CN203432591U - Calibration compensation model of dynamically tuned gyroscope inclinometer - Google Patents

Abstract

The utility model relates to a calibration compensation model of a dynamically tuned gyroscope inclinometer. The model comprises three accelerometers, a two-shaft dynamically tuned gyroscope and a mechanical framework, wherein the two-shaft dynamically tuned gyroscope and the three accelerometers are sequentially arranged on the mechanical framework, and the three accelerometers are orthogonally arranged on the mechanical framework. The utility model provides the calibration compensation model of the dynamically tuned gyroscope inclinometer, which can be used for simplifying a calibration method, lowering the machining precision and improving the precision of the gyroscope inclinometer.

Description

The calibration compensation model of dynamic tuned gyroscope tiltmeter

Technical field

The utility model relates to a kind of calibration compensation model of dynamic tuned gyroscope tiltmeter.

Background technology

Dynamic tuned gyroscope is a kind of gyroscope of double freedom, due to its precision, volume and reliability widespread use and oil well logging industry, but in actual applications, there is static shift error, random offset error and temperature drift error in dynamic tuned gyroscope, static shift error and temperature drift error are the main source of errors of oil well logging industry High Temperature High Pressure operation, select rational compensation method and compensation model, can simplify demarcation flow process, lowering apparatus difficulty of processing, improves Instrument measuring precision.

The static shift coefficient of current driving force tuned gyroscope tiltmeter solved several different methods, traditional eight position measuring method, X position scaling method, method for standardization of optimum 8 positions and 24 position calibration methods.These methods have high requirements to machining accuracy, and whole calibration process computing is loaded down with trivial details, and the demarcation cycle is long, bring inconvenience to tiltmeter High temperature calibration.

Utility model content

In order to solve the above-mentioned technical matters existing in background technology, the utility model provides a kind of calibration compensation model of simplifying scaling method, reducing machining accuracy and improve the dynamic tuned gyroscope tiltmeter of gyroscopic inclinometer precision.

Technical solution of the present utility model is: the utility model provides a kind of calibration compensation model of dynamic tuned gyroscope tiltmeter, and its special character is: described calibration compensation model comprises dynamic tuned gyroscope and the machinery frame of three accelerometers, a diaxon; The dynamic tuned gyroscope of described diaxon and three accelerometers are successively set on machinery frame; Described three accelerometers are orthogonally set on machinery frame.

Above-mentioned calibration compensation model also comprises three-axle table; Described machinery frame is placed on three-axle table.

Above-mentioned calibration compensation model also comprises the data acquisition computer being connected with accelerometer and dynamic tuned gyroscope respectively.

The utility model has the advantages that:

The utility model provides a kind of calibration compensation model of dynamic tuned gyroscope tiltmeter, the structure that this model adopts is the layout of strapdown machinery, comprise a double-shaft power tuner-type flexible gyroscope and three quartz flexible accelerometers, be arranged on machinery frame, form inertial measurement cluster.The utility model is for the demarcation of flexible gyroscope tiltmeter, utilize the non-orthogonal angle of accelerometer measures gyro X-axis and Y-axis and accelerometer X-axis and two coordinate systems of Y-axis, use coordinate transformation equation that this angle is accurately compensated in accelerometer model, guarantee that like this accelerometer coordinate system and gyro coordinate system are mutually orthogonal; In tiltmeter calibration process, adopt four location positions at 180 °, interval between two, directly null suppression is inclined to one side, calculate each compensating parameter that accelerometer is relevant, compare with traditional calibration compensation algorithm, especially compare and reduced calibration position with scaling methods such as traditional eight position measuring and 24 location positions, facilitated High temperature calibration and the checking of instrument.Reduce tiltmeter machining precision prescribed, reduced staking-out work amount, provided cost savings, reduced calibration position, reduced operation time, reduced instrumental calibration required time.The utility model can be poor at machining accuracy, guarantee precision, calculate the static shift coefficient of dynamic tuned gyroscope under time saving and energy saving prerequisite.

Accompanying drawing explanation

Fig. 1 is gyro coordinate system and accelerometer coordinate system position view in the peg model that adopts of the utility model;

Fig. 2 is the structural representation of the calibration compensation model that adopts of the utility model;

1-dynamic tuned gyroscope; 2-Y axle accelerometer; 3-X axle accelerometer; 4-Z axle accelerometer.

Embodiment

Principle of work of the present utility model is:

1), referring to Fig. 2, set up calibration compensation model; Calibration compensation model comprises dynamic tuned gyroscope and the machinery frame of three accelerometers, a diaxon; The dynamic tuned gyroscope of diaxon and three accelerometers are successively set on machinery frame; Three accelerometers are orthogonally set on machinery frame; Three accelerometers form coordinate system XYZ; The axial formation coordinate system X'Y'Z' of dynamic tuned gyroscope and machinery frame, shown in Figure 1;

2) because machining exists error, the gyro coordinate system of circular shaft type (X'Y'Z') and accelerometer coordinate system (XYZ) cannot guarantee complete quadrature, two coordinate axis have small angle, therefore, in order to measure accurately, the utility model also needs the axial formed coordinate system X'Y'Z' that judges three formed coordinate system XYZ of accelerometer and dynamic tuned gyroscope and machinery frame whether to have nonopiate angle, if so, carries out step 3); If not, exit calibration compensation process;

3) measure the nonopiate angle between three formed coordinate system XYZ of accelerometer and the axial formed coordinate system X'Y'Z' of dynamic tuned gyroscope and machinery frame:

3.1) make three Z axis in the formed coordinate system XYZ of accelerometer coaxial with the axial maintenance of machinery frame;

3.2) utilize accelerometer measures and calculate accelerometer X-axis and the X ' axle of two coordinate systems of Y-axis and dynamic tuned gyroscope and the nonopiate angle α of two coordinate systems of Y ' axle; Transfer equation between two coordinate systems is as follows: gyro X-axis sensitive axes is pointed to positive north, and hole drift angle is adjusted to 90 °, adjusts three-axle table, makes X-axis accelerometer be output as zero, now can Measurement accuracy accelerometer coordinate system and gyro coordinate system between angle α.Its computing formula is:

$\left[\begin{array}{c}{X}^{\′}\\ Y^{\′}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\α}& \sin \mathrm{\α}\\ -\sin \mathrm{\α}& \cos \mathrm{\α}\end{array}\right]\left[\begin{array}{c}X\\ Y\end{array}\right].$

4) the resulting nonopiate angle of step 3) is compensated to the formed calibration compensation model of step 1);

5) according to the relation between gyroscopic drift and carrier acceleration, can gyroscope is regular, systematic drift is divided into the drift irrelevant with acceleration, and drift proportional to acceleration, to acceleration square proportional drift.Utilize the formed calibration compensation model of step 4) to adopt four location position methods to obtain the coefficient of deviation relevant to acceleration:

5.1) according to following formula, determine the coefficient of deviation B relevant to acceleration _xx, B _xy, B _yx, B _yy;

Wherein:

---the angular velocity measurement value that dynamic tuned gyroscope is measured;

ω _x, ω _y---gyro is around the speed of rotation of its input shaft;

A _x, a _y---respectively along the acceleration (having added the gravity acceleration value after α offset angle) of x, y direction;

B _fx, B _fy---to insensitive zero parital coefficient of acceleration;

B _xx, B _xy, B _yx, B _yy---coefficient of deviation proportional to acceleration;

5.2) adopt four location position methods to calculate the coefficient of deviation relevant to acceleration.

Four location position methods comprise:

Primary importance: the X measurement axle sensing of dynamic tuned gyroscope " my god ", the Y of dynamic tuned gyroscope measures axle and points to " west ", and the Z of dynamic tuned gyroscope measures axle sensing " south ";

The second place: the X measurement axle sensing of dynamic tuned gyroscope " ", the Y of dynamic tuned gyroscope measures axle and points to " east ", and the Z of dynamic tuned gyroscope measures axle sensing " south ";

The 3rd position: the X of dynamic tuned gyroscope measures axle and points to " north ", the Y measurement axle sensing of dynamic tuned gyroscope " my god ", the Z of dynamic tuned gyroscope measures axle and points to " east ";

The 4th position: the X of dynamic tuned gyroscope measures axle and points to " south ", the Y measurement axle sensing of dynamic tuned gyroscope " ", the Z of dynamic tuned gyroscope measures axle and points to " east ";

The data of the primary importance measuring deduct the data of the second place, B _fx, B _fycancellation calculates and the proportional coefficient of deviation B of acceleration by the data of the 3rd position and the data of the 4th position simultaneously _xx, B _xy, B _yx, B _yy.; These data are that X, Y-axis gyro and X, Y, Z accelerometer are at the measured value of current location.

Referring to Fig. 2, the utility model provides a kind of calibration compensation model, and this calibration compensation model comprises dynamic tuned gyroscope 1 and the machinery frame of three accelerometers (Y-axis accelerometer 2, X-axis accelerometer 3 and Z axis accelerometer 4), a diaxon; The dynamic tuned gyroscope 1 of diaxon and three accelerometers (Y-axis accelerometer 2, X-axis accelerometer 3 and Z axis accelerometer 4) are successively set on machinery frame; Three accelerometers (Y-axis accelerometer 2, X-axis accelerometer 3 and Z axis accelerometer 4) are orthogonally set on machinery frame.

Calibration compensation model also comprises three-axle table (not identifying in figure); Machinery frame is placed on three-axle table.

Calibration compensation model also comprises the data acquisition computer (not identifying in figure) being connected with accelerometer and dynamic tuned gyroscope respectively.Data acquisition computer can be various conventional calculating memory devices that can image data.

Claims (3)

1. a calibration compensation model for dynamic tuned gyroscope tiltmeter, is characterized in that: described calibration compensation model comprises dynamic tuned gyroscope and the machinery frame of three accelerometers, a diaxon; The dynamic tuned gyroscope of described diaxon and three accelerometers are successively set on machinery frame; Described three accelerometers are orthogonally set on machinery frame.

2. calibration compensation model according to claim 1, is characterized in that: described calibration compensation model also comprises three-axle table; Described machinery frame is placed on three-axle table.

3. calibration compensation model according to claim 1 and 2, is characterized in that: described calibration compensation model also comprises the data acquisition computer being connected with accelerometer and dynamic tuned gyroscope respectively.

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