CN115164942A - Automatic horizontal north-seeking precision testing method for strapdown gyro north-seeking instrument - Google Patents
Automatic horizontal north-seeking precision testing method for strapdown gyro north-seeking instrument Download PDFInfo
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Abstract
The invention discloses an automatic testing method for horizontal north-seeking precision of a strapdown gyro north-seeking instrument, which obtains the north-seeking precision of all alternative strapdown gyro north-seeking schemes through one-time automatic testing, wherein the alternative strapdown gyro north-seeking schemes are combinations of different strapdown gyro north-seeking modes based on two positions, three positions and four positions, different types of gyros, different time periods for sampling gyro data at each position and different time lengths for sampling the gyro data at each position in a horizontal state. The method is simple, convenient, time-saving and labor-saving, and a proper north-seeking scheme and a gyroscope can be quickly selected according to actual application requirements and an automatic test result; the device can also be used as a support for the design of a universal strapdown gyro north seeker test platform; the method can also be used as a verification method of the north-seeking precision of the gyroscope, and the verification of the north-seeking precision of any gyroscope can be realized by replacing the gyroscope; the method can also be used for verifying a gyro north-seeking filtering algorithm, and original data obtained by sampling is replaced by filtering result data.
Description
Technical Field
The invention relates to a direction finding technology of a strapdown gyro north seeker, in particular to an automatic horizontal north seeking precision testing method of the strapdown gyro north seeker.
Background
The strapdown gyro north finder can realize autonomous north finding and provide north orientation reference outwards on the basis of earth rotation by utilizing the principle that a gyro senses the earth rotation angular velocity. Under severe environments such as satellite failure, the strapdown gyroscope north finder can realize autonomous north finding without depending on other conditions, and has huge technical advantages and prospects in practical application.
The north-seeking precision of the strapdown gyro north-seeking instrument is the discrete degree of the north-seeking value and is used for measuring the degree of the repeatability error of the north-seeking of the instrument. In the horizontal state, the north-seeking precision is greatly influenced by the different types of gyros, the different time periods for sampling gyro data at each position and the different duration for sampling gyro data at each position based on the two-position, three-position and four-position strapdown gyro north-seeking modes. In practical application, some application scenes need short north-seeking time and have low requirements on north-seeking accuracy, some application scenes need high-accuracy north-seeking and have low requirements on north-seeking time, and some application scenes need to achieve certain north-seeking accuracy within limited north-seeking time, so that a proper north-seeking scheme needs to be selected according to practical application requirements.
When a proper north-seeking scheme is selected according to user requirements, the conventional strapdown gyroscope north-seeking instrument is generally selected according to a theoretical formula or experience, but the actual effect and the ideal state of the north-seeking scheme selected in the mode often have large deviation, and the scheme needs to be adjusted and tested repeatedly in the later period manually, so that time and labor are wasted. Therefore, it is a problem that needs to be solved urgently at present to select a proper north-seeking scheme accurately and quickly according to the actual application index requirement in the north-seeking scheme design stage.
Disclosure of Invention
The invention aims to solve the existing user requirements and provides an automatic horizontal north-seeking precision testing method of a strapdown gyro north-seeking instrument.
The technical scheme adopted by the invention is as follows: an automatic test method for horizontal north-seeking precision of a strapdown gyro north-seeking instrument comprises the following steps: the method comprises the following steps of obtaining north-seeking precision of all alternative strapdown gyroscope north-seeking schemes through one-time automatic test, wherein the alternative strapdown gyroscope north-seeking schemes are combinations of different strapdown gyroscope north-seeking modes based on two positions, three positions and four positions, gyroscopes of different types, different time periods for sampling gyroscope data at each position and different duration for sampling gyroscope data at each position in a horizontal state, and the method comprises the following steps:
step 1, installing a gyroscope to be tested at a corresponding position of the strapdown gyroscope north seeker, and then leveling the strapdown gyroscope north seeker.
And 2, controlling a switch of a power supply of the strapdown gyro north seeker to electrify the strapdown gyro north seeker again after powering off for a certain time so as to ensure that each north seeker is in an immediately electrified cold start state.
And 3, performing rapid coarse north finding by using the self-carrying indexing mechanism, the self-carrying code disc and the gyroscope to be detected of the strapdown gyroscope north finder to obtain a coarse north angle corresponding to a code disc angle of the installation position of the gyroscope to be detected on the strapdown gyroscope north finder.
And 4, calculating to obtain the code disc angles of the self code disc of the strapdown gyro north seeker corresponding to the rough north angles of all gyro sampling positions in the two-position, three-position and four-position strapdown gyro north seeking mode through the rough north angles corresponding to the code disc angles of the installation positions of the to-be-measured gyro on the strapdown gyro north seeker.
And 5, performing union operation on all gyro sampling position code disc angles in the two-position, three-position and four-position strapdown gyro north-seeking modes to obtain a minimum set of all gyro sampling position code disc angles required by the two-position, three-position and four-position strapdown gyro north-seeking modes, and sequentially rotating the strapdown gyro north-seeking instrument with a transposition mechanism for one circle to complete transposition of the minimum set of all gyro sampling positions required by the two-position, three-position and four-position strapdown gyro north-seeking modes.
And 6, sequentially rotating to each gyro sampling position in the minimum set of the code wheel angles required by the two-position, three-position and four-position strapdown gyro north-seeking modes, respectively sampling stable gyro data for a certain time length at each gyro sampling position, and subdividing and sectionally storing the stable gyro data sampled at each position according to different sampling time periods and different sampling time lengths.
And 7, calculating the average value of all the subdivided and segmented stored gyro data, substituting the average value into a calculation formula of north seeking results of a two-position, three-position and four-position strapdown gyro north seeking mode in a horizontal state, and obtaining 1 group of north seeking results of all alternative strapdown gyro north seeking schemes in two positions, three positions and four positions of the gyro to be tested in the horizontal state at different sampling time periods and different sampling durations of each position.
Step 8, the step 2 to the step 7 are a north finding survey, the step 2 to the step 7 are automatically and repeatedly executed for N times, N groups of north finding results of the north finding schemes of all alternative strapdown gyroscopes at two positions, three positions and four positions in each gyroscope sampling position in the horizontal state are obtained, the N groups of north finding results are substituted into a north finding precision calculation formula, north finding precision of the north finding schemes of all alternative strapdown gyroscopes at two positions, three positions and four positions in each gyroscope sampling position in different sampling time periods and different sampling time lengths in the horizontal state is obtained, and the north finding precision calculation formula is as follows:
in the formula (I), the compound is shown in the specification,ψ i for the ith set of north finding results, the unit: and E is the average value of N sets of north finding results, and the unit is: degree, 1 σ is north finding accuracy, unit: degree.
The invention has the advantages and positive effects that:
1. the automatic testing method for the horizontal north-seeking precision of the strapdown gyro north-seeking instrument is simple, convenient, time-saving and labor-saving, the north-seeking precision of one gyro in a horizontal state based on different strapdown gyro north-seeking modes of two positions, three positions and four positions, different time periods for sampling gyro data at each position and all condition combinations of different duration for sampling gyro data at each position can be obtained through one-time automatic testing, and a proper north-seeking scheme and gyro can be quickly selected according to actual application requirements and automatic testing results.
2. The method can also be applied to the automatic test of the inclination north-seeking precision of the strapdown gyro north-seeking instrument by adding the inclination angle compensation.
3. The invention can also be used as a support for the design of a universal strapdown gyro north seeker test platform.
4. The invention can also be used as a verification method of the north-seeking precision of the gyroscope, and the verification of the north-seeking precision of any gyroscope can be realized by replacing the gyroscope.
5. The invention can also be used for verifying a gyro north-seeking filtering algorithm, and the method is implemented by filtering the sampled data and replacing the sampled original data with the filtered result data.
Drawings
FIG. 1 is a flow chart of an automated testing method for horizontal north-seeking accuracy of a strapdown gyro north-seeking instrument according to an embodiment of the present invention;
fig. 2 is a structural diagram of a gyro north seeker used in the embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in step 3, the fast rough north-seeking scheme is as follows: a four-position strapdown gyro north-seeking mode is adopted, stable gyro data sampling is carried out at each gyro sampling position for a certain time, and the first gyro sampling position is set as the position where the gyro to be tested is located when the fast rough north-seeking is started so as to avoid unnecessary transposition time and shorten the fast rough north-seeking time. The gyro to be tested has the influence of rotation inertia and sudden stop impact in a short time after the transposition is completed, so that noise interference exists in the gyro sampling data to be tested, the final automatic test result has errors and is unreliable, and in order to ensure that the sampled gyro data is stable data, the gyro to be tested needs to wait for a certain time before sampling the gyro data after rotating to each gyro sampling position.
In step 4, according to the two-position, three-position and four-position strapdown gyro north-seeking mode principle, in order to obtain the optimal theoretical north-seeking precision, the rough north-orientation angles of two gyro sampling positions in the two-position strapdown gyro north-seeking mode are set to be 5 degrees and 185 degrees of true north; setting the rough north angles of the sampling positions of three gyros in two specific rotation modes in the three-position strapdown gyro north-seeking mode to be 45 degrees, 135 degrees, 315 degrees, 135 degrees, 225 degrees and 315 degrees of true north respectively; the rough north angles of the four gyro sampling positions in the four-position strapdown gyro north finding mode are 45 degrees, 135 degrees, 225 degrees and 315 degrees of true north.
The method carries out union set operation on code wheel angles corresponding to the rough north angles (true north 5 degrees, 185 degrees, 45 degrees, 135 degrees, 315 degrees, 135 degrees, 225 degrees, 315 degrees, 45 degrees, 135 degrees, 225 degrees and 315 degrees) of all gyro sampling positions in the two-position, three-position and four-position strapdown gyro north-seeking mode, and obtains the minimum set of the code wheel angles of all the gyro sampling positions, namely true north 5 degrees, 45 degrees, 135 degrees, 185 degrees, 225 degrees and 315 degrees.
Due to the two-position strapdown gyro north-seeking mode principle, the difference between the two to-be-detected gyro sampling positions is 180 degrees, the calculation result is two but not unique, in addition, the north-seeking precision is better when the first to-be-detected gyro sampling position is roughly north-south, and in order to enable the two-position strapdown gyro north-seeking mode calculation result to be unique and the north-seeking precision to be better, the rough north-orientation angles of the two gyro sampling positions are set to be 5 degrees and 185 degrees true north.
Due to the principle of a three-position first rotation mode and a four-position strapdown gyro north-seeking mode, when the sampling position of the first to-be-measured gyro is approximately 45 degrees of true north, the north-seeking precision is good, so that the rough north-facing angle of the sampling position of the first gyro is set to be 45 degrees of true north.
Due to the principle of a three-position second rotation mode strapdown gyroscope north-seeking mode, when the sampling position of the first gyroscope to be detected is approximately 135 degrees of true north, the north-seeking precision is better, and therefore the rough north-orientation angle of the first gyroscope sampling position is set to be 135 degrees of true north.
In step 6, the method subdivides and sectionally stores the stable gyro data sampled at each position according to different sampling time periods and different sampling time durations, and aims to: stable gyro data of different sampling time periods and different sampling durations at each position can be obtained only by one-time sampling without multiple times of sampling.
The advantages of the subdivided segment storage are: the gyro data to be tested are sampled for a certain time at each position, so that the gyro sampling data to be tested of all subdivided sampling time periods after the transposition of the gyro to be tested is completed, the test is not required to be completed for multiple times, and meanwhile, the effects of sampling and sampling for a long time after the transposition of the gyro to be tested is completed by the strapdown gyro north finder can be obtained through analyzing the final automatic test result of subdivided and segmented stored data, so that the effects are optimal, and the analysis is convenient, time is saved, and labor is saved.
In step 7, the method searches the north result in the way of searching the north by the two-position strapdown gyroscope in the horizontal stateψ 2 The unit is: and DEG, the calculation formula is as follows:
in the formula, ω ie Is the angular velocity of rotation of the earth, unit: l is local latitude, omega 5° The average value of the gyro data obtained by sampling when the gyro sampling position is 5 degrees true north of the rough north angle is represented by the unit: degree/s, omega 185° The average value of the gyro data sampled when the gyro sampling position is 185 degrees true north of the rough north angle is shown as unit: and (4) degree/s.
First rotation mode north-seeking result of three-position strapdown gyroscope north-seeking mode in horizontal stateψ 31 And a second rotation mode north finding resultψ 32 The unit: the calculation formula is as follows:
in the formula, ω 45° The average value of the gyro data obtained by sampling when the gyro sampling position is 45 degrees true north of the rough north angle is represented by the following unit: angle/s, ω 135° The average value of the gyro data obtained by sampling when the gyro sampling position is 135 degrees true north of the rough north angle is shown as the unit: degree/s, omega 225° The gyroscope is sampled when the sampling position of the gyroscope is 225 degrees true north of a rough north angleMean of spiral data, unit: degree/s, omega 315° The average value of the gyro data obtained by sampling when the gyro sampling position is 315 degrees true north of the rough north angle is represented by the following unit: the concentration of the water is less than the concentration of the water.
Four-position strapdown gyro north-seeking mode north-seeking result in horizontal stateψ 4 The unit is: the calculation formula is as follows:
in the formula, ω 45° The average value of the gyro data obtained by sampling when the gyro sampling position is 45 degrees true north of the rough north angle is represented by the following unit: degree/s, omega 135° The average value of the gyro data obtained by sampling when the gyro sampling position is 135 degrees true north of the rough north angle is shown as the unit: degree/s, omega 225° The average value of the gyro data obtained by sampling when the gyro sampling position is 225 degrees true north of the rough north angle is shown as the unit: degree/s, omega 315° The average value of the gyro data obtained by sampling when the gyro sampling position is 315 degrees true north of the rough north angle is represented by the following unit: (ii) in degrees/s.
The following two embodiments are all applied to the gyro north seeker (application number: 202110885843.4) in the gyro measurement robot developed by the seventh research institute of the seventh 0 th research institute of the ship re-engineering group of china, as shown in fig. 2. The gyro north finder is formed by installing a gyro and a measuring robot in a strapdown mode, laterally installing the gyro on a horizontal rotating part of the measuring robot, using the azimuth rotation function of the measuring robot, using the measuring robot as a precise corner platform and a horizontal rotating mechanism to realize gyro north finding, and using the measuring robot to output a north finding result to establish a north reference.
The automatic testing software for the north-seeking precision of the gyro measurement robot realizes all the steps of the automatic testing method for the horizontal north-seeking precision of the strapdown gyro north-seeker, and is practically applied to the gyro measurement robot.
The first embodiment is as follows: the model of the gyroscope is FOG-1C-120. Installing a gyroscope on a gyroscope measuring robot, and leveling the gyroscope measuring robot; running automatic testing software for north-seeking precision of a gyro measuring robot, controlling a power supply relay to attract through IO (input/output) so that the gyro measuring robot is powered off for 20 minutes and then powered on again, controlling the gyro north-seeking instrument to rotate horizontally, reading the horizontal rotation angle of the gyro north-seeking instrument and reading gyro data to perform fast rough north-seeking, obtaining a rough north angle corresponding to a code disc angle of a mounting position of a gyro after rough north-seeking is finished, simultaneously obtaining code disc angles corresponding to the rough north angles of all gyro sampling positions in a two-position, three-position and four-position strapdown gyro north-seeking mode, performing union operation on all gyro sampling position code disc angles to obtain a minimum set of all gyro sampling position code disc angles, controlling the gyro north-seeking instrument to rotate for one circle horizontally, sequentially rotating the gyro to each gyro sampling position in the minimum set of all gyro sampling positions required for completing two-position, three-position and four-position strapdown north-seeking, waiting for 4 seconds and then sampling after rotating to each gyro sampling position, sampling 5 minutes of data at each gyro sampling position, and storing 5 minutes of sampling data in a subsection mode.
In this embodiment, the sampling data of 5 minutes are stored in segments of "first 1 minute", "first 2 minutes", "first 3 minutes", "first 4 minutes", "first 5 minutes", "1-2 minutes", "1-3 minutes", "1-4 minutes", "1-5 minutes", "2-3 minutes", "2-4 minutes", "2-5 minutes", "3-4 minutes", "3-5 minutes" and "4-5 minutes"; calculating the average value of the subdivided and segmented storage gyro data of all gyro sampling positions, substituting the average value into a calculation formula of north seeking results of a two-position, three-position and four-position strapdown gyro north seeking mode in a horizontal state, and obtaining 1 group of north seeking results of all alternative strapdown gyro north seeking schemes in the two-position, three-position and four-position of the gyro in the horizontal state under different sampling time periods and different sampling durations of each position.
In the embodiment, 8 north seeking returns are repeatedly carried out to obtain 8 groups of north seeking results, and the north seeking results are substituted into a north seeking precision calculation formula to obtain the north seeking precision of all alternative strapdown gyro north seeking schemes of two positions, three positions and four positions of the gyro in a horizontal state at different sampling time periods and different sampling durations of each gyro sampling position; the whole testing process of the software is completely automatic, manual operation or intervention is not needed, and only the final testing result needs to be checked, as shown in fig. 1.
Due to space limitation, the present embodiment only lists the automated testing results of the four-position north-seeking method, and the actual final testing result simultaneously lists all the automated testing results including the two-position, the three-position first rotation method, the three-position second rotation method, and the four-position north-seeking method, and the automated testing results of the present embodiment are shown in table 1:
table 1 example automated test results
According to the automatic test result, the north-seeking precision of all alternative strapdown gyro north-seeking schemes of the two-position, three-position and four-position of the gyro to be tested in the horizontal state at each gyro sampling position in different sampling time periods and different sampling time lengths can be obtained through one-time automatic test.
In the automatic test result, the north-seeking result value of each north-seeking return in the two-position north-seeking mode is represented by the formula
The north-seeking result value of each north-seeking return by the three-position first rotary north-seeking mode is obtained by calculation according to a formula
The north-seeking result value of each north-seeking return in the three-position second rotary north-seeking mode is obtained by calculation according to a formula
The north-seeking result value of each north-seeking return in the four-position north-seeking mode is obtained by calculation according to a formula
The north-seeking average value is obtained by calculation according to the north-seeking result values of 8 north-seeking returns
The 1 sigma north-seeking precision is obtained by calculating the north-seeking result value and the north-seeking average value of 8 north-seeking returns according to a formula
And (4) calculating.
By combining the automatic test results of several gyros, a proper north-seeking scheme and a gyro model can be quickly selected according to the actual application requirements.
The second embodiment: the model number of the gyroscope is IXZ-F98H. Installing a gyroscope on a gyroscope measuring robot, and leveling the gyroscope measuring robot; running automatic testing software for north seeking precision of a gyro measuring robot, controlling a power supply relay to be attracted through IO (input output) so that the gyro measuring robot is powered on again after being powered off for 20 minutes, controlling the gyro north seeker to horizontally rotate, reading the horizontal rotation angle of the gyro north seeker and reading gyro data to carry out quick rough north seeking, obtaining a rough north angle corresponding to a code disc angle of a gyro installation position after rough north seeking is finished, simultaneously obtaining code disc angles corresponding to rough north angles of all gyro sampling positions in a two-position, three-position and four-position strapdown gyro north seeking mode, carrying out union operation on all gyro sampling position code disc angles to obtain a minimum set of all needed gyro sampling position code disc angles, controlling the gyro north seeker to horizontally rotate for a circle in sequence, sequentially rotating the gyro to each gyro sampling position in the minimum set of all gyro sampling positions needed for completing two-position, three-position and four-position strapdown north seeking, waiting for 4 seconds and then carrying out sampling at each gyro sampling position for 5 minutes, and storing 5 minutes of sampling data in a subsection mode.
In this embodiment, the sampling data of 5 minutes are stored in segments of "first 1 minute", "first 2 minutes", "first 3 minutes", "first 4 minutes", "first 5 minutes", "1-2 minutes", "1-3 minutes", "1-4 minutes", "1-5 minutes", "2-3 minutes", "2-4 minutes", "2-5 minutes", "3-4 minutes", "3-5 minutes" and "4-5 minutes"; calculating the average value of the subdivided and sectionalized storage gyro data of all gyro sampling positions, substituting the average value into a calculation formula of north-seeking results of a two-position, three-position and four-position strapdown gyro north-seeking mode in a horizontal state, and obtaining 1 group of north-seeking results of all alternative strapdown gyro north-seeking schemes of the two-position, three-position and four-position of the gyro in each position in the horizontal state in different sampling time periods and different sampling durations.
In the embodiment, 8 north seeking returns are repeatedly carried out to obtain 8 groups of north seeking results, and the north seeking results are substituted into a north seeking precision calculation formula to obtain the north seeking precision of all alternative strapdown gyro north seeking schemes of two positions, three positions and four positions of the gyro in a horizontal state at different sampling time periods and different sampling durations of each gyro sampling position; the whole testing process of the software is completely automatic, manual operation or intervention is not needed, and only the final testing result needs to be checked, as shown in fig. 1.
For reasons of space, this example only lists some of the automated test results, which are shown in Table 2:
table 2 results of the automated tests of the second part of the example
And combining the automatic test results of several gyros, and quickly selecting a proper north-seeking scheme and a gyro model according to the actual application requirements.
Claims (5)
1. An automatic test method for horizontal north-seeking precision of a strapdown gyro north-seeking instrument is characterized by comprising the following steps: the method comprises the following steps of obtaining north seeking precision of all alternative strapdown gyro north seeking schemes through one-time automatic test, wherein the alternative strapdown gyro north seeking schemes are combinations of different strapdown gyro north seeking modes based on two positions, three positions and four positions, different types of gyros, different time periods for sampling gyro data at each position and different time lengths for sampling gyro data at each position in a horizontal state, and the method comprises the following steps:
step 1, installing a gyroscope to be tested at a corresponding position of the strapdown gyroscope north seeker, and then leveling the strapdown gyroscope north seeker;
step 2, controlling a switch of a power supply of the strapdown gyro north seeker to electrify the strapdown gyro north seeker again after powering off for a certain time so as to ensure that each north seeker is in an immediately electrified cold start state;
step 3, performing rapid coarse north seeking by using the self-carrying indexing mechanism, the self-carrying code disc and the gyroscope to be tested of the strapdown gyroscope north seeker to obtain a rough north angle corresponding to a code disc angle of the installation position of the gyroscope to be tested on the strapdown gyroscope north seeker;
step 4, calculating to obtain a code disc angle of the self code disc of the strapdown gyroscope north seeker corresponding to the rough north angle of all gyroscope sampling positions in a two-position, three-position and four-position strapdown gyroscope north-seeking mode through the rough north angle corresponding to the code disc angle of the installation position of the gyroscope to be detected on the strapdown gyroscope north-seeking instrument;
step 5, performing union operation on all gyro sampling position code disc angles in the two-position, three-position and four-position strapdown gyro north-seeking modes to further obtain a minimum set of all gyro sampling position code disc angles required by the two-position, three-position and four-position strapdown gyro north-seeking modes, and sequentially rotating the strapdown gyro north-seeking instrument with a transposition mechanism for one circle to complete transposition of the minimum set of all gyro sampling positions required by the two-position, three-position and four-position strapdown gyro north-seeking modes;
step 6, sequentially rotating to each gyro sampling position in the minimum set of the code wheel angle required by the two-position, three-position and four-position strapdown gyro north-seeking modes, respectively sampling stable gyro data for a certain time length at each gyro sampling position, and subdividing and sectionally storing the stable gyro data sampled at each position according to different sampling time periods and different sampling time lengths;
step 7, calculating an average value of all subdivided and segmented stored gyro data, substituting the average value into a calculation formula of north seeking results of a two-position, three-position and four-position strapdown gyro north seeking mode in a horizontal state, and obtaining 1 group of north seeking results of all alternative strapdown gyro north seeking schemes in the two-position, three-position and four-position of the gyro to be tested in the horizontal state at each position in different sampling time periods and different sampling durations;
step 8, the step 2 to the step 7 are north finding survey, the step 2 to the step 7 are automatically and repeatedly executed for N times, N sets of north finding results of all alternative strapdown gyro north finding schemes of the gyro to be tested in the horizontal state at different sampling time periods and different sampling time lengths of each gyro sampling position are obtained, the N sets of north finding results are substituted into a north finding precision calculation formula, the north finding precision of all alternative strapdown gyro north finding schemes of the gyro to be tested in the horizontal state at different sampling time periods and different sampling time lengths of each gyro sampling position at two positions, three positions and four positions is obtained, and the north finding precision calculation formula is as follows:
in the formula (I), the compound is shown in the specification,ψ i for the ith set of north finding results, the unit: and E is the average value of N sets of north finding results, and the unit is: degree, 1 σ is north finding accuracy, unit: degree.
2. The automatic testing method for horizontal north-seeking precision of the strapdown gyroscope north seeker as claimed in claim 1, wherein: in step 3, the fast coarse north-seeking scheme is as follows: a four-position strapdown gyro north-seeking mode is adopted, each gyro sampling position carries out stable gyro data sampling within a certain time, and the first gyro sampling position is set to be the position where the gyro to be tested is located when the fast rough north-seeking is started so as to avoid unnecessary transposition time.
3. The automatic testing method for the horizontal north-seeking precision of the strapdown gyro north-seeking instrument according to claim 1, wherein the testing method comprises the following steps: in step 4, setting the rough north angles of the two gyroscope sampling positions in the two-position strapdown gyroscope north-seeking mode to be 5 degrees and 185 degrees of true north; setting the rough north angles of the sampling positions of three gyros in two specific rotation modes in the three-position strapdown gyro north-seeking mode to be true north 45 degrees, 135 degrees, 315 degrees, 135 degrees, 225 degrees and 315 degrees respectively; and setting the rough north angles of the sampling positions of the four gyros in the four-position strapdown gyroscope north-seeking mode to be true north 45 degrees, 135 degrees, 225 degrees and 315 degrees.
4. The automatic testing method for the horizontal north-seeking precision of the strapdown gyro north-seeking instrument according to claim 3, wherein the testing method comprises the following steps: and performing union operation on code disc angles corresponding to the rough north angles of all the gyro sampling positions in the two-position, three-position and four-position strapdown gyro north-seeking modes to obtain the minimum set of the code disc angles of all the gyro sampling positions, which is 5 degrees, 45 degrees, 135 degrees, 185 degrees, 225 degrees and 315 degrees of true north.
5. The automatic testing method for the horizontal north-seeking precision of the strapdown gyro north-seeking instrument according to claim 1, wherein the testing method comprises the following steps: in step 7, the two-position strapdown gyroscope north-seeking mode north-seeking result in the horizontal stateψ 2 The unit is: and DEG, the calculation formula is as follows:
in the formula, omega ie Is the angular velocity of rotation of the earth, unit: l is the local latitude, omega 5° The average value of the gyro data obtained by sampling when the gyro sampling position is 5 degrees true north of the rough north angle is represented by the unit: degree/s, omega 185° The average value of the gyro data sampled when the gyro sampling position is 185 degrees true north of the rough north angle is shown as unit: (ii) DEG/s;
first rotation mode north-seeking result of three-position strapdown gyroscope north-seeking mode in horizontal stateψ 31 And a second rotation mode north finding resultψ 32 The unit: and DEG, the calculation formula is as follows:
in the formula, ω 45° The average value of the gyro data obtained by sampling when the gyro sampling position is 45 degrees true north of the rough north angle is represented by the following unit: degree/s, omega 135° The average value of gyro data obtained by sampling when the gyro sampling position is 135 degrees true north of a rough north angle is shown as unit: degree/s, omega 225° The average value of gyro data obtained by sampling when the gyro sampling position is 225 degrees true north of the rough north angle is shown as unit: degree/s, omega 315° The average value of the gyro data obtained by sampling when the gyro sampling position is 315 degrees true north of the rough north angle is represented by the following unit: (iv) DEG/s;
four-position strapdown gyroscope north-seeking mode north-seeking result in horizontal stateψ 4 The unit: and DEG, the calculation formula is as follows:
in the formula, omega 45° The average value of the gyro data obtained by sampling when the gyro sampling position is 45 degrees true north of the rough north angle is represented by the following unit: degree/s, omega 135° The average value of the gyro data obtained by sampling when the gyro sampling position is 135 degrees true north of the rough north angle is shown as the unit: angle/s, ω 225° The average value of the gyro data obtained by sampling when the gyro sampling position is 225 degrees true north of the rough north angle is shown as the unit: degree/s, omega 315° The average value of the gyro data obtained by sampling when the gyro sampling position is 315 degrees true north of the rough north angle is represented by the following unit: (ii) in degrees/s.
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