CN101464150A - Test method for dynamic property of optical fiber gyroscope - Google Patents
Test method for dynamic property of optical fiber gyroscope Download PDFInfo
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Abstract
The invention provides a method for testing the dynamic performance of an optical fiber gyro, which comprises the following steps: (1) carrying out dynamic performance test for the optical fiber gyro by using the frequency method, and recording the output signal of the gyro; (2) evaluating a discrete gyro theoretic output value according to an actual sampling time interval dt acquired periodically; and (3) analyzing the test result. The method, as a breakthrough research in the aspect of the dynamic performance of the optical fiber gyro, can visually reflect the dynamic performance of the optical fiber gyro, and analyze the dynamic performance of the optical fiber gyro in an all-around manner (under different frequencies and amplitudes) with reliable conclusions. The method is suitable for comparing the dynamic performances of a plurality of optical fiber gyros, so that proper optical fiber gyros can be selected according to specific working conditions.
Description
(1) technical field
What the present invention relates to is a kind of method of testing, specifically, is a kind of method of testing of dynamic property of optical fiber gyroscope, belongs to technical field of optical fiber sensing.
(2) background technology
Optical fibre gyro (FOG) is to be a kind of novel all solid state gyroscope that base growth is got up with the Sagnac effect, be used for detecting the motion angular speed of carrier, it is a kind of inertial measurement component of mechanical rotating part, because it has good reliability, life-span length, impact resistance, anti-vibration, high dynamic range, advantages such as bandwidth, OnNow and low-power consumption greatly, be considered in navigation that a kind of desirable inertia device is widely used in aircraft, naval vessel, guided missile etc., the guidance system.
The extensive use of optical fibre gyro has proposed very high requirement to its dynamic property.Be installed in when optical fibre gyro when working on the carriers such as naval vessel, guided missile or aircraft, when carrier takes place acutely to rock because of environmental impact or during irregular movement such as vibration, guarantee that optical fibre gyro can also accurately measure the transient speed of carrier on specific direction, information such as attitude of carrier and course accurately is provided, just need tests the dynamic property of optical fibre gyro.The dynamic performance testing of optical fibre gyro is for the static properties test.Static properties test be carrier at gyro relative to geostationary or when doing uniform angular velocity and rotating, gyro is exported the test of carrying out.And dynamic performance testing is the output of making test gyro under the situation that angle quicken to rotate at carrier, and the calculating output accuracy of comparing with reference value.
According to the pertinent literature of now having delivered both at home and abroad as can be known, the test and the scaling method that lack a kind of desirable dynamic property of optical fiber gyroscope at present.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly can guarantee that optical fibre gyro can accurately measure the transient speed of carrier on specific direction, provides the method for testing of a kind of dynamic property of optical fiber gyroscope of information such as attitude of carrier and course accurately.
The object of the present invention is achieved like this:
1, with frequency method optical fibre gyro is carried out dynamic performance testing, record gyro output signal is utilized the carrier of three inertial navigation test tables as optical fibre gyro, be installed in the testing fiber gyro on the turntable and go to day to, make the optical fibre gyro sensitive axes vertical with surface level; Control then the turntable housing do with 180 ° be the reciprocal oscillating motion at center, turntable waves is not only variable angular velocity motion, also is the angle acceleration movement simultaneously.By allowing turntable do oscillating motion, can simulate the abominable dynamics environment of gyro when on naval vessel, aircraft or guided missile, working, therefore, frequency method meets the condition of optical fibre gyro dynamic test fully.The angular velocity direction of turntable housing overlaps with the gyro sensitive axes, in the process that turntable waves, uses the data of Data Receiving software records gyro output simultaneously.
2, the actual samples time interval dt that tries to achieve according to minute cycle asks discrete gyroscopic theory output valve
For objective appraisal that the dynamic property of optical fibre gyro is tried one's best, must eliminate the phenomenon that phase differential appears in actual output of gyro and theoretical curve, solve gyro real output value ω
FSWith theoretical output valve ω
LThe problem in the asynchronism(-nization) step of middle corresponding point.Therefore, proposed branch week to expect sampling time interval dt, be used for the method for gyroscopic theory output valve of discrete respective cycle, guaranteed ω
FSWith ω
LThe time synchronized of middle corresponding point.Specific practice is:
Is gyro output that the circle is divided into several sinusoidal period with the zero crossing, supposes that the gyro real output signal in some cycles has n
TIndividual, use formula dt=T/n
T=1/ (fn
T) calculate corresponding dt, in order to discrete gyroscopic theory velocity amplitude corresponding to this cycle, wherein T represents the time span of one-period, unit (s).
No matter test under which kind of situation, the time of one-period is the longest can not to surpass 10 seconds, obtain dt according to the actual point in this cycle, is that the theoretical velocity value of the discrete gyro of unit is rational as the reference value of gyro output with the cycle.
3, analytical test result
Branch computation of Period standard deviation is averaged
The output signal ω of the optical fibre gyro that test obtains under specific wobble frequency f and amplitude A
FS, be that the boundary is divided into several cycles with it with the zero crossing, use row matrix ω respectively
FST1, ω
FST2..., ω
FSTnRepresent, try to achieve the reference value ω of each cycle correspondence with the method for dividing the cycle
LT1, ω
LT2..., ω
LTnThis has just guaranteed the time synchronized of actual output of gyro and reference value to the full extent.We can be unit with the cycle equally, are used under specific f and the A, and each cycle of the actual output of gyro is with respect to the standard deviation S of reference value
i(unit °/s), try to achieve the mean value S of each cycle criterion difference of gyro output signal again is illustrated under the condition of characteristic frequency f and amplitude A the dynamically precision of output of gyro with it.S is more little, illustrates that the gyro dynamic property is good more.
A plurality of dynamic property of optical fiber gyroscope are unified to demarcate
If a plurality of optical fibre gyros are carried out the relatively unified of dynamic property, the data volume that compares is very big, for raising the efficiency, at same turntable rocking tendency A, the dynamic output data of gyro that wobble frequency f records under 0.1Hz～0.5Hz combines, and (signal length under every kind of frequency is 10 cycles, see Figure 10), the theoretical value through undue periodic method handle after corresponding with their each cycles also combined (seeing Figure 11), ask the standard deviation S between them
A, S
AMore for a short time, show that at rocking tendency be under the test condition of A, the gyro dynamically error of output is more little.
Be example with optical fibre gyro x and y below, quality how to judge dynamic property of optical fiber gyroscope is described.
Test case is as follows:
Utilize the carrier of three inertial navigation test tables of SGT-3 as optical fibre gyro, be installed in the testing fiber gyro on the turntable and go to day to, make optical fibre gyro sensitive axes direction vertical with surface level, overlap with the angular velocity of rotation direction of turntable housing.Control turntable housing do with 180 ° be the reciprocal oscillating motion (being sinusoidal motion) at center, the motion of the gyro carrier in the simulation real work.In the process that turntable waves, use the data of Data Receiving software records gyro output simultaneously.
In dynamic test to gyro, get frequency f successively and equal 0.1Hz, 0.2Hz, 0.3Hz, 0.4Hz, 0.5Hz, under every kind of frequency, amplitude A is got 5 ° successively, and 8 ° and 10 °, totally 15 combinations, the combination of each group f and A, sampling time length is 10 cycles, i.e. (10/f) second, write down the gyro output valve.Calculate and observe gyro output ω
FSPrecision with the Changing Pattern of f and A.The one-period ω that gets
FSUse matrix ω
FSTExpression comprises 489 points, and the turntable theoretical velocity value after the employing discretize is as the reference value of gyro output, data preparation post-plot such as Fig. 6, Fig. 7, Fig. 8 and shown in Figure 9.
As shown in Figure 6:
Gyro output under a dynamic condition is under identical frequency f, and amplitude A is big more, and S is big more, and the gyro dynamic property is poor more;
Gyro output under the b dynamic condition is under identical amplitude A, and frequency f is big more, and S is big more, and the gyro dynamic property is poor more.
By Fig. 7, Fig. 8 and Fig. 9 as can be known:
No matter under the situation of which kind of wobble frequency and amplitude, the S of gyro x always is less than or equal to the S of gyro y, and our dynamic property that just can judge gyro x is better than the dynamic property of gyro y like this.
Therefore, by method shown in the present, can carry out effective dynamic performance testing to optical fibre gyro, method is easy, and is quick, effectively.
The advantage of dynamic property of optical fiber gyroscope method of testing of the present invention:
1, dynamic property be there is no too many research both at home and abroad at present, the method is a kind of breakthrough research to dynamic property of optical fiber gyroscope.
2, the method can be reacted dynamic property of optical fiber gyroscope intuitively.
3, than the dynamic property (under different frequencies and amplitude) of more comprehensively having analyzed optical fibre gyro, conclusion is reliable.
4, the dynamic property quality of the more a plurality of optical fibre gyros of available the method according to special operating conditions, is selected the optical fibre gyro that is fit to.
(4) description of drawings
Fig. 1 is a turntable instantaneous position curve map;
Fig. 2 is the turntable instantaneous angular velocity curve by positional value differentiate gained;
Fig. 3 f=0.1Hz, the curve map of A=5 ° of one-period;
The curve map of Fig. 4 one-period ω L;
The process flow diagram of Fig. 5 dynamic property of optical fiber gyroscope method of testing;
The S of Fig. 6 gyro X under different f and A condition;
The S of Fig. 7 gyro x and y under rocking tendency A=5 ° different frequency;
The S of Fig. 8 gyro x and y under rocking tendency A=8 ° different frequency;
The S of Fig. 9 gyro x and y under rocking tendency A=10 ° different frequency;
Gyro real output value during Figure 10 amplitude A=8 ° under all frequencies;
Gyroscopic theory output valve during Figure 11 amplitude A=8 ° under all frequencies;
The actual output of Figure 12 gyro with the theoretical curve of output after the single time interval discretize;
The enlarged drawing in preceding two cycles among Figure 13 Figure 12;
The enlarged drawing in latter two cycle among Figure 14 Figure 12;
Figure 15 gyro real output signal and the theoretical output signal of dividing after periodic method disperses;
The enlarged drawing in latter two cycle among Figure 16 Figure 15.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
(1) foundation of the mathematical model of Optical Fiber Gyroscope
Optical fibre gyro can the sensing rotating speed consistent with its sensitive axes direction, when the carrier direction overlaps with the gyro sensitive axes, with predefined angular velocity omega
ZaitiDuring rotation, establish R
fThe output signal of expression optical fibre gyro then has ω
f=R
f/ K (1)
K is a constant multiplier in the formula, ω
fThe detected rotating speed of expression gyro.
ω
f＝ω
zaiti+ω
e+B
0+W(t) (2)
Wherein, ω
eThe component of expression rotational-angular velocity of the earth on the gyro sensitive axes, B
0Represent the partially zero of gyro, W (t) represents noise, makes ω
0=ω
e+ B
0, formula (2) can be write as
ω
f＝ω
zaiti+ω
0+W(t) (3)
Because the present invention mainly studies the dynamic perfromance of optical fibre gyro, can directly use the ω that has surveyed
0Calculate.If ω
FsIt is the detected rotational speed omega of gyro
fReject ω
0Value afterwards, promptly
ω
fs＝ω
f-ω
0 (4)
If not otherwise specified, the gyro output of below mentioning all refers to ω
Fs
In sum, because ω
ZaitiBe the reference value of gyro output, as long as therefore research and analyse ω under the dynamic condition
FsWith ω
FsBetween the size of difference, just can evaluate and test the quality of the dynamic property of optical fibre gyro.
(2) design of the method for testing of dynamic property of optical fiber gyroscope
With frequency method optical fibre gyro is carried out dynamic performance testing, make the gyro carrier do reciprocal oscillating motion (being sinusoidal motion) exactly, test gyro output simultaneously with certain frequency.The present invention utilizes the carrier of three-axle table as optical fibre gyro, be installed in testing fiber gyro (hereinafter to be referred as gyro) on the turntable and go to day to, make the gyro sensitive axes vertical with surface level.Because the angular velocity of rotation direction vector of turntable housing (hereinafter to be referred as turntable) is also vertical with surface level, therefore can do reciprocal oscillating motion (being sinusoidal motion), the motion of the gyro carrier in the simulation real work by controlling it.
When testing with frequency method, allow turntable do with 180 ° be the oscillating motion at center, the setting rocking tendency is A, wobble frequency is f, the theoretical position formula of turntable is so
P
L＝Asin(2πft)+180 (5)
To formula (5) differentiate, can obtain the theoretical velocity formula of turntable
ω
L＝2πfAcos(2πft) (6)
Make A
0=2 π fA
ω
L＝A
0cos(2πft) (7)
Because the gyro sensitive axes is consistent with the direction vector of carrier speed in this test, so the theoretical velocity value of turntable equals the theoretical velocity value of gyro output.
To formula (7) differentiate, can obtain the theoretical acceleration of turntable again
a
L＝-2πfA
0sin(2πft) (8)
This shows that it is a kind of angle acceleration movement that turntable waves, its angular acceleration is sinusoidal rule as time passes to be changed, and meets the condition of dynamic test.In the process that turntable waves, use the data of Data Receiving software records gyro output simultaneously.
Can know that by formula (6) size of f and A has directly influenced gyro output ω
FsPeak value and frequency.So just can carry out dynamic test to gyro under the situation of identical f, different A and under the situation of identical A, different f, calculate and observing the Changing Pattern of gyro output accuracy with f and A.
(3) reference value of optical fibre gyro output determines
The reference value ω of gyro output
ZaitiBe estimate the gyro output accuracy important with reference to foundation.When gyro is carried out dynamic test, should be with the actual instantaneous velocity of turntable as reference value.But because the restriction of experiment condition, can only receive the instantaneous position data of turntable, so the reference value of gyro output has two kinds of selections: a kind of is that the turntable instantaneous velocity data that obtain of the instantaneous position data differentiate by turntable are as reference value; Another kind be with according to the turntable theoretical velocity value of sampling time interval discretize as reference value.Below these two kinds of selection schemes are further specified.
1) the turntable velocity amplitude that obtains with the differentiate of revolving table position data is as gyro output reference value ω
Zaiti
Because the restriction of experiment condition when gyro is carried out dynamic test, can only obtain each positional value constantly of turntable and (use matrix P=[P
1, P
2... P
n] represent).As turntable wobble frequency f=0.2Hz, amplitude A=6 °, when the central angle position of waving was 180 °, each instantaneous position matrix constantly of the turntable that collects was made curve as shown in Figure 1.
By formula
Wherein, ω
ZtiRepresent i turntable velocity amplitude constantly, dt represents the sampling time interval between 2, and it equals the inverse of the data number that collects p.s..Obtain each velocity amplitude constantly of turntable and leave matrix ω in
ZtIn, ω
Zt=[ω
Zt1, ω
Zt2... ω
Zt3], make curve as shown in Figure 2.
As seen from Figure 2, ω
ZtCurve have a lot of spines, error is very big, is not the reference standard of desirable evaluation gyro output accuracy, can not be as the reference value ω of gyro output
Zaiti
2) the reference value ω that exports as gyro with the gyroscopic theory output valve of discretize
Zaiti
With the theoretical angular velocity of discrete turntable of the single time interval as reference value
If as reference value, with dt the t in the formula (6) being dispersed turns to n point, puts into matrix T=[t with the theoretical angular velocity of discrete turntable of the single time interval
1, t
2, t
3..., tn] in, t
J+1-t
J=dt, j=1,2,3 ..., n-1, the value of t1 should equal matrix ω
FSThe sampling time of first value.In the every bit substitution formula successively (6) in the matrix T, obtain the theoretical velocity value matrix ω of corresponding moment turntable
L=[ω
L1, ω
L2..., ω
Ln].So, ω
FSiAnd ω
Li(i=1,2,3 ..., n) be illustrated respectively in synchronization t
iThe time gyro real output value and theoretical output valve.
Set turntable wobble frequency f=0.2Hz, rocking tendency A=6 °, from t=0 constantly, the curve of the real output value of gyro and as shown in figure 12 with the theoretical curve after the single time interval discretize.Figure 13 and Figure 14 are respectively the partial enlarged drawings in preceding two cycles of Figure 12 and latter two cycle.
As can be seen, at the initial stage that begins to gather, the real output signal of gyro can align with theoretical magnitude of angular velocity from Figure 13 and Figure 14, keeps the phase place unanimity, but As time goes on, has occurred apparent in view phase differential between them.This is to cause owing to Data Receiving software expends the regular hour at the process need that receives data, data decode and data preservation.
For example, the setting data sampling time interval is 10ms, the every 10ms of the DSP of gyro sends a secondary data to receiving data computing machine serial ports, can collect 100 data in theory in the per second, but because the Data Receiving software on the computing machine is receiving, the process need of decoding and preservation data expends the regular hour, therefore the data number that collects of per second can not reach 100 in fact sometimes, but between 98～97, change, the value of actual sampling time interval dt also changes between 1/98 and 1/97, and that use when theoretical value carried out discretize is a fixing dt, so the phenomenon that above-mentioned gyro real output signal and discrete two curves of theoretical value can not align just occurs, i.e. ω
FSiAnd ω
LiMight not be the actual value and the theoretical value of synchronization, and As time goes on, the phase differential between two curves can be increasing.If directly the basis of calculation is poor, can introduce bigger error, dynamic output accuracy that can not the objective appraisal gyro.Therefore propose to address this problem with the method for dividing week to expect dt.
Divide the theoretical angular velocity of period discrete turntable as reference value
For objective appraisal that the dynamic perfromance of optical fibre gyro is tried one's best, must eliminate the phenomenon that phase differential appears in actual output of gyro and theoretical curve, solve ω
FSWith ω
LThe problem in the asynchronism(-nization) step of middle corresponding point.Therefore proposed branch week to expect sampling time interval dt, be used for the method for gyroscopic theory output valve of discrete respective cycle, guaranteed ω
FSWith ω
LThe time synchronized of middle corresponding point.Specific practice is:
Is gyro output that the circle is divided into several sinusoidal period with the zero crossing, supposes that the gyro real output signal in some cycles has n
TIndividual, calculate corresponding dt with formula (10), in order to discrete gyroscopic theory velocity amplitude corresponding to this cycle, wherein T represents the time span of one-period, unit (S).
dt＝T/n
T＝1/(f·n
T) (10)
No matter test under which kind of situation, the time of one-period is the longest can not to surpass 10 seconds, obtain dt according to the actual point in this cycle, is that the theoretical velocity value of the discrete gyro of unit is rational as the reference value of gyro output with the cycle.
As f and A fixedly the time, the one-period ω that gets
FSUse matrix ω
FsT represents, can comprise n data point, draws curve as shown in Figure 3.
Calculate dt by formula (10), time t discretize is obtained matrix T, thereby obtain the gyroscopic theory output valve, use matrix ω
LTExpression is drawn curve as shown in Figure 4.
From Fig. 3,4 curve as can be seen, the gyroscopic theory curve of output after the discretize is very level and smooth, so be rational with this reference value as gyro output.
Figure 15 is the gyroscopic theory output valve after discrete and the curve map of real output value with branchs periodic method, can't clearly distinguish two curves from figure, and latter two cycle is as shown in figure 16 in amplification.Can see from Figure 15 and Figure 16, with minute week expecting the theoretical curve of the discrete gyro of sampling time interval and the actual output of gyro can realize good time synchronized, overcome the problem that the actual output of the gyro that causes with discrete gyroscopic theory output valve of the single time interval and theoretical value asynchronism(-nization) go on foot, for the error analysis of the dynamic output signal of optical fibre gyro provides desirable reference value.
In sum, adopting the gyroscopic theory output valve of branch period discrete is more satisfactory as the reference value of estimating the dynamic output accuracy of gyro.
(4) the A+E method of test result
1) the branch computation of Period standard deviation method of averaging
Owing in the performance test gyro output is divided into several cycles, obtain dt according to the data point number that each cycle comprises, obtain corresponding gyroscopic theory output valve again.This has just guaranteed the time synchronized of actual output of gyro and reference value to the full extent.Therefore, can be unit equally with the cycle, the method that adopts the output of branch computation of Period gyro to average again with respect to the standard deviation of reference value is exported the result to the dynamic test of gyro and is estimated, and concrete grammar is as follows:
To under specific wobble frequency f and amplitude A, test the ω that obtains
FSWith the zero crossing is that the boundary is divided into several cycles, uses ω respectively
FST1, ω
FST2.., ω
FSTnMatrix representation uses method of describing in (3) to obtain the discrete gyroscopic theory output valve ω of each cycle correspondence
LT1, ω
LT2..., ω
LTnReference value as the dynamic output of gyro.Utilize formula (11) to calculate under specific f and A, the output of the one-period of gyro is with respect to the standard deviation S of its theoretical output valve
iUtilize formula (12) again, try to achieve the mean value S of each cycle criterion difference, be called for short standard deviation average period, be illustrated in the precision of gyro output under the condition of specific f, A, S is more little, illustrates that the gyro dynamic property is good more.
N wherein
TiRepresent the number of data points that i cycle comprises, ω
FSTikAnd ω
LTikRepresent ω respectively
FSTiWith ω
LTiIn k value.
In the formula, n represents ω
FSThe number in the cycle that is divided into.
Coding is realized above-mentioned algorithm, with this program the gyro output data that measures in the 2nd joint is analyzed, and just can calculate the S under specific f and the A very soon.The value of S is more for a short time to show that the dynamic property of gyro is good more.
2) a plurality of dynamic property of optical fiber gyroscope are unified to demarcate, its dynamic property is carried out A+E
If a plurality of optical fibre gyros are carried out the relatively unified of dynamic property, the data volume that compares is very big, for raising the efficiency, at same turntable rocking tendency A, the dynamic output data of gyro that wobble frequency f records under 0.1Hz～0.5Hz combines, and (signal length under every kind of frequency is 10 cycles, see Figure 10), the theoretical value through undue periodic method handle after corresponding with their each cycles also combined (seeing Figure 11), ask the standard deviation S between them
A, S
AMore for a short time, show that at rocking tendency be under the test condition of A, the gyro dynamically error of output is more little.
Suppose the real output signal matrix ω of gyro
FSA=[ω
FSA1, ω
FSA2.., ω
FSAn] expression, the theoretical value matrix ω after the branch period discrete
LA=[ω
LA1, ω
LA2..., ω
LAn] expression, can calculate the standard deviation S of the actual output of gyro between exporting with theory by formula (13)
A
Claims (2)
1, a kind of method of testing of dynamic property of optical fiber gyroscope is characterized in that:
(1) with frequency method optical fibre gyro is carried out dynamic performance testing, record gyro output signal
Utilize the carrier of three inertial navigation test tables as optical fibre gyro, be installed in the testing fiber gyro on the turntable and go to day to, make the optical fibre gyro sensitive axes vertical with surface level; Controlling the turntable housing then, to do with 180 ° be the reciprocal oscillating motion at center; The angular velocity direction of turntable housing overlaps with the gyro sensitive axes; In the process that turntable waves, use the data of Data Receiving software records gyro output simultaneously.
(2) the actual samples time interval dt that tries to achieve according to minute cycle asks discrete gyroscopic theory output valve
Divide and to expect sampling time interval dt week, be used for the gyroscopic theory output valve of discrete respective cycle, guarantee ω
FSWith ω
LThe time synchronized of middle corresponding point; Specific practice is:
Is gyro output that the circle is divided into several sinusoidal period with the zero crossing, supposes that the gyro real output signal in some cycles has n
TIndividual, use formula dt=T/n
T=1/ (fn
T) calculate corresponding dt, in order to discrete gyroscopic theory velocity amplitude corresponding to this cycle, wherein T represents the time span of one-period, unit (s);
(3) analytical test result
The output signal ω of the optical fibre gyro that test obtains under specific wobble frequency f and amplitude A
FS, be that the boundary is divided into several cycles with it with the zero crossing, use row matrix ω respectively
FST1, ω
FST2..., ω
FSTnRepresent, try to achieve the reference value ω of each cycle correspondence with the method for dividing the cycle
LT1, ω
LT2..., ω
LTnBe unit with the cycle equally, be used under specific f and the A that each cycle of the actual output of gyro is with respect to the standard deviation S of reference value
i, try to achieve the mean value S of each cycle criterion difference of gyro output signal again, be illustrated under the condition of characteristic frequency f and amplitude A the dynamically precision of output of gyro with it; S is more little, illustrates that the gyro dynamic property is good more.
2, the method for testing of dynamic property of optical fiber gyroscope according to claim 1, it is characterized in that: when a plurality of optical fibre gyros are carried out unified comparison of dynamic property, at same turntable rocking tendency A, the dynamic output data of gyro that wobble frequency f records under 0.1Hz～0.5Hz combines, the theoretical value through undue periodic method handle after corresponding with their each cycles also combined, ask the standard deviation S between them
A, S
AMore little is under the test condition of A at rocking tendency, and the error that gyro is dynamically exported is more little.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100561129C (en) * | 2007-11-20 | 2009-11-18 | 浙江大学 | The erasure signal Strength Changes is to the method for fiber optic gyroscope performance influence |
| CN101256078B (en) * | 2008-03-25 | 2010-07-14 | 浙江大学 | Method for eliminating acceleration effect of optic fiber gyroscope graduation factor |
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