CN101900572B - Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table - Google Patents
Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table Download PDFInfo
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- CN101900572B CN101900572B CN2010102221208A CN201010222120A CN101900572B CN 101900572 B CN101900572 B CN 101900572B CN 2010102221208 A CN2010102221208 A CN 2010102221208A CN 201010222120 A CN201010222120 A CN 201010222120A CN 101900572 B CN101900572 B CN 101900572B
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Abstract
The present invention provides a rapid measuring method for installation error of a strapdown inertial system gyroscope based on a three-axle rotary table; the strapdown system is installed on a chassis of the three-axle table; sensing shafts of an Y gyroscope, a X gyroscope and a Z gyroscope are pointed at an inner frame, a middle frame and an outer frame of the rotary table, and the inner frame is pointed to the east, the middle frame is pointed to the north and the outer frame is pointed to the sky; the rotary table chooses the northeast direction to respectively adjust the angles of the inner frame, the middle frame and the outer frame to cause the Y gyroscope, the X gyroscope and the Z gyroscope to satisfy the output requirement to get the first to sixth installation errors of the gyroscope. The method separates the installation error from the standardizations of the gyroscope and avoids the influence caused by coupling each measuring parameter in the testing method for the standardizations of the gyroscope of the traditional speed experiments by directly and quickly measuring via the three-axle rotary table. Compared with the prior art, the method is simple and quick, has explicit physical conception, easy understanding and small calculation amount. Therefore, the method is a rapidly, directly and independently measuring method with higher precision.
Description
Technical field
What the present invention relates to is a kind of measuring method of navigational material alignment error of navigation field.
Background technology
The strap down inertial navigation SRT is short, reliability is high, volume is little, in light weight, and have certain precision, be used in navigation field widely, have huge economic benefit.
Alignment error is an important component part of strap down inertial navigation Systematic error sources; Therefore in real system; For improving accuracy of navigation systems, at first to accurately install gyro by accuracy requirement as far as possible, measure then and estimate alignment error; So that carry out correction-compensation, the adverse effect that the alignment error of reduction gyro is brought system.
The method of traditional measurement gyro misalignment is at the inertia device timing signal, obtains gyro misalignment through the experiment of turntable speed, and this process is consuming time long especially, and various measurement parameters and alignment error are coupled mutually, interact.
Summary of the invention
The object of the present invention is to provide a kind of rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle table that can improve the alignment error measuring accuracy.
The objective of the invention is to realize like this:
The present invention is based on the rapid measuring method for installation error of strapdown inertial system gyroscope of three-axle table, it is characterized in that:
(1) strapdown system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to east orientation, center refer to north orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment
Y1, housing forward or reverse β then
1Spend, make the output valve and the ε of the Y gyro here
Y1Unanimity, then θ
Yz=0.5 β
1, θ
YzBe gyro first alignment error;
(3) turntable is got the sky, northeast and is rotated 90 degree to, housing, writes down the output valve ε of Y gyro this moment
Y2, then center rotates 180 degree, and then with center forward or reverse β
2Angle, make the output valve and the ε of the Y gyro here
Y2Unanimity, then θ
Yz=0.5 β
2, θ
YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment
X1, inside casing forward or reverse α then
1The angle, make the output valve and the ε of the X gyro here
X1Unanimity, then θ
Xy=0.5 α
1, θ
XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment
Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ
1The angle, make the output valve and the ε of the Z gyro here
Z1Unanimity, then θ
Zy=0.5 γ
1, θ
ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment
Z2, housing forward or reverse γ next
2The angle, make the output valve and the ε of the Z gyro here
Z2Unanimity, then θ
Zx=0.5 γ
2, θ
ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment
X2Inside casing is rotating 180 degree, then again with inside casing forward or reverse α then
2The angle, make the output valve and the ε of the X gyro here
X2Unanimity, then θ
Xz=0.5 α
2, θ
XzBe gyro the 6th alignment error.
Advantage of the present invention is: from Gyro Calibration, separate alignment error, through three-axle table directly, fast it is measured, avoided the influence that each measurement parameter intercouples and brings in the conventional rate experiment Gyro Calibration method of testing.Compared with prior art, this method is simple, fast, and physical concept is clear and definite, understands easily, and calculated amount is little, be a kind of fast, directly, independently, the higher measuring method of precision.
Description of drawings
Fig. 1 is six alignment error θ of gyro of the present invention
Xy, θ
Xz, θ
Yx, θ
Yz, θ
Zx, θ
ZyThe coordinate synoptic diagram;
Fig. 2 is gyro misalignment measuring principle Fig. 1 of the present invention;
Fig. 3 is gyro misalignment measuring principle Fig. 2 of the present invention;
Fig. 4 is a process flow diagram of the present invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Fig. 1 is six alignment error θ of gyro
Xy, θ
Xz, θ
Yx, θ
Yz, θ
Zx, θ
ZyCoordinate synoptic diagram, OXYZ are orthonormal coordinates system, OX
bY
bZ
bThe non-orthogonal coordinate system of forming for three sensitive axes of gyro.OX ' is OX
bProjection on the OZX of plane, the angle of the two are θ
Xz, OX ' is θ with the OX angle
Xy, OX like this
bAnd the alignment error between the OY can be used above-mentioned two parameter θ
Xz, θ
XyDescribe; In like manner, OY ' is OY
bProjection on the OXY of plane, OY
bAnd two small angle theta can be used in the alignment error angle between the OY
Yx, θ
YzDescribe; OZ ' is OZ
bProjection on the OXY of plane, OZ
bAnd the alignment error between the OZ also can be used two small angle theta
Zy, θ
ZxDescribe.
In conjunction with Fig. 2, Fig. 3, the installation error of strapdown inertial system gyroscope that is suitable for of the present invention confirms that the principle of method is following:
Among Fig. 2, suppose the sensitive axes OX of X gyro
bThe angle that departs from the OXZ face is θ, at this moment OX
bAxle is at the ob place, and oa is the OXZ face, can write down the output valve of X gyro here; Oa rotates 180 and spends oa ' and locate then, and then the X gyro turns to ob ' and locates, and " locates, makes that the output valve of X gyro equates with the output valve of ob place gyro here, at this moment OX if upwards rotate oa to oa
bAxle is positioned at ob, and " locating; ob then " is θ with the angle of OXZ face, and the OXZ face is from oa ' to oa, and " turned angle is 2 θ, writes down from oa ' to oa " turned angle; Then the value of θ equals the OXZ face from oa ' to oa, and " half of rotational angle so just directly drawn the sensitive axes OX of X gyro
bAngle with the OXZ face.Since rotational-angular velocity of the earth only local north orientation with day to angular velocity component is arranged; Promptly important in the inside casing and the housing direction of three-axle table; Therefore can only in the vertical guide of east-west direction, find two identical positions of gyroscope output valve when measuring certain angle with the plane; Gyro must refer to east or west when promptly beginning, and in the vertical guide of east-west direction, rotates then and seeks the output valve position identical with the initial place.Can directly measure θ through this principle
Yx, θ
Xz, θ
Zy
Among Fig. 3, suppose the axle OY of Y gyro
bFace OXY be projected as Oa ', obviously exist and OY on the right of north orientation
bThe position of symmetry, identical certainly in the output valve of these two Y of symmetric position place gyros, based on this, write down the output valve ε of north orientation left side Y gyro earlier, the sky makes the Y gyro output valve here consistent with ε, then θ to the slow rotational angle θ of axle then
Yz=0.5 θ.Can directly measure θ through this principle
Xy, θ
Zx, θ
YzIn conjunction with Fig. 4, the installation error of strapdown inertial system gyroscope that is suitable for of the present invention confirms that method comprises the steps:
(1) strapdown system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to north orientation, center refer to east orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment
Y1, housing forward or reverse β then
1Spend, make the output valve and the ε of the Y gyro here
Y1Unanimity, then θ
Yz=0.5 β
1, θ
YzBe gyro first alignment error;
(3) turntable is got the sky, northeast and is rotated 90 degree to, housing, writes down the output valve ε of Y gyro this moment
Y2, then center rotates 180 degree, and then with center forward or reverse β
2Angle, make the output valve and the ε of the Y gyro here
Y2Unanimity, then θ
Yx=0.5 β
2, θ
YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment
X1, inside casing forward or reverse α then
1The angle, make the output valve and the ε of the X gyro here
X1Unanimity, then θ
Xy=0.5 α
1, θ
XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment
Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ
1The angle, make the output valve and the ε of the Z gyro here
Z1Unanimity, then θ
Zy=0.5 γ
1, θ
ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment
Z2, housing forward or reverse γ next
2The angle, make the output valve and the ε of the Z gyro here
Z2Unanimity, then θ
Zx=0.5 γ
2, θ
ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment
X2, inside casing is rotating 180 degree, then again with inside casing forward or reverse α then
2The angle, make the output valve and the ε of the X gyro here
X2Unanimity, then θ
Xz=0.5 α
2, θ
XzBe gyro the 6th alignment error.
Wherein: θ
Xy, θ
Xz, θ
Yx, θ
Yz, θ
Zx, θ
ZyBe gyro first～the 6th alignment error; ε
X1, ε
X2Be the projection components of rotational-angular velocity of the earth on the X gyro, ε
Y1, ε
Y2Be the projection components of rotational-angular velocity of the earth on the Y gyro, ε
Z1, ε
Z2Be the projection components of rotational-angular velocity of the earth on the Z gyro, above-mentioned projection components is pulse signal; α
1Be the angle of step 4 intermediate station last moment around the inside casing rotation, α
2Be the angle of step 7 intermediate station last moment around the inside casing rotation, β
1Be the angle of step 2 intermediate station last moment around the housing rotation, β
2Be the angle of step 3 intermediate station last moment around the center rotation, γ
1Be the angle of step 5 intermediate station last moment around the inside casing rotation, γ
2Be the angle of step 6 intermediate station last moment around the housing rotation.
Claims (1)
1. based on the rapid measuring method for installation error of strapdown inertial system gyroscope of three-axle table, it is characterized in that:
(1) the strap down inertial navigation system is installed on the pedestal of three-axle table, the sensitive axes of Y gyro, X gyro, Z gyro is pointed to inside casing, center, the housing of turntable respectively, and inside casing refer to north orientation, center refer to east orientation, housing refer to day to;
(2) turntable get the sky, northeast to, write down the output valve ε of Y gyro this moment
Y1, housing forward or reverse β then
1Spend, make the output valve and the ε of the Y gyro here
Y1Unanimity, then θ
Yz=0.5 β
1, θ
YzBe gyro first alignment error;
(3) turntable is got the sky, northeast to, housing moving 90 degree of just walking around, and writes down the output valve ε of Y gyro this moment
Y2, then center rotates 180 degree, and then with center forward or reverse β
2Angle, make the output valve and the ε of the Y gyro here
Y2Unanimity, then θ
Yx=0.5 β
2, θ
YxBe gyro second alignment error;
(4) turntable is got the sky, northeast to, inside casing turn 90 degree then, and then center turn 90 degree are write down the output valve ε of X gyro this moment
X1, inside casing forward or reverse α then
1The angle, make the output valve and the ε of the X gyro here
X1Unanimity, then θ
Xy=0.5 α
1, θ
XyBe gyro the 3rd alignment error;
(5) turntable is got the sky, northeast to, inside casing turn 90 degree then, writes down the output valve ε of Z gyro this moment
Z1, then inside casing turn 180 is spent, and then with inside casing forward or reverse γ
1The angle, make the output valve and the ε of the Z gyro here
Z1Unanimity, then θ
Zy=0.5 γ
1, θ
ZyBe gyro the 4th alignment error;
(6) turntable get the sky, northeast to, then inside casing just turn 90 degrees, housing turn 90 degree are then write down the output valve ε of Z gyro this moment
Z2, housing forward or reverse γ next
2The angle, make the output valve and the ε of the Z gyro here
Z2Unanimity, then θ
Zx=0.5 γ
2, θ
ZxBe gyro the 5th alignment error;
(7) turntable is got the sky, northeast to, center turn 90 degree then, and then inside casing turn 180 degree are write down the output valve ε of X gyro this moment
X2, inside casing rotates 180 degree more then, then again with inside casing forward or reverse α
2The angle, make the output valve and the ε of the X gyro here
X2Unanimity, then θ
Xz=0.5 α
2, θ
XzBe gyro the 6th alignment error.
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| CN102410845B (en) * | 2011-08-16 | 2014-09-10 | 江苏惠通集团有限责任公司 | Method and device for correcting error, detecting angular speed and controlling mouse, and space mouse |
| CN103940443B (en) * | 2014-03-11 | 2017-02-08 | 哈尔滨工程大学 | Gyroscope error calibration method |
| CN103925930B (en) * | 2014-04-17 | 2016-08-17 | 哈尔滨工程大学 | A kind of compensation method of gravimeter biax gyrostabilized platform course error effect |
| CN106525073B (en) * | 2016-09-27 | 2019-07-12 | 北京控制工程研究所 | A kind of inertial space Gyro Calibration test method based on three-axle table |
| CN111272199B (en) * | 2020-03-23 | 2022-09-27 | 北京爱笔科技有限公司 | Method and device for calibrating installation error angle of IMU (inertial measurement Unit) |
| CN111664868A (en) * | 2020-05-28 | 2020-09-15 | 北京航天时代光电科技有限公司 | Method for calibrating and compensating installation error of single-axis gyroscope |
| CN115200613B (en) * | 2022-09-14 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Method for testing accuracy of quadrangular frustum pyramid installation surface of inertial navigation system |
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