CN115560778A - Real-time error compensation method for inertial measurement system based on resonant inertial device - Google Patents
Real-time error compensation method for inertial measurement system based on resonant inertial device Download PDFInfo
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Abstract
The invention provides an inertial measurement system error real-time compensation method based on a resonant inertial device, which comprises the following steps: 1. obtaining a first scale factor, a first zero offset and a first installation error in the angular velocity channel error compensation model and a second scale factor, a second zero offset and a second installation error in the acceleration error compensation model through tests; 2. and according to the result obtained by the test in the step one, fitting error coefficient components obtained at different temperature points to obtain a temperature curve equation coefficient in a curve equation of the error coefficient and the temperature. The invention can meet the requirement of system compensation precision based on a novel inertia device; the error coefficient required to be stored in FLASH is less, the occupied storage space is less, and the method is particularly practical under the condition of limited FLASH space resources; the error coefficient under any temperature value can be covered, and the error compensation precision of the inertia quantity can be improved.
Description
Technical Field
The invention belongs to the technical field of inertia measurement, and particularly relates to a real-time error compensation method for an inertia measurement system based on a resonant inertia device.
Background
Generally speaking, in order to meet the use requirements of missile weapon systems, an inertial measurement system usually meets the inertial measurement accuracy index within a certain temperature range. Because the error characteristics of the inertia device generally change obviously along with the temperature, the inertia measurement system is required to be calibrated in a specific temperature range, error items such as scale factors, zero offset, installation errors and the like of an acceleration channel and an angular velocity channel of the inertia measurement system under a plurality of characteristic temperature points are obtained, temperature curve fitting is carried out on the error items to obtain error coefficients under all temperature points in the specific temperature range, finally, a group of error coefficients corresponding to the current temperature are obtained according to the current temperature, error compensation calculation is carried out, and the inertia quantity information meeting the precision index requirements under different temperature conditions is obtained.
Simple inertial measurement systems generally consist of inertial devices such as accelerometers, gyroscopes, etc., and information processing systems. The missile-borne inertia measurement system is generally used for sensing angular velocity and acceleration information of a missile on a missile body coordinate axis, and after system errors are identified through tests and error compensation calculation is carried out by system working software, the compensated angular velocity and acceleration information is provided for a missile-borne computer for use.
If a certain inertia system needs to meet the inertia measurement precision in the temperature range of-40 ℃ to +50 ℃, according to the traditional solution, the inertia measurement system is generally subjected to relevant test and investigation to obtain the system error characteristic, an error compensation model is established, discretization processing of a coefficient curve is carried out according to a point at 1 ℃ in the temperature range of-40 ℃ to +50 ℃ according to the established error characteristic temperature curve, 91 sets of system error coefficients in the temperature range of-40 ℃ to +50 ℃ are obtained, 91 sets of system error coefficients in the temperature range of-40 ℃ to +50 ℃ are stored in an internal FLASH storage space of the inertia system, after the inertia system is powered on to work, system working software reads the set of system error coefficients corresponding to the current temperature from an address space for storing the system error coefficients by identifying the current temperature in a table look-up mode, and then substitutes the error compensation model to carry out system error compensation calculation, and finally the compensated acceleration and angular velocity measurement information required by the system is obtained.
The above method has the following disadvantages:
1. the system compensation precision requirement based on a novel inertia device such as a high-precision MEMS inertial measurement combination technology cannot be met, and particularly the real-time compensation requirement for the temperature drift problem of a micro-hemispherical resonant gyroscope and a silicon resonant accelerometer cannot be met;
2. the error coefficient required to be stored in FLASH is more, and a large amount of storage space is occupied;
the error coefficient corresponding to any temperature value cannot be covered, and the inertia measurement precision is influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a real-time error compensation method for an inertia measurement system based on a resonant inertia device.
The invention provides an inertial measurement system error real-time compensation method based on a resonant inertial device, which comprises the following steps:
1. obtaining a first scale factor, a first zero offset and a first installation error in the angular velocity channel error compensation model and a second scale factor, a second zero offset and a second installation error in the acceleration error compensation model through tests;
2. and fitting through error coefficient components obtained at different temperature points according to the result obtained by the test in the step one to obtain a temperature curve equation coefficient in a curve equation of the error coefficient and the temperature.
Further, in the present invention,
the angular velocity channel error compensation model is shown in formula (1):
wherein the content of the first and second substances,
N1 i i = x, y, z for a first error compensated pre-pulse quantity;
K1 i i = x, y, z for the first scale factor;
D1 i is the firstZero offset, i = x, y, z;
E1 ij i = x, y, z, j = x, y, z for the first mounting error;
W i i = x, y, z as an angular velocity compensation amount;
Further, in the present invention,
the first error compensated front pulse quantity is an output quantity of the three-axis hemispherical resonator gyroscope.
Further, in the present invention,
the acceleration error compensation model is shown in formula (2):
wherein:
N2 i i = x, y, z for a second error-compensated pre-pulse quantity;
K2 i for the second scale factor, i = x, y, z;
D2 i for the second zero offset, i = x, y, z;
E2 ij i = x, y, z for the second mounting error, j = x, y, z;
A i i = x, y, z for the acceleration compensation amount;
Further, in the present invention, it is preferable that,
the second error-compensated pre-pulse quantity is an output quantity of the combination of the three-axis resonant accelerometers.
Further, in the present invention,
the equation of the error coefficient and temperature curve is shown in formula (3):
K I ＝A·T 3 +B·T 2 +C·T+D (3)，
wherein the content of the first and second substances,
K I is an error coefficient component representing any component of any one of the first scale factor, first zero offset, first installation error, second scale factor, second zero offset and second installation error; t is the temperature; A. b, C and D are the coefficients of the temperature curve equation.
Further, in the present invention,
the different temperature points include 4 temperature points, and the 4 temperature points are: -40 ℃, -10 ℃, +20 ℃, +50 ℃.
8. The method of real-time compensation for errors in an inertial measurement system based on a resonant inertial device of claim 7,
further comprising:
and calculating the required error coefficient component in real time according to the current temperature value and the formula (3).
Further, in the present invention,
further comprising:
and (3) completing real-time error compensation calculation of angular velocity and acceleration according to the formulas (1) and (2) based on the error coefficient component obtained by the real-time calculation.
Further, in the present invention,
before the error coefficient component required by the real-time calculation is carried out, the temperature curve equation coefficient is uploaded to a FLASH space of a product, and the product is read and stored in a variable array by working software after being electrified and operated.
The real-time error compensation method for the inertial measurement system based on the resonant inertial device can meet the requirement of system compensation precision based on a novel inertial device; the error coefficient required to be stored in FLASH is less, the occupied storage space is less, and the method is particularly practical under the condition of limited FLASH space resources; the corresponding error coefficient is fitted on line according to the current temperature, so that the error coefficient under any temperature value can be covered, and the error compensation precision of the inertia quantity can be improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
Fig. 1 shows a schematic block diagram of a resonant inertial measurement system according to an embodiment of the invention.
Detailed Description
The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description of specific embodiments of the invention. It should be noted that the drawings are in simplified form and are not to precise scale, which are provided for convenience and clarity in order to facilitate the description of the embodiments of the invention.
Fig. 1 shows a hardware platform on which the method for real-time error compensation of an inertial measurement system based on a resonant inertial device according to the present invention is based: a functional block diagram of a resonant inertial measurement system. As can be seen from fig. 1, the resonance type inertial measurement system includes: the device comprises a three-axis hemispherical resonant gyroscope, a three-axis resonant accelerometer combination, an information processing circuit (containing working software) and a sensitive support (not shown in figure 1). The resonance type inertia measurement system adopts two power supplies of +/-12V and 5V which are externally supplied to work, and when the resonance type inertia measurement system is on a missile, the missile power supply supplies the two power supplies. The resonance type inertia measurement system is also externally connected with an onboard computer and test equipment. Wherein the three axes are set as x-axis, y-axis and z-axis.
In the resonance type inertia measurement system, an information processing circuit is respectively in combined communication connection with a three-axis hemispherical resonance gyroscope and a three-axis resonance accelerometer through RS422 interfaces. The information processing circuit is also externally connected to the pop-up computer and the testing equipment through an RS422 interface. The three-axis hemispherical resonator gyroscope is composed of three single-axis hemispherical resonator gyroscopes, and the three single-axis hemispherical resonator gyroscopes are used for sensing (namely measuring) the angular velocities Wx, wy and Wz of the three axial directions of the projectile body and outputting the angular velocity information through RS422 interfaces. The triaxial resonance accelerometer combination is used for sensing the apparent accelerations Ax, ay and Az of the projectile body in three axial directions and outputting acceleration information through an RS422 interface. The information processing circuit is in combined communication with the three-axis hemispherical resonator gyroscope and the three-axis resonant accelerometer through the RS422 interface, obtains inertia quantity information (namely the angular velocity information and the acceleration information) output by the combination of the three-axis hemispherical resonator gyroscope and the three-axis resonant accelerometer through sending a data acquisition instruction, completes error compensation calculation of the inertia quantity according to a system error compensation model, and finally sends the angular velocity information and the acceleration information which complete error compensation to the missile computer through the RS422 interface for use.
Through relevant test and conclusion investigation of the resonant inertia measurement system, the error characteristic of the resonant inertia measurement system can be known to accord with a cubic temperature curve, so that 4 temperature points are selected, for example, 4 temperature points of-40 ℃, 10 ℃, 20 ℃ and 50 ℃ are selected for error calibration test, and an error compensation model and the temperature curve are as follows:
the angular velocity channel error compensation model is shown in equation (1).
In equation (1):
N1 i compensating a front pulse quantity for the first error, wherein the front pulse quantity is an output quantity of the three-axis hemispherical resonant gyroscope, and i = x, y and z;
K1 i is a first scale factor, i = x, y, z;
D1 i is the first zero offset, i = x, y, z;
E1 ij i = x, y, z, j = x, y, z for a first mounting error;
W i i = x, y, z as an angular velocity compensation amount;
The acceleration error compensation model is shown in equation (2).
In equation (2):
N2 i compensating a front pulse quantity for a second error, wherein the front pulse quantity is an output quantity of a triaxial resonant accelerometer combination, and i = x, y and z;
K2 i i = x, y, z for a second scaling factor;
D2 i i = x, y, z for a second zero offset;
E2 ij i = x, y, z, j = x, y, z for a second mounting error;
A i i = x, y, z as an acceleration compensation amount;
The equation of the error coefficient versus temperature curve is shown in equation (3):
K I ＝A·T 3 +B·T 2 +C·T+D (3)，
in equation (3):
K I representing a first scale factor, for the error coefficient componentAny component of any one of zero offset, first installation error, second scale factor, second zero offset and second installation error; t is the temperature; A. b, C and D are temperature curve equation coefficients.
According to the error compensation model, firstly obtaining error terms (a first scale factor, a first zero offset and a first installation error) in formulas (1) and (2) through an angular rate calibration test and a six-position calibration test, and then obtaining a second scale factor, a second zero offset and a second installation error through the six-position calibration test, and then obtaining a temperature curve equation coefficient in a formula (3) through error coefficient component fitting obtained at each temperature point. The method comprises the steps of uploading temperature curve equation coefficients (A, B, C and D) to a FLASH space of a product, reading and storing the temperature curve equation coefficients into a variable array by working software after the product is electrified to work, calculating required error coefficient components in real time according to a current temperature value and a formula (3), and finally completing real-time error compensation calculation of inertia quantity (namely angular velocity and acceleration) according to formulas (1) and (2).
The precision of the system obtained by the invention achieves that the zero offset stability of the acceleration channel is less than 0.1mg (m is milli, namely 10) -3 (ii) a g is the gravity acceleration) and the angular velocity channel is less than 1 degree/h (h is hour), which are consistent with the indexes of a single table of an inertia device, thereby showing that the compensation model and the compensation method adopted by the invention are feasible and effective.
The real-time error compensation method for the inertial measurement system based on the resonant inertial device can meet the requirement of the system compensation precision based on a novel inertial device, and particularly meets the real-time compensation requirement for the temperature drift problem of the micro-hemispherical resonant gyroscope and the silicon resonant accelerometer; the error coefficients required to be stored in the FLASH are fewer, the occupied storage space is less, and the method is particularly practical under the condition of limited FLASH space resources; the corresponding error coefficient is fitted on line according to the current temperature, so that the error coefficient under any temperature value can be covered, and the error compensation precision of the inertia quantity can be improved.
The invention provides a real-time error compensation method for the inertia measurement system based on the resonance type inertia device through the constructed resonance type inertia measurement system, effectively improves the error compensation precision of the resonance type inertia measurement system, has higher practical value, lays a foundation for the subsequent deep research of the resonance type inertia measurement system, and meets the application requirements of the micro-hemispherical resonance gyroscope in the aerospace field.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The real-time error compensation method for the inertial measurement system based on the resonant inertial device is characterized by comprising the following steps of:
1. obtaining a first scale factor, a first zero offset and a first installation error in the angular velocity channel error compensation model and a second scale factor, a second zero offset and a second installation error in the acceleration error compensation model through tests;
2. and fitting through error coefficient components obtained at different temperature points according to the result obtained by the test in the step one to obtain a temperature curve equation coefficient in a curve equation of the error coefficient and the temperature.
2. The method for real-time compensation of inertial measurement system errors based on resonant inertial devices of claim 1,
the angular velocity channel error compensation model is shown in formula (1):
wherein the content of the first and second substances,
N1 i i = x, y, z for a first error compensated pre-pulse quantity;
K1 i is the first scale factorNumber, i = x, y, z;
D1 i for the first zero offset, i = x, y, z;
E1 ij i = x, y, z for the first mounting error, j = x, y, z;
W i i = x, y, z as an angular velocity compensation amount;
3. The method for real-time compensation of inertial measurement system errors based on resonant inertial devices of claim 2,
the first error compensated front pulse quantity is an output quantity of the three-axis hemispherical resonator gyroscope.
4. The method of real-time compensation for errors in an inertial measurement system based on a resonant inertial device of claim 3,
the acceleration error compensation model is shown as the formula (2):
wherein:
N2 i i = x, y, z for a second error-compensated pre-pulse quantity;
K2 i for the second scale factor, i = x, y, z;
D2 i for the second zero offset, i = x, y, z;
E2 ij i = x, y, z for the second mounting error, j = x, y, z;
A i i = x, y, z as an acceleration compensation amount;
5. The method for real-time compensation of inertial measurement system errors based on resonant inertial devices of claim 4,
the second error-compensated pre-pulse quantity is an output quantity of the combination of the three-axis resonant accelerometers.
6. The method of real-time compensation for errors in an inertial measurement system based on a resonant inertial device of claim 5,
the equation of the error coefficient and temperature curve is shown in formula (3):
K I ＝A·T 3 +B·T 2 +C·T+D (3)，
wherein, the first and the second end of the pipe are connected with each other,
K I is an error coefficient component representing any component of any one of the first scale factor, first zero offset, first mounting error, second scale factor, second zero offset, second mounting error; t is the temperature; A. b, C and D are the coefficients of the temperature curve equation.
7. The real-time error compensation method for inertial measurement system based on resonant inertial device of any one of claims 1-6,
the different temperature points include 4 temperature points, the 4 temperature points are: -40 ℃, -10 ℃, +20 ℃, +50 ℃.
8. The method of real-time compensation for errors in an inertial measurement system based on a resonant inertial device of claim 7,
further comprising:
and calculating the required error coefficient component in real time according to the current temperature value and the formula (3).
9. The method of real-time compensation for errors in an inertial measurement system based on a resonant inertial device of claim 8,
further comprising:
and (3) completing real-time error compensation calculation of angular velocity and acceleration according to the formulas (1) and (2) based on the error coefficient component obtained by the real-time calculation.
10. The method for real-time compensation of inertial measurement system errors based on resonant inertial devices of claim 9,
before the error coefficient component required by the real-time calculation is carried out, the temperature curve equation coefficient is uploaded to a FLASH space of a product, and the product is read and stored in a variable array by working software after being electrified and operated.
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| CN117705106A (en) * | 2024-02-05 | 2024-03-15 | 西安军捷新创电子科技有限公司 | MEMS IMU full-automatic full-temperature compensation calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117705106A (en) * | 2024-02-05 | 2024-03-15 | 西安军捷新创电子科技有限公司 | MEMS IMU full-automatic full-temperature compensation calibration method |
| CN117705106B (en) * | 2024-02-05 | 2024-05-03 | 西安军捷新创电子科技有限公司 | MEMS IMU full-automatic full-temperature compensation calibration method |
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