RU2011138683A

RU2011138683A - METHOD FOR ALGORITHMIC COMPENSATION OF TEMPERATURE SPEED OF A SOLID WAVE GYROSCOPE DRIFT

Info

Publication number: RU2011138683A
Application number: RU2011138683/28A
Authority: RU
Inventors: Сергей Петрович Редькин
Original assignee: Закрытое акционерное общество "Инерциальные технологии "Технокомплекса" (ЗАО "ИТТ")
Priority date: 2011-09-21
Filing date: 2011-09-21
Publication date: 2013-03-27
Also published as: RU2480713C1

Abstract

Способ алгоритмической компенсации температурной скорости дрейфа твердотельного волнового гироскопа, включающий предварительное определение параметров математически модели температурной скорости дрейфа твердотельного волнового гироскопа, а в рабочем режиме определение углового положения волны резонатора υ относительно корпуса гироскопа и алгоритмическую компенсацию его температурной скорости дрейфа в соответствии с этой моделью, отличающийся тем, что в предварительной калибровочной операции при нормальной температуре окружающей среды твердотельный волновой гироскоп устанавливают на неподвижное основание осью чувствительности вертикально, выдерживают его при этой температуре до момента достижения температуры резонатора Θтемпературы окружающей среды, производят запуск твердотельного волнового гироскопа в нулевом угловом положении волны резонатора относительно его корпуса, при достижении времени готовности твердотельного волнового гироскопа устанавливают волну резонатора в угловое положение минус 90°, используя режим управления прецессией волны резонатора, и в интегрирующем режиме измеряют скорость дрейфа твердотельного волнового гироскопа в течение 3 мин и резонансную частоту колебаний резонатора, аналогичным образом выполняют изменения скорости дрейфа волны резонатора и резонансной частоты на углах минус 60°, минус 30°, 0, 30°, 60°, 90° в первом цикле измерений, после завершения первого цикла выполняют еще семь таких циклов до момента стабилизации резонансной частоты резонатора, а затем в рабочем режиме твердотельного волнового гироскопа измеряют текущее значение частоты резонатора f �A method for algorithmic compensation of the temperature drift velocity of a solid-state wave gyroscope, including preliminary determination of the parameters of a mathematical model of the temperature drift velocity of a solid-state wave gyroscope, and in the operating mode, the determination of the angular position of the resonator wave υ relative to the gyroscope body and algorithmic compensation of its temperature drift velocity in accordance with this model, which differs the fact that in the preliminary calibration operation at normal temperature I surround In a medium, a solid-state wave gyroscope is mounted vertically on the fixed base with the sensitivity axis, held at this temperature until the resonator reaches ambient temperature, the solid-state wave gyroscope is launched in the zero angular position of the resonator wave relative to its body, and when the solid-state wave gyroscope is ready, the resonator wave in the angular position minus 90 °, using the mode of of the atom, and in the integrating mode, the drift velocity of the solid-state wave gyroscope is measured for 3 min and the resonant oscillation frequency of the resonator, similarly, changes in the drift velocity of the resonator wave and resonant frequency are performed at angles of minus 60 °, minus 30 °, 0, 30 °, 60 ° , 90 ° in the first measurement cycle, after the completion of the first cycle, seven more such cycles are performed until the resonant frequency of the resonator is stabilized, and then, in the operating mode of the solid-state wave gyroscope, the current value of the resonator frequency f

Claims

A method of algorithmic compensation of the temperature drift velocity of a solid-state wave gyroscope, including preliminary determination of the parameters of a mathematical model of the temperature drift velocity of a solid-state wave gyroscope, and in the operating mode, the determination of the angular position of the resonator wave υ relative to the gyroscope body and algorithmic compensation of its temperature drift velocity in accordance with this model, which differs the fact that in the preliminary calibration operation at normal temperature I surround of the medium, the solid-state wave gyroscope is mounted vertically on the fixed base with the sensitivity axis, kept at this temperature until the resonator temperature Θ _p reaches the ambient temperature, the solid-state wave gyro is launched in the zero angular position of the resonator wave relative to its body, when the solid-state wave the gyroscope sets the resonator wave in an angular position minus 90 ° using the mode of control of the precession of the wave res of the heatsink, and in the integrating mode, the drift velocity of the solid-state wave gyroscope is measured for 3 min and the resonant oscillation frequency of the resonator, similarly, changes in the drift velocity of the resonator wave and resonant frequency are performed at angles of minus 60 °, minus 30 °, 0, 30 °, 60 ° , 90 ° in the first measurement cycle, after the completion of the first cycle, seven more such cycles are performed until the resonant frequency of the resonator is stabilized, and then, in the operating mode of the solid-state wave gyroscope, the current value of the resonator frequency is measured f and using a calculator, the algorithmic compensation of the temperature drift velocity of the solid-state wave gyroscope is performed using the following mathematical model of the temperature drift velocity

ω _∂ (υ, Θ _p ) = ω ₀₁ + ω _m sink (υ + φ ₁ ) + δω ₀ (ff ₀ ) (f _y -f ₀ ) ^-1 + δω (υ) (ff ₀ ) (f _y - f ₀ ) ^-1 , where

a constant component of the drift velocity in the first measurement cycle;

ω _∂1i is the drift velocity in the first measurement cycle at the ith corner of the resonator wave;

- numbering of the angular position of the resonator wave;

ω _m is the amplitude of the variable drift velocity, determined using the measured values of ω _1i ;

φ ₁ is the initial phase angle of the variable drift velocity, determined using the measured values of ω _1i ;

k is the harmonic number determined using the measured values of ω _1i ;

ω _1i = ω _∂1i- ω ₀₁ ;

δω ₀ = ω ₀₈ -ω ₀₁ ;

ω ₀₈ - constant drift velocity in the eighth measurement cycle;

f ₀ is the resonant frequency of the resonator in the first measurement cycle at the angle of the resonator wave minus 90 °;

f _y is the steady-state resonator frequency in the eighth measurement cycle at a cavity angle of 90 °;

δω (υ) = δω _m sink (υ + φ ₂ );

δω _m is the amplitude of the dependence of the final temperature change of the variable drift velocity on the angle of the resonator wave, determined using the measured values of δω _i ;

φ ₂ is the initial phase angle of the dependence of the final temperature change of the variable drift velocity on the angle of the resonator wave, determined using the measured values of δω _i ;

δω _i = ω _8i -ω _1i ;

ω _8i are the values of the variable drift velocity in the eighth measurement cycle at ix angles of the resonator wave.