CN116026370A - Matrix equivalent conversion-based fiber-optic gyroscope error calibration method and system - Google Patents

Matrix equivalent conversion-based fiber-optic gyroscope error calibration method and system Download PDF

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CN116026370A
CN116026370A CN202310322641.8A CN202310322641A CN116026370A CN 116026370 A CN116026370 A CN 116026370A CN 202310322641 A CN202310322641 A CN 202310322641A CN 116026370 A CN116026370 A CN 116026370A
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gyro
error
accelerometer
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CN116026370B (en
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赵坤
胡小毛
郭猛
杨盛林
吴国强
李德春
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707th Research Institute of CSIC
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Abstract

The invention relates to the field of inertial navigation, and discloses an optical fiber gyro error calibration method and system based on matrix equivalent conversion, which are used for improving the accuracy of error calibration of an optical fiber gyro. The method comprises the following steps: data acquisition is carried out on the target fiber optic gyroscope to obtain gyroscope angular velocity data and accelerometer measurement specific force; performing matrix conversion analysis on the gyro angular velocity data, determining a gyro installation error matrix, performing matrix conversion analysis on the accelerometer measurement specific force, and determining an accelerometer installation error matrix; performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set; performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set; and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing.

Description

Matrix equivalent conversion-based fiber-optic gyroscope error calibration method and system
Technical Field
The invention relates to the field of inertial navigation, in particular to a fiber optic gyroscope error calibration method and system based on matrix equivalent conversion.
Background
The inertial navigation system is a system for measuring the position, the speed and the gesture by utilizing inertial elements such as an optical fiber gyroscope, an accelerometer and the like, does not need to depend on external signals, has stronger anti-interference capability, can navigate without navigation signals such as GPS and the like, and is widely applied to the fields such as aviation, aerospace, ocean, ground and the like, such as planes, missiles, satellites, submarines, automobiles, trains and the like. The accuracy and stability of an inertial navigation system are important indicators for evaluating its performance.
However, due to factors such as assembly and installation, the inertial navigation system has a non-orthogonal condition between the sensitive axes of the gyroscope and the accelerometer, and also has a condition of inconsistent with the sensitive axes of the reference orthogonal coordinate system, and the transmission matrix between the sensitive axes of the gyroscope and the accelerometer and the reference orthogonal coordinate system is called as an installation error, so that different installation error matrix forms are needed in different application occasions.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a system for calibrating an error of a fiber optic gyroscope based on matrix equivalent transformation, which solve the technical problem of lower accuracy in calibrating the error of the fiber optic gyroscope.
The invention provides a fiber optic gyroscope error calibration method based on matrix equivalence conversion, which comprises the following steps: acquiring data of a target fiber optic gyroscope to obtain gyroscope angular velocity data of the target fiber optic gyroscope and measuring specific force by an accelerometer; analyzing the gyro angular velocity data to determine a gyro installation error matrix corresponding to the target fiber optic gyro, and simultaneously analyzing the accelerometer measurement specific force to determine an accelerometer installation error matrix corresponding to the target fiber optic gyro; performing matrix simplification processing on the gyroscope installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set; performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set; and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain gyro angular velocity data after the error calibration processing and accelerometer measurement specific force after the error calibration processing.
In the present invention, the gyro angular velocity data may be expressed as:
Figure SMS_1
；
wherein the accelerometer measurement specific force can be expressed as:
Figure SMS_2
；
wherein g represents a gyro coordinate system, a represents an accelerometer coordinate system, p represents a table body coordinate system,
Figure SMS_4
for gyro angular velocity data +.>
Figure SMS_6
Actually inputting data for gyro angular velocity, +.>
Figure SMS_8
Measuring specific force for accelerometer,/->
Figure SMS_5
Actually inputting data for specific force of accelerometer, +.>
Figure SMS_7
Scale factor error for the target fiber optic gyroscope, < >>
Figure SMS_10
For the scale factor error of the accelerometer, +.>
Figure SMS_13
For the target optical fiberInstallation error matrix of gyro, ">
Figure SMS_3
Mounting error matrix for accelerometer of said target fiber optic gyroscope +.>
Figure SMS_11
For gyro constant drift +.>
Figure SMS_12
Zero bias data for accelerometer constant value, +.>
Figure SMS_14
Is a matrix error coefficient, is dimensionless, < ->
Figure SMS_9
Is the initial standard matrix.
In the invention, the step of simplifying the matrix of the gyroscope installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set comprises the following steps: performing first simplification processing on the gyro installation error matrix to obtain a first simplified matrix; performing second simplification processing on the accelerometer installation error matrix to obtain a second simplified matrix; and carrying out data combination on the first simplified matrix and the second simplified matrix to obtain a simplified matrix set.
In the present invention, the step of performing matrix conversion processing on the simplified matrix set to obtain a converted matrix set includes: analyzing a reference coordinate system of the target fiber optic gyroscope to determine a target reference coordinate system; analyzing the position relation of the sensitive axis through the target reference coordinate system, and determining the position relation data of the sensitive axis of the target; performing matrix conversion processing on a first simplified matrix in the simplified matrix set and a second evolutionary matrix in the simplified matrix respectively through the target sensitive position relation data to obtain a first target matrix and a second target matrix; and carrying out data combination on the first target matrix and the second target matrix to obtain the conversion matrix set.
In the present invention, the step of performing error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing includes: performing first error calibration processing on the gyro angular velocity data through a first target matrix in the conversion matrix set to obtain gyro angular velocity data after the error calibration processing; and performing second error calibration processing on the accelerometer measurement specific force through a second target matrix in the conversion matrix set to obtain the accelerometer measurement specific force after the error calibration processing.
The invention also provides a fiber optic gyroscope error calibration system based on matrix equivalent conversion, which comprises:
the acquisition module is used for acquiring data of the target fiber optic gyroscope to obtain gyroscope angular velocity data of the target fiber optic gyroscope and accelerometer measurement specific force;
the analysis module is used for carrying out matrix conversion analysis on the gyro angular velocity data to determine a gyro installation error matrix corresponding to the target fiber optic gyro, and simultaneously carrying out matrix conversion analysis on the accelerometer measurement specific force to determine an accelerometer installation error matrix corresponding to the target fiber optic gyro;
the simplifying module is used for carrying out matrix simplifying processing on the gyroscope installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set;
the conversion module is used for carrying out matrix conversion processing on the simplified matrix set to obtain a conversion matrix set;
and the calibration module is used for carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set respectively to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing.
In the invention, data acquisition is carried out on a target fiber optic gyroscope to obtain gyroscope angular velocity data and accelerometer measurement specific force; performing matrix conversion analysis on the gyro angular velocity data, determining a gyro installation error matrix, performing matrix conversion analysis on the accelerometer measurement specific force, and determining an accelerometer installation error matrix; performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set; performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set; and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing, realizing equivalent representation of different installation matrixes, meeting different requirements of different application occasions on the installation matrix form, and carrying out equivalent conversion on the installation error matrixes when different reference systems are selected so as to further improve the accuracy rate when carrying out error calibration on the fiber optic gyro.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an optical fiber gyro error calibration method based on matrix equivalent transformation in an embodiment of the present invention.
FIG. 2 is a schematic diagram of a target fiber optic gyroscope installation error in an embodiment of the present invention.
FIG. 3 is a schematic diagram of accelerometer mounting errors in an embodiment of the invention.
Fig. 4 is a flowchart of an error calibration process for the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set in the embodiment of the present invention.
Fig. 5 is a schematic diagram of an optical fiber gyro error calibration system based on matrix equivalent transformation in an embodiment of the present invention.
Reference numerals:
301. an acquisition module; 302. an analysis module; 303. simplifying the module; 304. a conversion module; 305. and a calibration module.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
For easy understanding, the following describes a specific flow of an embodiment of the present invention, referring to fig. 1, fig. 1 is a flow chart of a matrix equivalence conversion-based optical fiber gyro error calibration method according to an embodiment of the present invention, as shown in fig. 1, the flow chart includes the following steps:
s101, acquiring data of a target fiber optic gyroscope to obtain gyroscope angular velocity data of the target fiber optic gyroscope and accelerometer measurement specific force;
it should be noted that, the gyro angular velocity data may be expressed as:
Figure SMS_15
；
wherein the accelerometer measurement specific force can be expressed as:
Figure SMS_16
；
wherein g represents a gyro coordinate system, a represents an accelerometer coordinate system, p represents a table body coordinate system,
Figure SMS_19
for gyro angular velocity data +.>
Figure SMS_21
Actually inputting data for gyro angular velocity, +.>
Figure SMS_24
Measuring specific force for accelerometer,/->
Figure SMS_20
Actually inputting data for specific force of accelerometer, +.>
Figure SMS_22
Scale factor error for target fiber optic gyroscope, +.>
Figure SMS_25
As the scale factor error of the accelerometer,
Figure SMS_27
installation error matrix for target fiber-optic gyroscope, +.>
Figure SMS_17
Mounting error matrix for accelerometer of target fiber optic gyroscope,>
Figure SMS_23
for gyro constant drift +.>
Figure SMS_26
Zero bias data for accelerometer constant value, +.>
Figure SMS_28
Is a matrix error systemThe number is a dimensionless number,
Figure SMS_18
is the initial standard matrix.
S102, performing matrix conversion analysis on the gyro angular velocity data to determine a gyro installation error matrix corresponding to the target fiber-optic gyro, and performing matrix conversion analysis on the accelerometer measurement specific force to determine an accelerometer installation error matrix corresponding to the target fiber-optic gyro;
s103, performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set;
in a specific embodiment, the process of executing step S103 may specifically include the following steps:
(1) Performing first simplification processing on the gyro installation error matrix to obtain a first simplified matrix;
(2) Performing second simplification processing on the accelerometer installation error matrix to obtain a second simplified matrix;
(3) And carrying out data combination on the first simplified matrix and the second simplified matrix to obtain a simplified matrix set.
As shown in fig. 2, fig. 2 is a schematic diagram of the installation error of the target fiber optic gyroscope,
Figure SMS_32
is->
Figure SMS_34
At->
Figure SMS_38
Projection on plane, ">
Figure SMS_30
Is->
Figure SMS_36
And->
Figure SMS_43
Included angle between (I/O)>
Figure SMS_47
Is->
Figure SMS_31
And->
Figure SMS_35
An included angle is formed between the two; />
Figure SMS_39
Is->
Figure SMS_42
At->
Figure SMS_45
Projection on plane, ">
Figure SMS_48
Is->
Figure SMS_52
And->
Figure SMS_54
Included angle between (I/O)>
Figure SMS_46
Is->
Figure SMS_50
And->
Figure SMS_53
An included angle is formed between the two; />
Figure SMS_55
Is->
Figure SMS_29
At->
Figure SMS_33
Projection on plane, ">
Figure SMS_37
Is->
Figure SMS_41
And->
Figure SMS_40
Included angle between (I/O)>
Figure SMS_44
Is->
Figure SMS_49
And->
Figure SMS_51
And an included angle is formed between the two.
In general, the installation error is a small angle, and when the gyro angular velocity data is subjected to matrix conversion analysis and the accelerometer measurement specific force is subjected to matrix conversion analysis, the gyro angular velocity data is subjected to matrix conversion analysis with the accelerometer measurement specific force by using the installation error angle data shown in fig. 2, respectively, to determine a gyro installation error matrix corresponding to the target optical fiber gyro and an accelerometer installation error matrix corresponding to the target optical fiber gyro.
The general form of the gyro installation error matrix can be simplified as:
Figure SMS_56
(1)
wherein,,
Figure SMS_58
，/>
Figure SMS_60
，/>
Figure SMS_62
respectively->
Figure SMS_59
Coordinate data of any point in the coordinate system, +.>
Figure SMS_61
，/>
Figure SMS_63
，/>
Figure SMS_64
Respectively->
Figure SMS_57
Coordinate data of any point in the coordinate system;
as shown in fig. 3, fig. 3 is a schematic diagram of accelerometer mounting errors,
Figure SMS_83
is->
Figure SMS_85
At->
Figure SMS_89
Projection on plane, ">
Figure SMS_65
Is->
Figure SMS_71
And->
Figure SMS_75
Included angle between (I/O)>
Figure SMS_78
Is->
Figure SMS_66
And->
Figure SMS_70
An included angle is formed between the two; />
Figure SMS_74
Is->
Figure SMS_77
At->
Figure SMS_81
Projection on plane, ">
Figure SMS_86
Is->
Figure SMS_88
And->
Figure SMS_91
Included angle between (I/O)>
Figure SMS_82
Is->
Figure SMS_84
And->
Figure SMS_87
An included angle is formed between the two; />
Figure SMS_90
Is->
Figure SMS_68
At->
Figure SMS_72
Projection on plane, ">
Figure SMS_76
Is->
Figure SMS_79
And->
Figure SMS_67
Included angle between (I/O)>
Figure SMS_69
Is->
Figure SMS_73
And->
Figure SMS_80
And an included angle is formed between the two.
To sum up, the general form of the accelerometer mounting error matrix can be simplified as:
Figure SMS_92
(2)
wherein,,
Figure SMS_93
(3a)
Figure SMS_94
(3b)
wherein,,
Figure SMS_95
is a transformation matrix from a gyro coordinate system g system to a platform coordinate system p system, and is +.>
Figure SMS_96
For the transformation matrix from the accelerometer coordinate system a system to the table coordinate system p system, further, in the embodiment of the present invention, for unified expression, it may be assumed that:
Figure SMS_97
(4)
further, the formula (4) is substituted into the formulas (2), (3 a) and (3 b) to obtain
Figure SMS_98
(5a)/>
Figure SMS_99
(5b)
At the same time, can obtain
Figure SMS_100
(6)
Wherein,,
Figure SMS_101
is->
Figure SMS_102
If the matrix is transposed, the gyro installation error matrix is the gyro installation errorThe matrix is subjected to a first simplification process to obtain a first simplified matrix, as follows:
Figure SMS_103
(7)
and similarly, performing second simplification processing on the accelerometer installation error matrix to obtain a second simplified matrix, wherein the second simplified matrix is as follows:
Figure SMS_104
(8)
finally, data combination is performed on the first simplified matrix and the second simplified matrix to obtain a simplified matrix set, and it should be noted that when data combination is performed, data combination refers to combining different data into one data set, wherein the data combination can compile a plurality of data into a single data set easy to edit, and when the data has a similar structure, data combination can be used.
S104, performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set;
in a specific embodiment, the process of executing step S104 may specifically include the following steps:
(1) Analyzing a reference coordinate system of the target fiber optic gyroscope, and determining a target reference coordinate system;
(2) Analyzing the position relation of the sensitive axis through a target reference coordinate system, and determining target position relation data of the sensitive axis;
(3) Performing matrix conversion processing on a first simplified matrix in the simplified matrix set and a second evolutionary matrix in the simplified matrix respectively through the target sensitive position relation data to obtain a first target matrix and a second target matrix;
(4) And carrying out data combination on the first target matrix and the second target matrix to obtain a conversion matrix set.
S105, respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing.
It should be noted that, different reference coordinate systems are selected, and the installation error matrix has different expression forms. Taking gyro installation error as an example, a reference coordinate system is selectedOz p And (3) withOz g The sensitive axes are coincident and the sensitive axes are coincident,Oy p at the position ofOy g z g In plane and perpendicular toOz p ，Ox p Perpendicular toOy p z p Plane, then install error included angle
Figure SMS_105
、/>
Figure SMS_106
、/>
Figure SMS_107
All are zero, i.e.)>
Figure SMS_108
、/>
Figure SMS_109
、/>
Figure SMS_110
All are zero. The installation error matrix may be expressed as follows:
Figure SMS_111
(9)
similarly, by defining a reference coordinate system, the installation error matrixes of different forms can be obtained, and the following three matrix forms are needed to be described:
(1) In the form of a conventional matrix
Figure SMS_112
(10)
(2) Form of symmetrical matrix
Figure SMS_113
(11)
(3) Cyclic matrix form
Figure SMS_114
(12)
It should be noted that, different installation error matrix forms of the fiber-optic gyroscope are defined corresponding to different reference orthogonal coordinate systems, and included angles of corresponding coordinate axes among the defined reference orthogonal coordinate systems are small angles. Assuming that the reference coordinate systems are respectivelypTying and connectingp 1 The input angular rate of the gyroscope is
Figure SMS_115
Wherein->
Figure SMS_116
Input angular rate for target fiber optic gyroscope, < +.>
Figure SMS_117
，/>
Figure SMS_118
，/>
Figure SMS_119
The projection of the angular velocity measurement error caused by the installation error under the geographic coordinate system obtained by the reference coordinate system p system is as follows:
Figure SMS_120
(13)
wherein,,
Figure SMS_121
for the transformation matrix of the reference coordinate system p-system to the geographical coordinate system n-system +.>
Figure SMS_122
For angular velocity measurement error data,/a>
Figure SMS_123
Representation->
Figure SMS_124
Is a transposed matrix of (a). />
The projection of the angular velocity measurement error caused by the installation error under the geographical coordinate system obtained when the reference coordinate system is the p1 system is as follows:
Figure SMS_125
(14)
wherein,,
Figure SMS_128
for the reference coordinate system->
Figure SMS_131
Conversion matrix from the geographical coordinate system n system, is->
Figure SMS_132
For the reference coordinate system->
Figure SMS_127
Conversion matrix tied to the table coordinate system p-system, for example>
Figure SMS_129
For the table body coordinate system p to the reference coordinate system +.>
Figure SMS_133
The conversion matrix of the system is used to obtain the conversion matrix,
Figure SMS_134
for gyro coordinate system g to reference coordinate system +.>
Figure SMS_126
The transform matrix of the system, T represents the transposed symbol of the matrix, ">
Figure SMS_130
The transformation matrix from the table body coordinate system p system to the geographic coordinate system n system.
It can be seen that the projections of the gyro angular rate measurement errors in the geographical coordinate system are identical in the different reference orthogonal coordinate systems, and the installation error matrix form is equivalent in the different orthogonal reference coordinate systems.
Meanwhile, in the embodiment of the present invention, assuming that the reference coordinate system is selected as p1, the p system and p1 between the orthogonal coordinate systems can pass through 3 rotation angles
Figure SMS_135
Rotation is obtained, wherein->
Figure SMS_136
Is a rotation angle matrix>
Figure SMS_137
Is a rimPOrthogonal coordinate systemxRotation angle of shaft, ">
Figure SMS_138
Is a rimPOrthogonal coordinate systemyRotation angle of shaft, ">
Figure SMS_139
Is a rimPOrthogonal coordinate systemzThe rotation angle of the shaft, when rotated to a small angle, ignores the second order small amount, is defined bygIs tied top 1 The system is converted into:
Figure SMS_140
(15)
similarly for an accelerometer, it is composed ofgIs tied top 1 The conversion of the family can be expressed as:
Figure SMS_141
(16)
wherein,,
Figure SMS_142
for accelerometer bygIs tied top 1 The transformation matrix of the system, as can be seen from the above derivation, is derived from +.>
Figure SMS_143
、
Figure SMS_144
And +.>
Figure SMS_145
It can be seen that the fine tuning of the reference orthogonal coordinate system, the element sum of the installation error matrix relative to the main diagonal is constant.
Through the above derivation process, the equivalence of the conventional matrix form and the symmetric matrix form is proved, and the matrix is orthogonally transformed
Figure SMS_146
Assigned +.>
Figure SMS_147
，/>
Figure SMS_148
，/>
Figure SMS_149
The conventional matrix form is transformed by orthogonal transformation as follows: />
Figure SMS_150
(17)
From equation (17), it can be seen that there is equivalence between the regular matrix and the symmetric matrix.
Similarly, orthogonal transformation matrix
Figure SMS_151
Assigned +.>
Figure SMS_152
，/>
Figure SMS_153
，/>
Figure SMS_154
The symmetric matrix is transformed by orthogonal transformation as follows:
Figure SMS_155
(18)
from equation (18), it can be seen that the symmetry matrix is equivalent to the lower triangular matrix. Similarly, matrix
Figure SMS_156
Assigned +.>
Figure SMS_157
，/>
Figure SMS_158
，/>
Figure SMS_159
The transformed form is as follows:
Figure SMS_160
(19)
the symmetrical matrix and the cyclic matrix are equivalent, so in the embodiment of the invention, the reference coordinate system analysis is performed on the target fiber-optic gyroscope, the target reference coordinate system is determined, the sensitive axis position relation analysis is performed on the target reference coordinate system, the target sensitive axis position relation data is determined, the matrix conversion processing is performed on the first simplified matrix and the second evolutionary matrix in the simplified matrix set respectively through the target sensitive axis position relation data, the first target matrix and the second target matrix are obtained, the first target matrix and the second target matrix are subjected to data merging, and it is required to be noted that when the data merging is performed, the data merging refers to merging different data into one data set, wherein the data merging can compile a plurality of data into a single data set which is easy to edit, and when the data has a similar structure, the data merging can be used.
By executing the steps, data acquisition is carried out on the target fiber optic gyroscope to obtain gyroscope angular velocity data and accelerometer measurement specific force; analyzing the angular velocity data of the gyroscope, determining a gyroscope installation error matrix, analyzing the measuring specific force of the accelerometer, and determining the accelerometer installation error matrix; performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set; performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set; and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing, realizing equivalent representation of different installation matrixes, meeting different requirements of different application occasions on the installation matrix form, and carrying out equivalent conversion on the installation error matrixes when different reference systems are selected so as to further improve the accuracy rate when carrying out error calibration on the fiber optic gyro.
In a specific embodiment, as shown in fig. 4, the process of performing step S105 may specifically include the following steps:
s201, performing first error calibration processing on the gyro angular velocity data through a first target matrix in a conversion matrix set to obtain gyro angular velocity data after the error calibration processing;
s202, performing second error calibration processing on the accelerometer measurement specific force through a second target matrix in the conversion matrix set to obtain the accelerometer measurement specific force after the error calibration processing.
The first target matrix in the conversion matrix set is used for carrying out first error calibration processing on the gyro angular velocity data to obtain gyro angular velocity data after the error calibration processing, and the second target matrix in the conversion matrix set is used for carrying out second error calibration processing on the accelerometer measurement specific force to obtain accelerometer measurement specific force after the error calibration processing, so that equivalent representation of different installation matrixes can be realized, different requirements of different application occasions on the installation matrix form are met, and the error calibration accuracy of the output data of the fiber-optic gyro is further improved.
The embodiment of the invention also provides a fiber-optic gyroscope error calibration system based on matrix equivalent conversion, as shown in fig. 5, the fiber-optic gyroscope error calibration system based on matrix equivalent conversion specifically comprises:
the acquisition module 301 is configured to perform data acquisition on a target fiber-optic gyroscope to obtain gyroscope angular velocity data of the target fiber-optic gyroscope and accelerometer measurement specific force;
the analysis module 302 is configured to analyze the gyro angular velocity data, determine a gyro installation error matrix corresponding to the target optical fiber gyro, and analyze the accelerometer measurement specific force to determine an accelerometer installation error matrix corresponding to the target optical fiber gyro;
a simplifying module 303, configured to perform matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set;
the conversion module 304 is configured to perform matrix conversion processing on the simplified matrix set to obtain a converted matrix set;
and the calibration module 305 is configured to perform error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set, so as to obtain gyro angular velocity data after the error calibration processing and accelerometer measurement specific force after the error calibration processing.
Optionally, the simplification module 303 is specifically configured to: performing first simplification processing on the gyro installation error matrix to obtain a first simplified matrix; performing second simplification processing on the accelerometer installation error matrix to obtain a second simplified matrix; and carrying out data combination on the first simplified matrix and the second simplified matrix to obtain a simplified matrix set.
Optionally, the conversion module 304 is specifically configured to: analyzing a reference coordinate system of the target fiber optic gyroscope to determine a target reference coordinate system; analyzing the position relation of the sensitive axis through the target reference coordinate system, and determining the position relation data of the sensitive axis of the target; performing matrix conversion processing on a first simplified matrix in the simplified matrix set and a second evolutionary matrix in the simplified matrix respectively through the target sensitive position relation data to obtain a first target matrix and a second target matrix; and carrying out data combination on the first target matrix and the second target matrix to obtain the conversion matrix set.
Optionally, the calibration module 305 is specifically configured to: performing first error calibration processing on the gyro angular velocity data through a first target matrix in the conversion matrix set to obtain gyro angular velocity data after the error calibration processing; and performing second error calibration processing on the accelerometer measurement specific force through a second target matrix in the conversion matrix set to obtain the accelerometer measurement specific force after the error calibration processing.
Data acquisition is carried out on the target fiber optic gyroscope through the cooperative cooperation of all the components, so that gyroscope angular velocity data and accelerometer measurement specific force are obtained; analyzing the angular velocity data of the gyroscope, determining a gyroscope installation error matrix, analyzing the measuring specific force of the accelerometer, and determining the accelerometer installation error matrix; performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set; performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set; and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing, realizing equivalent representation of different installation matrixes, meeting different requirements of different application occasions on the installation matrix form, and carrying out equivalent conversion on the installation error matrixes when different reference systems are selected so as to further improve the accuracy rate when carrying out error calibration on the fiber optic gyro.
The above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the scope of the claims.

Claims (6)

1. The method for calibrating the error of the optical fiber gyro based on matrix equivalent transformation is characterized by comprising the following steps:
acquiring data of a target fiber optic gyroscope to obtain gyroscope angular velocity data of the target fiber optic gyroscope and measuring specific force by an accelerometer;
performing matrix conversion analysis on the gyro angular velocity data to determine a gyro installation error matrix corresponding to the target fiber optic gyro, and performing matrix conversion analysis on the accelerometer measurement specific force to determine an accelerometer installation error matrix corresponding to the target fiber optic gyro;
performing matrix simplification processing on the gyroscope installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set;
performing matrix conversion processing on the simplified matrix set to obtain a conversion matrix set;
and respectively carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set to obtain gyro angular velocity data after the error calibration processing and accelerometer measurement specific force after the error calibration processing.
2. The method for calibrating an error of a fiber optic gyroscope based on matrix equivalent transformation according to claim 1, wherein the gyro angular velocity data can be expressed as:
Figure QLYQS_1
；
wherein the accelerometer measurement specific force can be expressed as:
Figure QLYQS_2
；
wherein g represents a gyro coordinate system, a represents an accelerometer coordinate system, p represents a table body coordinate system,
Figure QLYQS_4
for gyro angular velocity data +.>
Figure QLYQS_8
Actually inputting data for gyro angular velocity, +.>
Figure QLYQS_10
Measuring specific force for accelerometer,/->
Figure QLYQS_6
Actually inputting data for specific force of accelerometer, +.>
Figure QLYQS_9
Scale factor error for the target fiber optic gyroscope, < >>
Figure QLYQS_12
For the scale factor error of the accelerometer, +.>
Figure QLYQS_14
Mounting error matrix for the target fiber-optic gyroscope, < >>
Figure QLYQS_3
Mounting error matrix for accelerometer of said target fiber optic gyroscope +.>
Figure QLYQS_7
For gyro constant drift +.>
Figure QLYQS_11
Zero bias data for accelerometer constant value, +.>
Figure QLYQS_13
Is a matrix error coefficient, is dimensionless, < ->
Figure QLYQS_5
Is the initial standard matrix.
3. The method for calibrating an optical fiber gyro error based on matrix equivalent transformation according to claim 1, wherein the step of performing matrix simplification processing on the gyro installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set includes:
performing first simplification processing on the gyro installation error matrix to obtain a first simplified matrix;
performing second simplification processing on the accelerometer installation error matrix to obtain a second simplified matrix;
and carrying out data combination on the first simplified matrix and the second simplified matrix to obtain a simplified matrix set.
4. The method for calibrating an error of a fiber optic gyroscope based on matrix equivalent transformation according to claim 1, wherein the step of performing matrix transformation processing on the simplified matrix set to obtain a transformed matrix set includes:
analyzing a reference coordinate system of the target fiber optic gyroscope to determine a target reference coordinate system;
analyzing the position relation of the sensitive axis through the target reference coordinate system, and determining the position relation data of the sensitive axis of the target;
performing matrix conversion processing on a first simplified matrix in the simplified matrix set and a second evolutionary matrix in the simplified matrix respectively through the target sensitive position relation data to obtain a first target matrix and a second target matrix;
and carrying out data combination on the first target matrix and the second target matrix to obtain the conversion matrix set.
5. The method for calibrating an optical fiber gyro error based on matrix equivalent transformation according to claim 1, wherein the step of performing error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the transformation matrix set to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing includes:
performing first error calibration processing on the gyro angular velocity data through a first target matrix in the conversion matrix set to obtain gyro angular velocity data after the error calibration processing;
and performing second error calibration processing on the accelerometer measurement specific force through a second target matrix in the conversion matrix set to obtain the accelerometer measurement specific force after the error calibration processing.
6. A matrix equivalent transformation-based optical fiber gyro error calibration system for performing the matrix equivalent transformation-based optical fiber gyro error calibration method according to any one of claims 1 to 5, comprising:
the acquisition module is used for acquiring data of the target fiber optic gyroscope to obtain gyroscope angular velocity data of the target fiber optic gyroscope and accelerometer measurement specific force;
the analysis module is used for analyzing the gyro angular velocity data, determining a gyro installation error matrix corresponding to the target fiber optic gyro, and simultaneously analyzing the accelerometer measurement specific force, and determining an accelerometer installation error matrix corresponding to the target fiber optic gyro;
the simplifying module is used for carrying out matrix simplifying processing on the gyroscope installation error matrix and the accelerometer installation error matrix to obtain a simplified matrix set;
the conversion module is used for carrying out matrix conversion processing on the simplified matrix set to obtain a conversion matrix set;
and the calibration module is used for carrying out error calibration processing on the gyro angular velocity data and the accelerometer measurement specific force through the conversion matrix set respectively to obtain the gyro angular velocity data after the error calibration processing and the accelerometer measurement specific force after the error calibration processing.
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