due to unstable fluctuation caused by temperature change in the full temperature range of the scale factor of the optical fiber gyroscope to a great extent.
Description
Technical Field
The invention belongs to the technical field of optical fiber gyroscopes, and particularly relates to a scale factor full-temperature error compensation method of an optical fiber gyroscope.
Background
The optical fiber gyroscope is an important component of an inertial navigation technology, dynamic measurement errors of the optical fiber gyroscope are directly related to the precision of the inertial navigation technology, the stability of a scale factor is the main component of the error factor, and the optical fiber gyroscope is the same as the zero-bias stability of the optical fiber gyroscope and is greatly influenced by external temperature changes.
At present, the full-temperature error compensation of the scale factor of the optical fiber gyroscope usually adopts a one-time item sectional compensation method, and the method is simple and effective for the optical fiber gyroscope with the requirements of medium-low precision application. With continuous innovation and maturity of the optical fiber gyroscope technology, high-precision optical fiber gyroscopes are developed successively and start to be applied to practical engineering, but the existing method for sectional compensation of the whole-temperature error of the scale factor of the optical fiber gyroscope cannot meet the application requirements of the high-precision optical fiber gyroscopes. Therefore, how to compensate the scale factor of the high-precision optical fiber gyroscope in the full temperature range is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method for compensating the full-temperature error of the scale factor of the optical fiber gyroscope, overcomes the defect of one-time fractional multi-segment compensation of the full-temperature error of the scale factor of the prior optical fiber gyroscope, and realizes the function of compensating the full-temperature error of the scale factor of the high-precision optical fiber gyroscope.
The invention solves the technical problem by adopting the following technical scheme:
a full-temperature error compensation method for a scale factor of an optical fiber gyroscope comprises the following steps:
step 1, fixing a fiber optic gyroscope in a single-shaft turntable incubator;
step 2, designing typical rotation rate schemes under different typical temperature conditions in a single-shaft turntable incubator control program according to the use conditions of the optical fiber gyroscope;
step 3, the single-shaft rotary table incubator works according to the set temperature and the set rotating speed, and output data of the optical fiber gyroscope are recorded in real time;
and 4, calculating the full-temperature error compensation coefficient of the optical fiber gyroscope according to the output data of the optical fiber gyroscope, and completing the full-temperature error compensation of the scale factor of the optical fiber gyroscope by constructing a model of the scale factor of the optical fiber gyroscope changing along with the temperature.
Moreover, the full temperature range of the single-shaft rotary table incubator is as follows: minus 40 ℃ to plus 60 ℃.
And the output data of the step 3 optical fiber gyroscope is the pulse number.
Moreover, the specific implementation method of the step 4 is as follows:
firstly, calculating a full-temperature error compensation coefficient X of the optical fiber gyroscope according to the following formula:
then substituting the full-temperature error compensation coefficient of the optical fiber gyroscope into the following model of the scale factor of the optical fiber gyroscope changing along with the temperature to complete the full-temperature error compensation of the scale factor of the optical fiber gyroscope:
Wherein K is the scale factor of the fiber optic gyroscope, K0T is the temperature value of the fiber optic gyroscope, alpha, as a scaling factor at a specific temperatureiM is the coefficient relating the error of the scale factor to the temperature of the ith order, m represents the order of the error model, betajThe coefficient is the correlation coefficient of the scale factor error and the j-th order temperature change rate, n represents the order of an error model, and Pusle is the pulse number output by the optical fiber gyroscope under different temperature conditions.
And the order m of the error model is 3, and the order n of the error model is 2.
The invention has the advantages and positive effects that:
1. according to the invention, temperature and rotating speed excitation is applied to the optical fiber gyroscope through the single-shaft turntable incubator, pulse output of the optical fiber gyroscope at different temperatures and different rotating speeds is taken as an original quantity, an actual measurement temperature and the rotating speed of the turntable are taken as parameter scalars, a multiple term compensation model of the full-temperature error of the scale factor of the optical fiber gyroscope is deduced, the full-temperature error of the scale factor of the optical fiber gyroscope is reduced to be within 10ppm from 100ppm of the traditional compensation method, and the problem that the measurement error of the optical fiber gyroscope is generated due to unstable fluctuation caused by temperature change of the scale factor of the optical fiber gyroscope within the full-temperature range (generally from minus 40 ℃ to plus 60 ℃) is solved to a great extent.
2. The invention avoids the links of the existing segmented compensation of different temperatures and different rates, can set the typical working rate and the typical working temperature of the optical fiber gyroscope, continuously obtains the output pulse number of the optical fiber gyroscope under different rotating speeds and different temperature conditions at one time, estimates the optimal scale factor error compensation coefficient of the optical fiber gyroscope by utilizing a matrix and a least square algorithm, and greatly improves the error compensation precision.
Drawings
FIG. 1 is a flow chart of the odometer parameter calibration method of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The design idea of the invention is as follows: calculating a full-temperature error compensation model of the scaling factor of the optical fiber gyroscope by taking the temperature and the rotating speed as parameter scalars; the method comprises the steps of applying temperature and rotating speed excitation to the optical fiber gyroscope by means of a single-shaft turntable incubator, taking pulse output of the optical fiber gyroscope at different temperatures and different rotating speeds as original quantity, taking measured temperature and rotating speed of the turntable as parameter scalar quantities, and resolving a multiple term compensation model of full temperature error of a scale factor of the optical fiber gyroscope.
Based on the above design concept, the present invention provides a method for compensating the scale factor full-temperature error of the optical fiber gyroscope, as shown in fig. 1, comprising the following steps:
Step 1, fixing the optical fiber gyroscope in a single-shaft rotary table incubator.
And 2, designing typical rotation rate schemes under different typical temperature conditions in a single-shaft rotary table incubator control program according to the use conditions of the optical fiber gyroscope.
In this example, the temperature was set at-40 deg.C, -20 deg.C, 0 deg.C, 20 deg.C, 40 deg.C, 60 deg.C, and the rate was set at-30 deg/s, -10 deg/s, -5 deg/s, 10 deg/s, 30 deg/s.
And 3, operating the single-shaft turntable incubator according to the set temperature and the set rotating speed, and recording the output data (pulse number) of the optical fiber gyroscope in real time.
And 4, calculating the full-temperature error compensation coefficient of the optical fiber gyroscope according to the output data (pulse number) of the optical fiber gyroscope, and completing the full-temperature error compensation of the scale factor of the optical fiber gyroscope by constructing a model of the scale factor of the optical fiber gyroscope changing along with the temperature.
The specific implementation method of the step is as follows:
according to the temperature error mechanism of the optical fiber gyroscope, the scale factor temperature error is related to temperature and temperature change rate and is unrelated to temperature gradient and temperature gradient derivative. Therefore, the model of the scale factor of the optical fiber gyroscope changing with the temperature can be expressed as
Where K is the scale factor of the fiber optic gyroscope, K0For a scale factor corresponding to a specific temperature (generally 25 ℃), T is the temperature value of the fiber optic gyroscope, alpha iM is the coefficient relating the error of the scale factor to the temperature of the ith order, m represents the order of the error model, betajAnd n represents the order of an error model, wherein the temperature first order term is the most dominant error and represents the linear change generated by the change of the coil length of the optical fiber, the average diameter of the optical fiber and the average wavelength of the light source along with the temperature change. According to the practical application of engineering, m is generally 3, and n is generally 2.
The corresponding relation between the scale factor of the optical fiber gyroscope and the rotating speed is shown in the formula (1-2).
Ω＝K×Pusle (1-2)
Omega is the rotational speed that the revolving stage was set for in the incubator, Pusle is the pulse number of output under the different temperature conditions of fiber gyroscope, and K is fiber gyroscope scale factor.
Substituting the formula (1-1) into the formula (1-2), and converting into matrix form
Order to
X＝[1 α1 α2 α3 β1 β2]，
The equations (1-3) can be simplified as
A＝B×K0×X×C (1-4)
Can be solved to obtain
And X is the optimal compensation coefficient in the full-temperature range of the optical fiber gyroscope subjected to least square fitting, and the optimal compensation coefficient is substituted into the formula (1-1) to complete the full-temperature error compensation of the scale factor of the optical fiber gyroscope.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (5)
1. A full-temperature error compensation method for scale factors of an optical fiber gyroscope is characterized by comprising the following steps: the method comprises the following steps:
step 1, fixing an optical fiber gyroscope in a single-shaft turntable incubator;
step 2, designing typical rotation rate schemes under different typical temperature conditions in a single-shaft turntable incubator control program according to the use conditions of the optical fiber gyroscope;
step 3, the single-shaft rotary table incubator works according to the set temperature and the set rotating speed, and output data of the optical fiber gyroscope are recorded in real time;
and 4, calculating the full-temperature error compensation coefficient of the optical fiber gyroscope according to the output data of the optical fiber gyroscope, and completing the full-temperature error compensation of the scale factor of the optical fiber gyroscope by constructing a model of the scale factor of the optical fiber gyroscope changing along with the temperature.
2. The method for full-temperature error compensation of the scale factor of the optical fiber gyroscope according to claim 1, wherein the method comprises the following steps: and 3, outputting data of the optical fiber gyroscope in the step 3 as pulse numbers.
3. The method for full-temperature error compensation of the scale factor of the optical fiber gyroscope according to claim 1, wherein the method comprises the following steps: the full temperature range of the single-shaft rotary table incubator is as follows: minus 40 ℃ to plus 60 ℃.
4. A method for full-temperature error compensation of scale factor of optical fiber gyroscope according to claim 1, 2 or 3, characterized by: the specific implementation method of the step 4 comprises the following steps:
Firstly, calculating a full-temperature error compensation coefficient X of the optical fiber gyroscope according to the following formula:
then substituting the full-temperature error compensation coefficient of the optical fiber gyroscope into the following model of the scale factor of the optical fiber gyroscope changing along with the temperature to complete the full-temperature error compensation of the scale factor of the optical fiber gyroscope:
where K is the scale factor of the fiber optic gyroscope, K0For scale factor at a particular temperature, T is the temperature value of the fiber optic gyroscope, αiM is the coefficient relating the error of the scale factor to the temperature of the ith order, m represents the order of the error model, betajThe coefficient is the correlation coefficient of the scale factor error and the j-th order temperature change rate, n represents the order of an error model, and Pusle is the pulse number output by the optical fiber gyroscope under different temperature conditions.
5. The method for full-temperature error compensation of the scale factor of the optical fiber gyroscope according to claim 4, wherein the method comprises the following steps: the order m of the error model is 3, and the order n of the error model is 2.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115855016A (en) * | 2023-02-27 | 2023-03-28 | 南开大学 | Low-temperature impact error compensation method for optical fiber gyroscope |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115855016A (en) * | 2023-02-27 | 2023-03-28 | 南开大学 | Low-temperature impact error compensation method for optical fiber gyroscope |
| CN115855016B (en) * | 2023-02-27 | 2023-06-16 | 南开大学 | Low-temperature impact error compensation method for optical fiber gyroscope |
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