CN101629830A - Calibration method and device of three-axis integrative high precision fiber optic gyro - Google Patents

Abstract

The invention relates to a calibration method and a device of a three-axis integrative high precision fiber optic gyro, so as to solve the problems of poorer testing accuracy and lower testing precision caused by errors due to no consideration of rotational speed component of the earth in the calibration method of the fiber optic gyro in the prior art. The three-axis fiber optic gyro is arranged on a three-axis position rate revolving table, output zero bias values of all axes are obtained through multi-position eastward tests and calculation of all the axes, tests and calculation are carried out through the process of leading each axis to rotate a preset angle value by a series of preset angular rates to the preset direction, the scale factor values of all the axes are obtained by calculation, and the tests and the calculation are carried out through the process of leading each axis to rotate the preset angle value by a certain preset angular rate to the preset direction, thereby obtaining inaccurate angle values of all the axes. A three-axis fiber optic gyro calibration conversion model is established according to the zero bias values, the scale factor values and the inaccurate angle values, and the calibration conversion is carried out on the output pulse of the three-axis fiber optic gyro in each direction, thereby being characterized by good testing accuracy, high precision and high calibration precision.

Description

A kind of scaling method of three-axis integrative high precision fiber optic gyro and device

Technical field

The present invention relates to a kind of scaling method and device of three-axis integrative high precision fiber optic gyro, belong to the photoelectric measurement technical field.

Background technology

Optical fibre gyro has become the main flow gyro in inertial technology field through the development of decades, and obtained successful application in multiple occasion, with respect to the gyro of other type a series of advantage is arranged: shock resistance, no-movable part, start-up time is short, volume is little, technology is simple, reliability is high.The three-axis integrative optical fibre gyro is a kind of optical fibre gyro of being integral of Gyroscope Design with required three orthogonal directionss of inertial navigation, aspects such as light path, circuit, structure are all taken all factors into consideration, the three-axis integrative design reaches optimized design, so will be the important directions of optical fibre gyro development and application.

After three axis optical fibre gyro assembling, debugging are finished, before dispatching from the factory, need it each axial scale, zero partially, parameter such as misalignment be installed accurately test, finish calibration process.Existing scaling method about optical fibre gyro mainly be at single axis fiber gyro zero partially, the method for testing of scale, input shaft misalignment, mainly be to rotate zero inclined to one side, scale, the input shaft misalignment that process such as test obtains optical fibre gyro along axle with certain angular speed to static test, with single axis fiber gyro, but do not consider the error that the earth rate component causes in the scaling method of this single axis fiber gyro by single axis fiber gyro being pointed to east or west.

Therefore, in the scaling method of the optical fibre gyro of prior art, do not exist owing to consider error that the earth rate component causes and cause the problem that accuracy is relatively poor and measuring accuracy is lower of testing.

Summary of the invention

The invention provides a kind of scaling method and device of three-axis integrative high precision fiber optic gyro, in the scaling method with the optical fibre gyro that solves in prior art, do not exist owing to consider error that the earth rate component causes and cause the problem that accuracy is relatively poor and measuring accuracy is lower of testing.

A kind of scaling method of three-axis integrative high precision fiber optic gyro comprises:

Three-axis integrative high precision fiber optic gyro is arranged on the three shaft position rate tables by the benchmark frock, in the process of predetermined direction, obtain this axial output digit pulse amount average at each, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains;

Be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively, the rotation axis that in rotation process, obtains each predetermined angle speed correspondence to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains;

Be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular value towards predetermined direction with predetermined angle speed respectively, test is axially exported the pulse average with two of rotation axis quadrature in the rotation process, obtains the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains;

According to the output zero of three-axis integrative high precision fiber optic gyro X, the Y of described acquisition, three directions of Z partially the misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z set up three-axis integrative high precision fiber optic gyro and demarcate transformation model, and conversion is demarcated in the output pulse of X, Y, three directions of Z according to described three-axis integrative high precision fiber optic gyro demarcation transformation model.

A kind of caliberating device of three-axis integrative high precision fiber optic gyro comprises:

Zero is worth computing module partially, is used for obtaining this axial output digit pulse amount average in each process towards predetermined direction, and obtains the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains;

Constant multiplier value computing module, the rotation axis that is used for obtaining each predetermined angle speed correspondence in each process of rotating the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively of three-axis integrative high precision fiber optic gyro on the three shaft position rate tables of will being arranged on to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains;

The misalignment angle computing module, be used for to be arranged on two axial output pulse averages of each process test of rotating the predetermined angular value with predetermined angle speed towards predetermined direction respectively of three-axis integrative high precision fiber optic gyro and rotation axis quadrature on the three shaft position rate tables, obtain the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains;

Demarcating module, the output zero that is used for three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the described acquisition misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z is partially set up three-axis integrative high precision fiber optic gyro and is demarcated transformation model, and according to described three-axis integrative high precision fiber optic gyro demarcation transformation model conversion is demarcated in the output pulse of X, Y, three directions of Z.

The present invention is by being arranged on three-axis integrative high precision fiber optic gyro on the three shaft position rate tables by the benchmark frock, carry out static and the rotation measurement, calculate each output zero value, constant multiplier value and misalignment angle value partially according to measurement result, and set up three-axis integrative high precision fiber optic gyro in view of the above and demarcate transformation model, the three-axis integrative high precision fiber optic gyro output quantity is demarcated conversion, have the advantages that test accuracy is good, precision is high and stated accuracy is high.

Description of drawings

Fig. 1 is the schematic flow sheet of the scaling method of a kind of three-axis integrative high precision fiber optic gyro of providing of the specific embodiment of the present invention;

Fig. 2 is the structural representation of the caliberating device of a kind of three-axis integrative high precision fiber optic gyro of providing of the specific embodiment of the present invention.

Embodiment

In the technical scheme of the scaling method of a kind of three-axis integrative high precision fiber optic gyro that the specific embodiment of the present invention provides, at first three-axis integrative high precision fiber optic gyro is arranged on the three shaft position rate tables by the benchmark frock, in the process of predetermined direction, obtain this axial output digit pulse amount average at each, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains; To be arranged on then on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively, the rotation axis that in rotation process, obtains each predetermined angle speed correspondence to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains; To be arranged on again on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular value towards predetermined direction with predetermined angle speed respectively, test is axially exported the pulse average with two of rotation axis quadrature in the rotation process, obtains the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains; The misalignment angle value of the constant multiplier value of the output zero inclined to one side value of last three-axis integrative high precision fiber optic gyro X, Y according to described acquisition, three directions of Z, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z is set up three-axis integrative high precision fiber optic gyro and is demarcated transformation model, and demarcates transformation model according to described three-axis integrative high precision fiber optic gyro conversion is demarcated in the output pulse of X, Y, three directions of Z.

Corresponding three-axis integrative high precision fiber optic gyro is demarcated transformation model:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=\left[\begin{array}{ccc}{K}_x& M_{\mathrm{xy}}& M_{\mathrm{xz}}\\ M_{\mathrm{yx}}& K_y& M_{\mathrm{yz}}\\ M_{\mathrm{zx}}& M_{\mathrm{zy}}& K_z\end{array}\right]\left[\begin{array}{c}{N}_x\\ N_y\\ N_z\end{array}\right]+\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

N wherein _x, N _y, N _zThe output digit pulse amount of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; B _x, B _y, B _zThe output zero inclined to one side value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; K _x, K _y, K _zThe constant multiplier value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; M _Xy, M _Xz, M _Yx, M _Yz, M _Zx, M _ZyRepresent that respectively any one is axially around another misalignment angle value towards the 3rd axle, ω in three-axis integrative high precision fiber optic gyro X, Y, three directions of Z _x, ω _y, ω _zThe angular speed of representing calibrated three-axis integrative high precision fiber optic gyro output X, Y, three directions of Z respectively.

Calibration process need be finished zero partially, the accurate test of constant multiplier, misalignment, three-axis integrative high precision fiber optic gyro based on the output transformation model through final each axial angle speed of accurately output after the conversion Calculation.The scaling method of a kind of three-axis integrative high precision fiber optic gyro that provides for clearer explanation the specific embodiment of the present invention now is elaborated to this method in conjunction with Figure of description, as shown in Figure 1, specifically can comprise:

Step 11, three-axis integrative high precision fiber optic gyro is arranged on the three shaft position rate tables by the benchmark frock, in the process of predetermined direction, obtain this axial output digit pulse amount average at each, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains.

At first three-axis integrative high precision fiber optic gyro is installed on the three shaft position rate tables by test fixture, zero with the output of X-direction is example partially.X axis is tested a period of time (30 minutes) towards east and calculated its output digit pulse amount average, then with the three-axis integrative gyro around X-axis Rotate 180 degree, once more X axis is tested a period of time (30 minutes) towards east and calculated its output digit pulse amount average, the test a period of time (30 minutes) and place back test a period of time (30 minutes) and calculate its output digit pulse amount average of then X axis being exposed to the west around X-axis Rotate 180 degree.Zero bias testing result is as shown in table 1 for X-axis.

Table 1

According to the measurement result of table 1, X-axis output zero value is partially calculated by following formula:

B _x＝(Nx1+Nx2+Nx3+Nx4)/4

Wherein, B _xThe output zero of expression three-axis integrative high precision fiber optic gyro X-direction is value partially.

By placing the zero bias testing of 4 positions, can eliminate the influence of the earth rate component that the misalignment introducing is installed effectively, finished the output zero accurate test of value partially.In like manner, the output of Y-axis and Z-direction zero inclined to one side value can be tested and calculate by similar method.

Step 12, with be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively, the rotation axis that in rotation process, obtains each predetermined angle speed correspondence to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains.

Scale test with the X-direction of three-axis integrative high precision fiber optic gyro is an example, and X-direction is placed towards the sky, and Y-axis and Z axle horizontal are placed, and test in the following order:

1., in initial position (position 1) static test a period of time (30 minutes);

2., around X-axis Rotate 180 degree (position 2), static test a period of time (30 minutes);

③、X （±200°／s），：0.1°／s、-0.1°／s、0.2°／s、-0.2°／s、0.5°／s、-0.5°／s、1°／s、-1°／s、3°／s、-3°／s、5°／s、-5°／s、8°／s、-8°／s、10°／s、-10°／s、20°／s、-20°／s、50°／s、-50°／s、80°／s、-80°／s、100°／s、-100°／s、150°／s、-150°／s、200°／s、-200°／s； When each speed point rotated, rotational angle all was the integral multiple of 360 degree.

The numeral output pulsed quantity average of the X-direction of each predetermined angle speed correspondence is as shown in table 2:

Table 2

Test axially	Turntable angle of rotation speed	X gyro output average
			??X	0 °/s (position 1)	??Nx 01
??X	0 °/s (position 2)	??Nx 02
			??X	??0.1°/s	??Nx 0.1
??X	??-0.1°/s	??Nx -0.1
			??X	??0.2°/s	??Nx 0.2
??X	??-0.2°/s	??Nx -0.2
			??X	??0.5°/s	??Nx 0.5
??X	??-0.5°/s	??Nx -0.5
			??X	??1°/s	??Nx 1.0
??X	??-1°/s	??Nx -1.0
			??X	??3°/s	??Nx 3.0
??X	??-3°/s	??Nx -3.0
			??X	??5°/s	??Nx 5.0

??X	??-5°/s	??Nx -5.0
			??X	??8°/s	??Nx 8.0
??X	??-8°/s	??Nx -8.0
			??X	??10°/s	??Nx 10
??X	??-10°/s	??Nx -10
			??X	??20°/s	??Nx 20
??X	??-20°/s	??Nx -20
			??X	??50°/s	??Nx 50
??X	??-50°/s	??Nx -50
			??X	??80°/s	??Nx 80
??X	??-80°/s	??Nx -80
			??X	??100°/s	??Nx 100
??X	??-100°/s	??Nx -100
			??X	??150°/s	??Nx 150
??X	??-150°/s	??Nx -150
			??X	??200°/s	??Nx 200
??X	??-200°/s	??Nx -200

According to the numeral output pulsed quantity average of the X-direction of each predetermined angle speed correspondence of X-direction, calculate the constant multiplier value that obtains X-direction by following formula:

$K_x=\frac{\underset{j=1}{\overset{M}{\mathrm{\Σ}}}({\mathrm{\Ω}}_j\·(N{x}_j-(N{x}_{01}+N{x}_{02})/2))}{\underset{j=1}{\overset{M}{\mathrm{\Σ}}}{\mathrm{\Ω}}_j^2}$

Wherein, K _xThe constant multiplier value of expression three-axis integrative high precision fiber optic gyro directions X, M represents input angle speed number (except the zero-speed rate of position 1 and position 2 correspondences), Ω _jEach predetermined angle rate value of expression X-direction, Nx _jThe X-direction output digit pulse average of representing each predetermined angle speed correspondence.

In the test computation process of constant multiplier, test by two rest positions is the integral multiple of 360 degree in conjunction with each speed point rotational angle, zero inclined to one side influence and the influence that the earth rate component of misalignment introducing is installed have effectively been eliminated, in like manner, the constant multiplier value of Y-axis and Z-direction can and calculate by similar method test.

Step 13, with be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular value towards predetermined direction with predetermined angle speed respectively, test is axially exported the pulse average with two of rotation axis quadrature in the rotation process, obtains the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains.

At first calculate Y-axis in the three-axis integrative high precision fiber optic gyro around Z axle deflection X-direction and Z axle misalignment angle value around Y-axis deflection X-axis, three-axis integrative high precision fiber optic gyro is rotated along X axis, get (± 150 °/s) the output digit pulse amount average of Y-axis and Z-direction in the rotary course of the positive and negative speed of rotation points of a certain high speed respectively, as shown in table 3, turning axle this moment rotational angle under this speed point is the integral multiple of 360 degree.

Table 3

According to the output digit pulse amount average of Y-axis and Z-direction, calculate the acquisition Y-axis is partial to X-axis around Y-axis around Z axle deflection X-direction and Z axle misalignment angle value by following formula:

M _yx＝(Nyx ₁₅₀-(Nyx _-150))/(2*150)

M _zx＝(Nzx ₁₅₀-(Nzx _-150))/(2*150)

M wherein _Yx, M _ZxRepresent that respectively Y-axis in the three-axis integrative high precision fiber optic gyro is around Z axle deflection X-direction and the Z axle misalignment angle value around Y-axis deflection X-axis.In X-direction respectively in the process with the integral multiple of positive and negative high-speed rotation 360 degree, Y-axis and Z the output data method of testing of subtracting each other have separately effectively eliminated zero partially and the influence of earth rate horizontal component, have finished M by three-axis integrative high precision fiber optic gyro _Yx, M _ZxAccurate test.In like manner, M _Xy, M _Xz, M _Yz, M _ZyAvailable similar method is tested, is calculated.

Step 14, according to the output zero of the three-axis integrative high precision fiber optic gyro X, the Y that obtain, three directions of Z partially the misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z set up three-axis integrative high precision fiber optic gyro and demarcate transformation model, and conversion is demarcated in the output pulse of X, Y, three directions of Z according to three-axis integrative high precision fiber optic gyro demarcation transformation model.

Three-axis integrative high precision fiber optic gyro X, the Y that obtains according to step 11, the output of three directions of Z zero is value partially, any one is set up following three-axis integrative high precision fiber optic gyro and demarcates transformation model axially around another misalignment angle value towards the 3rd axle in three directions of three-axis integrative high precision fiber optic gyro X, the Y that the constant multiplier value of three-axis integrative high precision fiber optic gyro X, the Y that step 12 obtains, three directions of Z and step 13 obtain, Z:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=\left[\begin{array}{ccc}{K}_x& M_{\mathrm{xy}}& M_{\mathrm{xz}}\\ M_{\mathrm{yx}}& K_y& M_{\mathrm{yz}}\\ M_{\mathrm{zx}}& M_{\mathrm{zy}}& K_z\end{array}\right]\left[\begin{array}{c}{N}_x\\ N_y\\ N_z\end{array}\right]+\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

Wherein, N _xThe output digit pulse amount of expression three-axis integrative high precision fiber optic gyro X-direction, N _yThe output digit pulse amount of expression three-axis integrative high precision fiber optic gyro Y direction, N _zThe output digit pulse amount of expression three-axis integrative high precision fiber optic gyro Z-direction; B _xThe output zero of expression three-axis integrative high precision fiber optic gyro X-direction is value partially, B _yThe output zero of expression three-axis integrative high precision fiber optic gyro Y direction is value partially, B _zThe output zero of expression three-axis integrative high precision fiber optic gyro Z-direction is value partially; K _xThe constant multiplier value of expression three-axis integrative high precision fiber optic gyro X-direction, K _yThe constant multiplier value of expression three-axis integrative high precision fiber optic gyro Y direction, K _zThe constant multiplier value of expression three-axis integrative high precision fiber optic gyro Z-direction; M _XyThe X-axis of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of Z axle deflection Y-axis, M _XzThe X-axis of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of Y-axis deflection Z axle, M _YxThe Y-axis of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of Z axle deflection X-axis, M _YzThe Y-axis of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of X-axis deflection Z axle, M _ZxThe Z axle of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of Y-axis deflection X-axis, M _ZyThe Z axle of expression three-axis integrative high precision fiber optic gyro is around the misalignment angle of X-axis deflection Y-axis; ω _xThe output angle speed of X-direction after expression demarcation and conversion Calculation process are finished, ω _yThe output angle speed of Y direction after expression demarcation and conversion Calculation process are finished, ω _zThe output angle speed of Z-direction after expression demarcation and conversion Calculation process are finished.Demarcate transformation model according to the three-axis integrative high precision fiber optic gyro of setting up the output pulsed quantity of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z is demarcated conversion, with the output of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z zero partially value, constant multiplier value and any one axially be updated in the above-mentioned demarcation transformation model around another misalignment angle value towards the 3rd axle, can just finish accurate demarcation to three-axis integrative high precision fiber optic gyro.

The specific embodiment of the present invention also provides a kind of caliberating device of three-axis integrative high precision fiber optic gyro, as shown in Figure 2, specifically can comprise:

Zero is worth computing module 21 partially, be used for obtaining this axial output digit pulse amount average, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains in each process towards predetermined direction;

Constant multiplier value computing module 22, the rotation axis that is used for obtaining each predetermined angle speed correspondence in each process of rotating the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively of three-axis integrative high precision fiber optic gyro on the three shaft position rate tables of will being arranged on to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains;

Misalignment angle computing module 23, be used for to be arranged on two axial output pulse averages of each process test of rotating the predetermined angular value with predetermined angle speed towards predetermined direction respectively of three-axis integrative high precision fiber optic gyro and rotation axis quadrature on the three shaft position rate tables, obtain the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains;

Demarcating module 24, the output zero that is used for three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the described acquisition misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z is partially set up three-axis integrative high precision fiber optic gyro and is demarcated transformation model, and according to described three-axis integrative high precision fiber optic gyro demarcation transformation model conversion is demarcated in the output pulse of X, Y, three directions of Z.

Three-axis integrative high precision fiber optic gyro is demarcated transformation model:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=\left[\begin{array}{ccc}{K}_x& M_{\mathrm{xy}}& M_{\mathrm{xz}}\\ M_{\mathrm{yx}}& K_y& M_{\mathrm{yz}}\\ M_{\mathrm{zx}}& M_{\mathrm{zy}}& K_z\end{array}\right]\left[\begin{array}{c}{N}_x\\ N_y\\ N_z\end{array}\right]+\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

N wherein _x, N _y, N _zThe output digit pulse amount of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; B _x, B _y, B _zThe output zero inclined to one side value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; K _x, K _y, K _zThe constant multiplier value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; M _Xy, M _Xz, M _Yx, M _Yz, M _Zx, M _ZyRepresent that respectively any one is axially around another misalignment angle value towards the 3rd axle, ω in three-axis integrative high precision fiber optic gyro X, Y, three directions of Z _x, ω _y, ω _zThe angular speed of representing calibrated three-axis integrative high precision fiber optic gyro output X, Y, three directions of Z respectively.

At first in the process of predetermined direction, obtain this axial output digit pulse amount average at each, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains by zero inclined to one side value computing module 21; Then by constant multiplier value computing module 22 will be arranged on the three shaft position rate tables each rotation axis that obtains each predetermined angle speed correspondence in a plurality of predetermined angle speed rotating process towards predetermined direction respectively of three-axis integrative high precision fiber optic gyro to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output digit pulse amount mean value computation that obtains; Each axially exports the pulse averages towards predetermined direction with test in the process of predetermined angle speed rotation predetermined angular value and two of rotation axis quadrature respectively by the three-axis integrative high precision fiber optic gyro of misalignment angle computing module 23 on will being arranged on three shaft position rate tables again, obtains the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation of acquisition; Be worth the three-axis integrative high precision fiber optic gyro X that computing module 21 obtains by demarcating module 24 partially according to zero at last, Y, the output of three directions of Z zero is value partially, the three-axis integrative high precision fiber optic gyro X that constant multiplier value computing module 22 obtains, Y, the three-axis integrative high precision fiber optic gyro X that the constant multiplier value of three directions of Z and misalignment angle computing module 23 obtain, Y, any one is axially set up three-axis integrative high precision fiber optic gyro around another misalignment angle value towards the 3rd axle and demarcates transformation model in three directions of Z, and demarcates transformation model to three-axis integrative high precision fiber optic gyro X according to three-axis integrative high precision fiber optic gyro, Y, conversion is demarcated in the output pulse of three directions of Z.

The specific implementation of the processing capacity of each unit that comprises in the said system is described in method embodiment before, no longer is repeated in this description at this.

The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (6)

1, a kind of scaling method of three-axis integrative high precision fiber optic gyro is characterized in that, comprising:

Three-axis integrative high precision fiber optic gyro is arranged on the three shaft position rate tables by the benchmark frock, in the process of predetermined direction, obtain this axial output digit pulse amount average at each, and obtain the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains;

Be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively, the rotation axis that in rotation process, obtains each predetermined angle speed correspondence to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains;

Be arranged on the three shaft position rate tables three-axis integrative high precision fiber optic gyro each rotate the predetermined angular value towards predetermined direction with predetermined angle speed respectively, test is axially exported the pulse average with two of rotation axis quadrature in the rotation process, obtains the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains;

According to the output zero of three-axis integrative high precision fiber optic gyro X, the Y of described acquisition, three directions of Z partially the misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z set up three-axis integrative high precision fiber optic gyro and demarcate transformation model, and conversion is demarcated in the output pulse of X, Y, three directions of Z according to described three-axis integrative high precision fiber optic gyro demarcation transformation model.

2, method according to claim 1 is characterized in that: export in the process of zero inclined to one side value in acquisition, each is tested to multiposition towards eastern or western, with earth rate horizontal component and the influence of sky to component of eliminating the introducing of alignment error angle; In the process that obtains the constant multiplier value, be 360 degree integral multiples by static two positions test in conjunction with each speed point rotational angle, to eliminate the influence that the earth rate horizontal component is introduced at the alignment error angle; In the process that obtains the misalignment angle value, eliminate zero inclined to one side influence by rotation axis to positive negative rotation, and rotational angle is the influence of the integral multiple elimination earth rate horizontal component of 360 degree.

3, according to claim 1 or 2 any described methods, it is characterized in that described three-axis integrative high precision fiber optic gyro calibrating parameters model is:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=\left[\begin{array}{ccc}{K}_x& M_{\mathrm{xy}}& M_{\mathrm{xz}}\\ M_{\mathrm{yx}}& K_y& M_{\mathrm{yz}}\\ M_{\mathrm{zx}}& M_{\mathrm{zy}}& K_z\end{array}\right]\left[\begin{array}{c}{N}_x\\ N_y\\ N_z\end{array}\right]+\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

N wherein _x, N _y, N _zThe output digit pulse amount of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; B _x, B _y, B _zThe output zero inclined to one side value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; K _x, K _y, K _zThe constant multiplier value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; M _Xy, M _Xz, M _Yx, M _Yz, M _Zx, M _ZyRepresent that respectively any one is axially around another misalignment angle value towards the 3rd axle, ω in three-axis integrative high precision fiber optic gyro X, Y, three directions of Z _x, ω _y, ω _zThe angular speed of representing calibrated three-axis integrative high precision fiber optic gyro output X, Y, three directions of Z respectively.

4, a kind of caliberating device of three-axis integrative high precision fiber optic gyro is characterized in that, comprising:

Zero is worth computing module partially, is used for obtaining this axial output digit pulse amount average in each process towards predetermined direction, and obtains the output zero inclined to one side value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulsed quantity mean value computation that obtains;

Constant multiplier value computing module, the rotation axis that is used for obtaining each predetermined angle speed correspondence in each process of rotating the predetermined angular values towards predetermined direction with a plurality of predetermined angle speed respectively of three-axis integrative high precision fiber optic gyro on the three shaft position rate tables of will being arranged on to output digit pulse amount average, obtain the constant multiplier value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the output pulsed quantity mean value computation that obtains;

The misalignment angle computing module, be used for to be arranged on two axial output pulse averages of each process test of rotating the predetermined angular value with predetermined angle speed towards predetermined direction respectively of three-axis integrative high precision fiber optic gyro and rotation axis quadrature on the three shaft position rate tables, obtain the misalignment angle value of three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the pulse mean value computation that obtains;

Demarcating module, the output zero that is used for three-axis integrative high precision fiber optic gyro X, Y, three directions of Z according to the described acquisition misalignment angle value of the constant multiplier value of value, three-axis integrative high precision fiber optic gyro X, Y, three directions of Z and three-axis integrative high precision fiber optic gyro X, Y, three directions of Z is partially set up three-axis integrative high precision fiber optic gyro and is demarcated transformation model, and according to described three-axis integrative high precision fiber optic gyro demarcation transformation model conversion is demarcated in the output pulse of X, Y, three directions of Z.

5, device according to claim 4 is characterized in that:

In the zero computing module of value partially, each is tested to multiposition towards eastern or western, to eliminate the earth rate horizontal component of introducing at the alignment error angle and the influence of sky to component;

In constant multiplier value computing module, be 360 degree integral multiples by static two positions test in conjunction with each speed point rotational angle, to eliminate the influence that the earth rate horizontal component is introduced at the alignment error angle;

In the misalignment angle computing module, eliminate zero inclined to one side influence by rotation axis to positive negative rotation, and rotational angle is the influence of the integral multiple elimination earth rate horizontal component of 360 degree.

6, according to claim 4 or 5 any described devices, it is characterized in that described three-axis integrative high precision fiber optic gyro calibrating parameters model is:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=\left[\begin{array}{ccc}{K}_x& M_{\mathrm{xy}}& M_{\mathrm{xz}}\\ M_{\mathrm{yx}}& K_y& M_{\mathrm{yz}}\\ M_{\mathrm{zx}}& M_{\mathrm{zy}}& K_z\end{array}\right]\left[\begin{array}{c}{N}_x\\ N_y\\ N_z\end{array}\right]+\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

N wherein _x, N _y, N _zThe output digit pulse amount of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; B _x, B _y, B _zThe output zero inclined to one side value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; K _x, K _y, K _zThe constant multiplier value of representing three-axis integrative high precision fiber optic gyro X, Y, three directions of Z respectively; M _Xy, M _Xz, M _Yx, M _Yz, M _Zx, M _ZyRepresent that respectively any one is axially around another misalignment angle value towards the 3rd axle, ω in three-axis integrative high precision fiber optic gyro X, Y, three directions of Z _x, ω _y, ω _zThe angular speed of representing calibrated three-axis integrative high precision fiber optic gyro output X, Y, three directions of Z respectively.

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