CN117870656A - Lightweight optical fiber gyro inertial measurement system - Google Patents
Lightweight optical fiber gyro inertial measurement system Download PDFInfo
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Abstract
The invention relates to a lightweight optical fiber gyro inertia measurement system which comprises a triaxial integrated optical fiber gyro combination, a quartz flexible accelerometer and a body structure, wherein the triaxial integrated optical fiber gyro combination is provided with a light source assembly, a first optical fiber coupler, a first optical fiber sensing module, a second optical fiber sensing module, a third optical fiber sensing module and a control and processing circuit. The first optical fiber coupler is provided with a first input end, a first output end, a second output end and a third output end, the light source component is optically connected with the first input end of the first optical fiber coupler, the first optical fiber sensing module is optically connected with the first output end of the first optical fiber coupler, the second optical fiber sensing module is optically connected with the second output end of the first optical fiber coupler, the third optical fiber sensing module is optically connected with the third output end of the third optical fiber coupler, and the first optical fiber sensing module, the second optical fiber sensing module and the third optical fiber sensing module are electrically connected with the control and processing circuit.
Description
Technical Field
The invention relates to the technical field of inertial measurement, in particular to a lightweight fiber-optic gyroscope inertial measurement system.
Background
In the national defense weapon equipment technical system, the inertia technology is the only motion information sensing technology which has the advantages of autonomy, real-time, continuity, concealment, no interference and no time, place and environment limitation, is the core technology of navigation positioning, guidance control, stable aiming and image stabilization, gesture measurement and overload sensing of the space-based, air-based, sea-based and land-based mobile equipment, is one of key information sources of modern accurate striking weapons, and is an important component of key technologies such as weapon platform overall, accurate guidance, detection positioning, information sensing, information system synthesis, high-efficiency striking and the like. The product has large development difficulty, long period and high cost, is one of bottleneck technologies for weapon system development, and is a national defense key technology which is urgently required to be broken through.
The inertial measurement unit has the following main functions: measuring apparent velocity increment and angle increment of the projectile body in 3 coordinate axis directions in real time; measuring the angular velocities of 3 coordinate axes around the projectile body in real time; the digital measurement information and the system synchronous clock signal are output at fixed time; the simulation digital quantity storage and output function is provided; the system has self-detection and self-diagnosis functions and outputs state information in the form of digital quantity.
Overall, the inertial measurement unit always has an overall trend of "high accuracy" and "miniaturization". In the aspect of the design of the inertial measurement unit, the three-axis integrated fiber optic gyroscope combination is selected by comprehensively considering factors such as volume, weight, performance, cost and the like, so that the circuit of the gyroscope is highly integrated, the circuit structure weight of the gyroscope is reduced, the additional meter is embedded in the fiber optic ring, and the volume space occupied by the additional meter is reduced. On the basis, the system damping design, the temperature field analysis, the seven-property design and the like are performed, the model machine development is performed, the gyro precision of the inertial measurement device reaches 0.005 degrees/h, the meter adding precision reaches 50ug, the volume of the inertial measurement device is only 158mm multiplied by 108mm, and the weight of the inertial measurement device is only 4kg.
The optical fiber inertial measurement unit is a core component of an inertial navigation control system and is used for measuring acceleration and angular velocity information of three axes of a carrier coordinate system, and the optical fiber inertial measurement unit has the advantages of reliability, long service life, wide dynamic range, high starting speed and the like, and is widely applied to various national defense fields such as missile precision guidance, aircraft and naval vessel navigation, tank aiming systems and the like. At present, various types of optical fiber inertial measurement units in China need to be listed up for years from development to arrangement, and various inertial measurement units are various in types and forms due to different conditions of use environments, bullet diameters, tactical grades and the like of various scientific research institutions and military units. In view of the situation, the invention mainly designs a high-precision light-small optical fiber inertial measurement unit capable of meeting various use conditions.
Disclosure of Invention
In order to solve the defects of larger volume and weight in the prior art, the invention provides a lightweight optical fiber gyro inertia measurement system, which has the same precision as an inertia measurement unit (gyro precision reaches 0.005 degrees/h, meter adding precision reaches 50 ug), and the volume is generally about 200mm multiplied by 180mm, and the weight is about 10 kg.
In a first aspect, the present invention provides a lightweight fiber optic gyroscope inertial measurement system, comprising:
the three-axis integrated optical fiber gyro assembly and the quartz flexible accelerometer are fixed on the body structure;
the triaxial integrated optical fiber gyro combination is provided with a light source assembly, a first optical fiber coupler, a first optical fiber sensing module, a second optical fiber sensing module, a third optical fiber sensing module and a control and processing circuit;
the first optical fiber coupler is provided with a first input end, a first output end, a second output end and a third output end, the light source component is optically connected with the first input end of the first optical fiber coupler, the first optical fiber sensing module is optically connected with the first output end of the first optical fiber coupler, the second optical fiber sensing module is optically connected with the second output end of the first optical fiber coupler, the third optical fiber sensing module is optically connected with the third output end of the third optical fiber coupler, and the first optical fiber sensing module, the second optical fiber sensing module and the third optical fiber sensing module are electrically connected with the control and processing circuit.
In some embodiments, the first fiber optic sensing module has a second fiber optic coupler, a first fiber optic gyro sensing ring, and a first fiber optic detector, the second fiber optic coupler has a second input end, a fourth output end, and a first integrated functional end, the first output end of the first fiber optic coupler is optically connected to the second input end of the second fiber optic coupler, the first fiber optic gyro sensing ring is optically connected to the first integrated functional end of the second fiber optic coupler, the input end of the first fiber optic detector is optically connected to the fourth output end of the second fiber optic coupler, and the output end of the first fiber optic detector is electrically connected to the control and processing circuit.
In some embodiments, the second optical fiber sensing module has a third optical fiber coupler, a second optical fiber gyro sensing ring and a second optical fiber detector, the third optical fiber coupler has a third input end, a fifth output end and a second integrated functional end, the second output end of the first optical fiber coupler is optically connected with the third input end of the third optical fiber coupler, the second optical fiber gyro sensing ring is optically connected with the second integrated functional end of the third optical fiber coupler, the input end of the second optical fiber detector is optically connected with the fifth output end of the third optical fiber coupler, and the output end of the third optical fiber detector is electrically connected with the control and processing circuit.
In some embodiments, the third optical fiber sensing module has a fourth optical fiber coupler, a third optical fiber gyro sensing ring and a third optical fiber detector, the second optical fiber coupler has a fourth input end, a sixth output end and a third integrated functional end, the third output end of the first optical fiber coupler is optically connected with the fourth input end of the fourth optical fiber coupler, the third optical fiber gyro sensing ring is optically connected with the third integrated functional end of the fourth optical fiber coupler, the input end of the third optical fiber detector is optically connected with the sixth output end of the fourth optical fiber coupler, and the output end of the third optical fiber detector is electrically connected with the control and processing circuit.
In some embodiments, the first fiber optic gyroscope sensing ring includes a first Y waveguide and a first fiber optic sensing ring;
the second fiber optic gyroscope sensing ring comprises a second Y waveguide and a second fiber optic sensing ring;
the third fiber optic gyroscope sensing ring comprises a third Y waveguide and a third fiber optic sensing ring.
In some embodiments, the shape of the first optical fiber sensing loop is the same as the shape of the second optical fiber sensing loop and the shape of the third optical fiber sensing loop, and the size of the first optical fiber sensing loop is the same as the size of the second optical fiber sensing loop and the size of the third optical fiber sensing loop.
In some embodiments, the device further comprises a control board and an interface board, wherein an inter-board connector is arranged between the control board and the interface board;
the control and processing circuit comprises a DSP and a peripheral circuit thereof, an FPGA and a peripheral circuit thereof, a digital interface circuit and a power conversion circuit, wherein the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all arranged on the control board, the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all in communication connection with the inter-board connector, the digital interface circuit and the power conversion circuit are all arranged on the interface board, and the digital interface circuit and the power conversion circuit are all in communication connection with the inter-board connector.
In some embodiments, the DSP and its peripheral circuitry have a DSP module and a parallel FLASH module, and the FPGA and its peripheral circuitry have an FPGA module and a serial FLASH module;
an RS485 controller is further arranged on the control board, and the RS485 controller is in communication connection with the inter-board connector;
the parallel port FLASH module is connected with the FPGA module in a communication way, and the serial FLASH module is connected with the FPGA module in a communication way.
In some embodiments, the digital interface circuit has a first isolation circuit module, a second isolation circuit module, an RS485 interface, a first RS422 interface, a second RS422 interface, a gyro-combined communication interface, and an I/F conversion circuit communication interface, the power conversion circuit having a power conversion module;
the interface board is also provided with a resistor voltage division module which is in communication connection with the inter-board connector;
the first isolation circuit module is in communication connection with the inter-board connector, a sixth communication connection is arranged between the first isolation circuit module and the RS485 interface, the second isolation circuit module is in communication connection with the inter-board connector, a seventh communication connection is arranged between the second isolation circuit module and the first RS422 interface, the second RS422 interface is in communication connection with the inter-board connector, an eighth communication connection is arranged between the second RS422 interface and the gyro combined communication interface, a ninth communication connection is arranged between the resistor voltage division module and the I/F conversion circuit communication interface, and the power conversion module is electrically connected with the inter-board connector.
In some embodiments, the quartz flexible accelerometer is comprised of a gauge outfit comprising an integral quartz flexible proof mass pendulum assembly, upper and lower torquers, bellyband and isolation rings, and a servo circuit comprising a reference triangle wave generator, differential capacitance detector, current integrator, transconductance compensation amplifier, and voltage regulator.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a fiber optic gyroscope assembly according to an embodiment of the present disclosure;
fig. 2 is a functional block diagram of an information circuit according to an embodiment of the present application.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".
The embodiment discloses a burning method of a vehicle brake controller, as shown in fig. 1, which may include:
the three-axis integrated optical fiber gyro assembly and the quartz flexible accelerometer are fixed on the body structure;
the triaxial integrated optical fiber gyro combination is provided with a light source assembly, a first optical fiber coupler, a first optical fiber sensing module, a second optical fiber sensing module, a third optical fiber sensing module and a control and processing circuit;
the first optical fiber coupler is provided with a first input end, a first output end, a second output end and a third output end, the light source component is optically connected with the first input end of the first optical fiber coupler, the first optical fiber sensing module is optically connected with the first output end of the first optical fiber coupler, the second optical fiber sensing module is optically connected with the second output end of the first optical fiber coupler, the third optical fiber sensing module is optically connected with the third output end of the third optical fiber coupler, and the first optical fiber sensing module, the second optical fiber sensing module and the third optical fiber sensing module are electrically connected with the control and processing circuit.
The inertial measurement unit mainly comprises a mechanical structure and an electrical system. Because the precision of the inertial measurement unit is mainly ensured by the precision of an inertial device, the scheme selects the STG-100 triaxial integrated fiber-optic gyroscope combination, and the zero offset stability is better than 0.005 degrees/h (3 sigma); an SRJ-01A (T) type accelerometer is selected, and the zero offset stability of the type accelerometer is better than 50ug (3 sigma). The mechanical structure mainly comprises a structure body and a shock absorber; the electric system mainly comprises an optical fiber gyro combination, an accelerometer, an I/F conversion circuit, an information processing circuit, a power module and an internal cable network. Wherein, the main functions of each part subassembly are as follows:
1) The gyro is mainly used for measuring the angular velocity of a carrier, and STG-100 type triaxial integrated fiber-optic gyro combination is selected;
2) The accelerometer is mainly used for measuring the visual acceleration of the carrier and adopts an SRJ-01A (T) high-precision temperature compensation type quartz flexible accelerometer;
3) The information processing circuit adopts a mature 'DSP+FPGA' architecture, is applied to a multi-type inertial measurement device, and mainly completes the following functions: (1) collecting, filtering and error compensating data of sensors such as gyroscopes, accelerometers and the like; (2) external interface communication is realized;
4) The I/F conversion circuit converts the current signal of the accelerometer into counting pulse, and the technology of the selected CFC-6060M type I/F conversion circuit is mature and has high reliability;
5) The power module is internally provided with an EMI filter, and converts a direct current power supply input by the system into a secondary power supply required by each functional component, and each path of output is isolated;
6) The structural body is made of aluminum alloy materials, and mainly realizes the installation and the fastening of each component and the sealing protection of the machine body;
7) The vibration absorber mainly realizes vibration absorption and vibration isolation of the inertial measurement unit and provides a good mechanical environment for the gyroscope and the accelerometer;
8) The internal cable network mainly realizes communication, power supply and the like among the components.
The main function of the whole structure of the inertial measurement unit is to provide proper installation and fixation for functional components, waterproof-grade protection environment for each component, electromagnetic shielding environment for each component and installation mechanical interface for equipment.
The base adopts a multi-cavity symmetrical structure to realize the installation and positioning of all main parts, and meanwhile, in order to ensure the stability of various indexes of the product, the base is designed according to the following principle:
1) The base adopts an integrated and modularized structural design mode, the requirements of light weight and reliability are fully considered, and the suitability of the layout of each inertial instrument is fully considered in structural design;
2) In inertial measurement unit O 1 Y bt The base mounting lugs in the opposite direction are provided with reference planes, the flatness and verticality of the reference planes are designed to be 0.02mm, and the base can be ensured to provide mounting precision superior to that of 5' for an inertial instrument. The thickness is increased at the installation positions of the fiber-optic gyroscope and the accelerometer, so that good mechanical working environments of the fiber-optic gyroscope and the accelerometer are ensured, and meanwhile, the installation reliability is ensured;
3) The mounting size and the mounting mode of the base meet the technical requirements and simultaneously realize the requirement of convenient disassembly of the base;
4) The base considers the layout of devices such as a power supply module, an information processing circuit, an I/F conversion circuit and the like, so that the wiring of a product is reasonable, and the electromagnetic compatibility is good;
5) The strength of the base is enhanced, and the base is ensured not to deform after the mechanical environment and stress are released;
6) On the basis of meeting the above requirements, the base structure is designed to be miniaturized and light.
7) The rigidity and the strength of the base can directly influence the measurement precision of the inertial instrument, and finite element modal analysis is carried out on the platform body for determining the inherent characteristics of the platform body assembly, namely the inherent frequency, the modal shape and other parameters of the structure.
Because the weight index requirement is very strict, in order to ensure that the weight of the product meets the index requirement, the strength and the rigidity of the system are not influenced, the system precision in a dynamic environment is ensured, and the following weight reduction design is carried out:
a) The self-grinding triaxial integrated fiber-optic gyroscope combination is selected, and a gyroscope circuit is highly integrated, so that the circuit structure weight of the gyroscope is reduced;
b) The reinforcing ribs are fully designed at the bottom of the structure, and the structural strength is fully ensured on the premise of weight reduction. The vibration reduction system provides a good mechanical working environment for a gyroscope combination, an accelerometer and other electronic elements in the inertial measurement unit, ensures that the inertial measurement unit stably and reliably works under vibration and impact environments so as to meet the requirements of dynamic frequency characteristics and dynamic measurement precision, and selects a sleeve-mounted rubber vibration absorber. The shock absorber has the remarkable characteristics of low installation height, small volume, light weight, triaxial rigidity and the like.
In order to meet the requirements of resonance frequency and resonance amplification factor under random vibration, a viscoelastic, large damping and rubber vibration absorber is selected, the angular frequency characteristic of the vibration absorber meets the requirements of second-order links, the resonance frequency is more than or equal to 80Hz, the amplitude of a resonance peak is not more than 10dB, and the influence of high-frequency vibration on an accelerometer and an optical fiber gyro can be remarkably reduced. The inertial measurement unit adopts a four-point uniformly-distributed external vibration reduction structure, and the vibration absorbers are arranged at the outermost end of the inertial measurement unit, so that the coupling of the respective degrees of freedom in a dynamic environment can be effectively reduced, and better linear angle coupling performance can be obtained.
In some embodiments, the first fiber optic sensing module has a second fiber optic coupler, a first fiber optic gyro sensing ring, and a first fiber optic detector, the second fiber optic coupler has a second input end, a fourth output end, and a first integrated functional end, the first output end of the first fiber optic coupler is optically connected to the second input end of the second fiber optic coupler, the first fiber optic gyro sensing ring is optically connected to the first integrated functional end of the second fiber optic coupler, the input end of the first fiber optic detector is optically connected to the fourth output end of the second fiber optic coupler, and the output end of the first fiber optic detector is electrically connected to the control and processing circuit.
In some embodiments, the second optical fiber sensing module has a third optical fiber coupler, a second optical fiber gyro sensing ring and a second optical fiber detector, the third optical fiber coupler has a third input end, a fifth output end and a second integrated functional end, the second output end of the first optical fiber coupler is optically connected with the third input end of the third optical fiber coupler, the second optical fiber gyro sensing ring is optically connected with the second integrated functional end of the third optical fiber coupler, the input end of the second optical fiber detector is optically connected with the fifth output end of the third optical fiber coupler, and the output end of the third optical fiber detector is electrically connected with the control and processing circuit.
In some embodiments, the third optical fiber sensing module has a fourth optical fiber coupler, a third optical fiber gyro sensing ring and a third optical fiber detector, the second optical fiber coupler has a fourth input end, a sixth output end and a third integrated functional end, the third output end of the first optical fiber coupler is optically connected with the fourth input end of the fourth optical fiber coupler, the third optical fiber gyro sensing ring is optically connected with the third integrated functional end of the fourth optical fiber coupler, the input end of the third optical fiber detector is optically connected with the sixth output end of the fourth optical fiber coupler, and the output end of the third optical fiber detector is electrically connected with the control and processing circuit.
In some embodiments, the first fiber optic gyroscope sensing ring includes a first Y waveguide and a first fiber optic sensing ring;
the second fiber optic gyroscope sensing ring comprises a second Y waveguide and a second fiber optic sensing ring;
the third fiber optic gyroscope sensing ring comprises a third Y waveguide and a third fiber optic sensing ring.
In some embodiments, the shape of the first optical fiber sensing loop is the same as the shape of the second optical fiber sensing loop and the shape of the third optical fiber sensing loop, and the size of the first optical fiber sensing loop is the same as the size of the second optical fiber sensing loop and the size of the third optical fiber sensing loop.
The combined composition schematic diagram of the fiber optic gyroscope is shown in figure 1. The fiber optic gyroscope combination adopts a triaxial integrated design, and the whole adopts a standard module combination scheme of 'shared light source', and the control unit mainly comprises SLD light sources, 1X 3 fiber couplers, 2X 2 fiber couplers (3), photoelectric detection components (3), a control and processing circuit and a light source driving circuit. The SLD light source, the 1 multiplied by 3 optical fiber couplers, the 2 multiplied by 2 optical fiber couplers (3) and the photoelectric detection components (3) are optical fiber gyro combination general optical devices, and are widely applied to other types of optical fiber gyro combinations; the three gauge outfit modules are core modules of a triaxial fiber-optic gyroscope combination, each module consists of a fiber-optic sensing ring and a Y waveguide, wherein the Y waveguide used is a fiber-optic gyroscope combination general optical device, and the fiber-optic sensing ring is simultaneously applied to other multiple fiber-optic gyroscope combination products, so that the three gauge outfit modules are all the same and have good interchangeability.
In some embodiments, the device further comprises a control board and an interface board, wherein an inter-board connector is arranged between the control board and the interface board;
the control and processing circuit comprises a DSP and a peripheral circuit thereof, an FPGA and a peripheral circuit thereof, a digital interface circuit and a power conversion circuit, wherein the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all arranged on the control board, the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all in communication connection with the inter-board connector, the digital interface circuit and the power conversion circuit are all arranged on the interface board, and the digital interface circuit and the power conversion circuit are all in communication connection with the inter-board connector.
In some embodiments, the DSP and its peripheral circuitry have a DSP module and a parallel FLASH module, and the FPGA and its peripheral circuitry have an FPGA module and a serial FLASH module;
an RS485 controller is further arranged on the control board, and the RS485 controller is in communication connection with the inter-board connector;
the parallel port FLASH module is connected with the FPGA module in a communication way, and the serial FLASH module is connected with the FPGA module in a communication way.
The information circuit is shown in the working principle diagram in figure 2. The hardware circuit of the information processing circuit mainly comprises a DSP and a peripheral circuit thereof, an FPGA and a peripheral circuit thereof, a digital interface circuit, a power supply conversion circuit and other functional modules. In the schematic block diagram, the DSP and its peripheral circuits mainly include: a DSP circuit and a parallel FLASH circuit; the FPGA and the peripheral circuit thereof mainly comprise: an FPGA circuit and a serial FLASH circuit; the digital interface circuit includes: an RS485 interface, an RS422 interface and an isolation circuit which are communicated with an external system, a combined communication interface with a gyroscope, a communication interface with an I/F conversion circuit and an interface circuit of a temperature sensor; the power conversion circuit includes: the LDO voltage conversion circuit of 4 kinds of voltages is needed by the information processing circuit. All data except the information processing circuit enter each module of the FPGA to carry out data preprocessing after passing through the communication interface and the isolation circuit, and the data is directly accessed by the master control DSP after the preprocessing of the FPGA is completed. The external communication of the DSP is realized through the EMIF bus and the FPGA interface to communication circuit. The modularized design scheme has the advantages of simple structure on circuit hardware and flexible new function expansion.
In some embodiments, the digital interface circuit has a first isolation circuit module, a second isolation circuit module, an RS485 interface, a first RS422 interface, a second RS422 interface, a gyro-combined communication interface, and an I/F conversion circuit communication interface, the power conversion circuit having a power conversion module;
the interface board is also provided with a resistor voltage division module which is in communication connection with the inter-board connector;
the first isolation circuit module is in communication connection with the inter-board connector, a sixth communication connection is arranged between the first isolation circuit module and the RS485 interface, the second isolation circuit module is in communication connection with the inter-board connector, a seventh communication connection is arranged between the second isolation circuit module and the first RS422 interface, the second RS422 interface is in communication connection with the inter-board connector, an eighth communication connection is arranged between the second RS422 interface and the gyro combined communication interface, a ninth communication connection is arranged between the resistor voltage division module and the I/F conversion circuit communication interface, and the power conversion module is electrically connected with the inter-board connector.
The accelerometer output is a current analog quantity, and three schemes are generally adopted for converting the analog quantity into a digital quantity which can be processed by a digital circuit, namely a current/frequency (I/F) conversion circuit, a voltage/frequency (V/F) conversion circuit and an analog-to-digital (ADC) conversion circuit. Compared with a voltage/frequency conversion circuit (V/F) and an analog-to-digital conversion circuit (ADC), the I/F can obtain better precision in converting current signals, such as better zero bias, better nonlinearity, better temperature characteristics and the like. By optimizing the design, the cross interference between the conversion channels of the I/F is very low. So far, I/F plays an increasingly important role in the inertial fields of guidance, navigation, control, etc.
In combination with the requirements of high reliability and long-term stability of the project, a fully independent intellectual property is selected, and a fully independent controllable high-performance I/F conversion circuit is adopted. The I/F conversion circuit can convert the current signal into pulse frequency numbers proportional to the current value, and output the pulse frequency numbers to the information processing circuit for counting after level conversion, so that high-precision acquisition of the output current of the accelerometer is realized.
The I/F conversion circuit has the following characteristics:
a) The I/F conversion is a closed loop conversion of directly carrying out quantization feedback mode on current, and can realize real-time dynamic continuous accumulation conversion on current source signals without losing acquisition precision;
b) The I/F conversion based on the charge balance principle is similar to one-bit A/D conversion, and compared with the general integral type or comparative type A/D conversion, the I/F conversion can realize high-precision conversion with large dynamic range (nA level-mA level), extremely small threshold value, low zero bias and good suppression capability on serial mode interference and noise.
In some embodiments, the quartz flexible accelerometer is comprised of a gauge outfit comprising an integral quartz flexible proof mass pendulum assembly, upper and lower torquers, bellyband and isolation rings, and a servo circuit comprising a reference triangle wave generator, differential capacitance detector, current integrator, transconductance compensation amplifier, and voltage regulator.
According to the method, factors such as the volume, the weight, the structural layout and the like of an inertial measurement unit are comprehensively considered according to the precision index requirement of an acceleration channel, and in the scheme, an SRJ-01A (T) quartz flexible accelerometer is selected as the accelerometer, and a platinum resistance temperature sensor is arranged in the accelerometer, so that the internal temperature of the accelerometer can be directly measured for carrying out temperature compensation work of the accelerometer.
The quartz flexible accelerometer is a mechanical pendulum type force balance accelerometer, and consists of a gauge outfit and a servo circuit. The meter head consists of a whole quartz flexible detection mass pendulum assembly, an upper moment device, a lower moment device, a binder, a spacer ring and other connecting pieces, a shell and other parts. The servo circuit is a hybrid integrated circuit and consists of five parts, namely a reference triangular wave generator, a differential capacitance detector, a current integrator, a transconductance compensation amplifier and a voltage regulator. The accelerometer is mounted on the carrier, and detects an inertia moment which the mass pendulum will generate when the carrier has an acceleration motion relative to the inertia space in the direction of the input axis of the accelerometer.
The invention has the beneficial effects that: the high-precision three-axis integrated optical fiber gyroscope is selected for combination, the optical fiber ring is structurally embedded with the high-precision accelerometer, and each module is subjected to high-integration modularized design and modularized components are selected, so that the size of the inertial measurement unit is only 158mm multiplied by 108mm, and the weight is better than 4Kg. The system design of the inertial measurement unit is realized by layering and zoning the parts, so that the electromagnetic compatibility, the strength design, the temperature design and the like in the inertial measurement unit are improved, and the reliability of the inertial measurement unit during operation is further improved.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.
Claims (10)
1. A lightweight fiber optic gyroscope inertial measurement system, comprising:
the three-axis integrated optical fiber gyro assembly and the quartz flexible accelerometer are fixed on the body structure;
the triaxial integrated optical fiber gyro combination is provided with a light source assembly, a first optical fiber coupler, a first optical fiber sensing module, a second optical fiber sensing module, a third optical fiber sensing module and a control and processing circuit;
the first optical fiber coupler is provided with a first input end, a first output end, a second output end and a third output end, the light source component is optically connected with the first input end of the first optical fiber coupler, the first optical fiber sensing module is optically connected with the first output end of the first optical fiber coupler, the second optical fiber sensing module is optically connected with the second output end of the first optical fiber coupler, the third optical fiber sensing module is optically connected with the third output end of the third optical fiber coupler, and the first optical fiber sensing module, the second optical fiber sensing module and the third optical fiber sensing module are electrically connected with the control and processing circuit.
2. The lightweight fiber optic gyroscope inertial measurement system of claim 1, wherein the first fiber optic sensing module has a second fiber optic coupler, a first fiber optic gyroscope sensing ring, and a first fiber optic detector, the second fiber optic coupler has a second input, a fourth output, and a first integrated functional end, the first output of the first fiber optic coupler is optically connected to the second input of the second fiber optic coupler, the first fiber optic gyroscope sensing ring is optically connected to the first integrated functional end of the second fiber optic coupler, the input of the first fiber optic detector is optically connected to the fourth output of the second fiber optic coupler, and the output of the first fiber optic detector is electrically connected to the control and processing circuitry.
3. The lightweight fiber optic gyroscope inertial measurement system of claim 2, wherein the second fiber optic sensing module has a third fiber optic coupler having a third input, a fifth output and a second integrated functional end, a second fiber optic gyroscope sensing ring optically coupled to the third input of the third fiber optic coupler, and a second fiber optic detector optically coupled to the fifth output of the third fiber optic coupler, the output of the third fiber optic detector electrically coupled to the control and processing circuitry.
4. The lightweight fiber optic gyroscope inertial measurement system of claim 3, wherein the third fiber optic sensing module has a fourth fiber optic coupler, a third fiber optic gyroscope sensing ring, and a third fiber optic detector, the second fiber optic coupler has a fourth input, a sixth output, and a third integrated functional end, the third output of the first fiber optic coupler is optically connected to the fourth input of the fourth fiber optic coupler, the third fiber optic gyroscope sensing ring is optically connected to the third integrated functional end of the fourth fiber optic coupler, the input of the third fiber optic detector is optically connected to the sixth output of the fourth fiber optic coupler, and the output of the third fiber optic detector is electrically connected to the control and processing circuitry.
5. The lightweight fiber optic gyroscope inertial measurement system of claim 4, wherein the first fiber optic gyroscope sensing ring includes a first Y waveguide and a first fiber optic sensing ring;
the second fiber optic gyroscope sensing ring comprises a second Y waveguide and a second fiber optic sensing ring;
the third fiber optic gyroscope sensing ring comprises a third Y waveguide and a third fiber optic sensing ring.
6. The lightweight fiber optic gyroscope inertial measurement system of claim 5, wherein the shape of the first fiber optic sensing loop is the same as the shape of the second fiber optic sensing loop and the shape of the third fiber optic sensing loop, and the size of the first fiber optic sensing loop is the same as the size of the second fiber optic sensing loop and the size of the third fiber optic sensing loop.
7. The lightweight fiber optic gyroscope inertial measurement system of claim 1, further comprising a control board and an interface board, an inter-board connector disposed between the control board and the interface board;
the control and processing circuit comprises a DSP and a peripheral circuit thereof, an FPGA and a peripheral circuit thereof, a digital interface circuit and a power conversion circuit, wherein the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all arranged on the control board, the DSP and the peripheral circuit thereof and the FPGA and the peripheral circuit thereof are all in communication connection with the inter-board connector, the digital interface circuit and the power conversion circuit are all arranged on the interface board, and the digital interface circuit and the power conversion circuit are all in communication connection with the inter-board connector.
8. The lightweight fiber optic gyroscope inertial measurement system according to claim 7, wherein the DSP and its peripheral circuitry have a DSP module and a parallel port FLASH module, and the FPGA and its peripheral circuitry have an FPGA module and a serial FLASH module;
an RS485 controller is further arranged on the control board, and the RS485 controller is in communication connection with the inter-board connector;
the parallel port FLASH module is connected with the FPGA module in a communication way, and the serial FLASH module is connected with the FPGA module in a communication way.
9. The lightweight fiber optic gyroscope inertial measurement system of claim 7, wherein the digital interface circuit has a first isolation circuit module, a second isolation circuit module, an RS485 interface, a first RS422 interface, a second RS422 interface, a gyroscope combination communication interface, and an I/F conversion circuit communication interface, the power conversion circuit having a power conversion module;
the interface board is also provided with a resistor voltage division module which is in communication connection with the inter-board connector;
the first isolation circuit module is in communication connection with the inter-board connector, a sixth communication connection is arranged between the first isolation circuit module and the RS485 interface, the second isolation circuit module is in communication connection with the inter-board connector, a seventh communication connection is arranged between the second isolation circuit module and the first RS422 interface, the second RS422 interface is in communication connection with the inter-board connector, an eighth communication connection is arranged between the second RS422 interface and the gyro combined communication interface, a ninth communication connection is arranged between the resistor voltage division module and the I/F conversion circuit communication interface, and the power conversion module is electrically connected with the inter-board connector.
10. The lightweight fiber optic gyroscope inertial measurement system of claim 1, wherein the quartz flexible accelerometer is comprised of a gauge outfit comprising an integral quartz flexible proof mass pendulum assembly, upper and lower torquers, bellyband and isolation rings, and a servo circuit comprising a reference triangle wave generator, a differential capacitance detector, a current integrator, a transconductance compensation amplifier and a voltage regulator.
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