CN105044795A - Method for reducing measurement error of rotating accelerometer gravity gradiometer by using fiber optic gyroscope - Google Patents
Method for reducing measurement error of rotating accelerometer gravity gradiometer by using fiber optic gyroscope Download PDFInfo
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- CN105044795A CN105044795A CN201510287321.9A CN201510287321A CN105044795A CN 105044795 A CN105044795 A CN 105044795A CN 201510287321 A CN201510287321 A CN 201510287321A CN 105044795 A CN105044795 A CN 105044795A
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Abstract
The invention relates to a method for reducing a measurement error of a rotating accelerometer gravity gradiometer by using a fiber optic gyroscope, which comprises the steps of (1), installing the fiber optic gyroscope on a rotating shaft of a single-shaft rotating device of the rotating accelerometer gravity gradiometer; (2), detecting the uniformity in position of an output angle of an optical grating angular encoder when the rotating accelerometer gravity gradiometer is in operation, wherein the error of the optical grating angular encoder is indicated to be mainly an eccentricity error when output of the fiber optic gyroscope is similar to a sine curve; and (3), carrying out integration processing on data measured by the fiber optic gyroscope and compensating the eccentricity error of the optical grating angular encoder, and thus reducing adverse impacts for the gradient measurement precision. Disclosed by the invention is a method which is scientific in design, simple to operate and wide in measurement angle and compensates the eccentricity error of the optical grating angular encoder by using the fiber optic gyroscope so as to reduce the measurement error of the rotating accelerometer gravity gradiometer. By using the method disclosed by the invention, defects of a traditional optical measurement method are overcome, the measurement difficulty can be reduced, the measurement efficiency can be improved, and the compensation precision can be improved.
Description
Technical field
The present invention relates to rotating accelerometer gravity gradiometer field, especially a kind of optical fibre gyro null grating angular encoder eccentric error that utilizes is to reduce the method for the measuring error of rotating accelerometer gravity gradiometer.
Background technology
Gravity gradient is the pith during gravitation information is measured.But its signal is very faint, very easily be subject to motion artifacts interference, rotating accelerometer gravity gradiometer is very responsive to rotation departure, and improving the stability of rotation of gravity gradient sensor rotating mechanism, the rigidity of structure and installation accuracy is the important measures ensureing rotating accelerometer gravity gradiometer measuring accuracy.Rotate the restriction that departure is subject to angular position measurement sensor accuracy to a great extent, wherein the alignment error of optical angular encoder is very important factor.Although measuring method can be adopted to measure alignment error, and reduce this error by compensating, but this method testing system complex, optical alignment complex operation, and observation angle scope is subject to the restriction of version and multifaceted prism, can only extract a few characteristic angle, compensation precision is not high with compensation reliability.
Summary of the invention
The object of the invention is to make up the deficiencies in the prior art part, provide a kind of and can measure optical angular encoder alignment error and the method compensated.This method can be measured and the alignment error of null grating angular encoder by full angle, thus reduction optical angular encoder alignment error is on the impact of rotating accelerometer gravity gradiometer measuring accuracy.
The object of the invention is to be realized by following technological means:
Utilize optical fibre gyro to reduce a method for rotating accelerometer gravity gradiometer measuring error, it is characterized in that: comprise the following steps:
(1). optical fibre gyro is arranged on the turning axle of single-shaft-rotation device of rotating accelerometer gravity gradiometer, ensures that the sensitive axes of optical fibre gyro is parallel with the shaft axis of the optical angular encoder in rotating accelerometer gravity gradiometer;
(2). during rotating accelerometer gravity gradiometer work, outer buttons transcoder controller outputting analog signal controls direct current torque motor and rotates location, position signalling feeds back to outer buttons transcoder controller by optical angular encoder measurement, optical fibre gyro connects firmly with rotation stage body, measure the speed of rotation rotating stage body, detect the homogeneity of optical angular encoder output angle position; The graph of errors that optical fibre gyro measures optical angular encoder is consistent with sinusoidal curve trend, illustrates that the error of optical angular encoder is mainly setting-up eccentricity error;
(3). by the angular rate data integration measured by optical fibre gyro and the turning error that causes of the setting-up eccentricity of null grating angular encoder, and then reduce the adverse effect to gradiometry precision.
And, described rotating accelerometer gravity gradiometer is made up of accelerometer, single-shaft-rotation device and Rotable Control System, the turning axle of single-shaft-rotation device is installed conducting ring, optical angular encoder, direct current torque motor and rotation stage body, four equidistant being arranged on of accelerometer rotate on stage body, sensitive axes and the circumference of accelerometer are tangent, paired accelerometer is oppositely settled, two pairs of accelerometer at right angle settings, optical angular encoder, direct current torque motor and outer buttons transcoder controller form Rotable Control System.
And described optical fiber gyroscope precision is better than 0.01 °/h, scale factor stability is better than 10ppm.
Advantage of the present invention and good effect are:
1, this method is a kind of using the method for optical fibre gyro as the measuring sensor of calibration grating angular encoder, optical fibre gyro is a kind of maturation, accurate inertial measurement component, it is utilized to carry out alignment error detection, have that low-speed detection resolution is high, stable performance, output continuous number signal, to the feature of installing without being strict with, therefore optical fibre gyro can be carried out correction-compensation as a kind of measurement of angle element to optical angular encoder, utilize optical fibre gyro measure angle of rotation speed through Integral Processing and synchronous comparison the turning error of optical angular encoder.
2, optical fibre gyro is fixed on single-shaft-rotation device by this method, make the installation parallel with the shaft axis of optical angular encoder of its sensitive axes, ensure the angular motion that optical fibre gyro can responsive respond to optical angular encoder, by getting final product the alignment error of null grating angular encoder to its metrical information process, and then reduce the adverse effect to gradiometry precision.
3, the present invention is a kind of design science, simple to operate, taking measurement of an angle utilizes optical fibre gyro null grating angular encoder eccentric error to reduce the method for the measuring error of rotating accelerometer gravity gradiometer widely, this method is used to overcome the defect of traditional optical measuring method, decrease the installation of photoelectron collimator and multifaceted prism, the cumbersome process of adjustment, reduce the dependence to high precision photoelectric autocollimator, can reduce and measure difficulty, raising measurement efficiency, raising compensation precision and compensate reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of rotating accelerometer gravity gradiometer.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing; It should be noted that, the present embodiment is narrative, is not determinate, can not limit protection scope of the present invention with this.
In order to clearly demonstrate this method, first, first the structure of rotating accelerometer gravity gradiometer is simply described.As shown in Figure 1, rotating accelerometer gravity gradiometer is made up of accelerometer 2, single-shaft-rotation device and Rotable Control System, the turning axle 7 of single-shaft-rotation device is installed conducting ring 1, optical angular encoder 4, direct current torque motor 6 and rotates stage body 3, four equidistant being arranged on of accelerometer rotate on stage body, sensitive axes and the circumference of accelerometer are tangent, paired accelerometer is oppositely settled, two pairs of accelerometer at right angle settings, optical angular encoder, direct current torque motor and outer buttons transcoder controller form Rotable Control System.
Utilize optical fibre gyro to reduce a method for the measuring error of rotating accelerometer gravity gradiometer, comprise the following steps:
(1). optical fibre gyro 5 is arranged on the turning axle of single-shaft-rotation device of rotating accelerometer gravity gradiometer, ensures the parallel installation of optical angular encoder shaft axis of optical fibre gyro sensitive axes and rotating accelerometer gravity gradiometer;
(2). during rotating accelerometer gravity gradiometer work, outer buttons transcoder controller outputting analog signal controls direct current torque motor and rotates location, position signalling feeds back to outer buttons transcoder controller by optical angular encoder measurement, optical fibre gyro connects firmly with rotation stage body, measure the speed of rotation rotating stage body, detect the homogeneity of optical angular encoder output angle position; The graph of errors that optical fibre gyro measures optical angular encoder is consistent with sinusoidal curve trend, illustrates that the error of optical angular encoder is mainly setting-up eccentricity error;
(3). by the angular rate data integration measured by optical fibre gyro and the turning error that causes of the setting-up eccentricity of null grating angular encoder, and then reduce the adverse effect to gradiometry precision.
Step is (1)--and the optical fiber gyroscope precision is (3) better than 0.01 °/h, and scale factor stability is better than 10ppm.
What optical fibre gyro measurement obtained is rotate the angle of rotation speed of stage body relative to inertial space, its projection components is for rotating stage body angular speed, earth rotation angular speed and gyro self error sum, local earth rotation angular speed is fixing and known, much smaller than the angular speed 90 °/s rotating stage body, and gyro self drift error is less than 0.01 °/h, its impact can be ignored.
Claims (3)
1. utilize optical fibre gyro to reduce a method for rotating accelerometer gravity gradiometer measuring error, it is characterized in that: comprise the following steps:
(1). optical fibre gyro is arranged on the turning axle of single-shaft-rotation device of rotating accelerometer gravity gradiometer, ensures that the sensitive axes of optical fibre gyro is parallel with the shaft axis of the optical angular encoder in rotating accelerometer gravity gradiometer;
(2). during rotating accelerometer gravity gradiometer work, outer buttons transcoder controller outputting analog signal controls direct current torque motor and rotates location, position signalling feeds back to outer buttons transcoder controller by optical angular encoder measurement, optical fibre gyro connects firmly with rotation stage body, measure the speed of rotation rotating stage body, detect the homogeneity of optical angular encoder output angle position; The graph of errors that optical fibre gyro measures optical angular encoder is consistent with sinusoidal curve trend, illustrates that the error of optical angular encoder is mainly setting-up eccentricity error;
(3). by the angular rate data integration measured by optical fibre gyro and the turning error that causes of the setting-up eccentricity of null grating angular encoder, and then reduce the adverse effect to gradiometry precision.
2. a kind of method utilizing optical fibre gyro to reduce the measuring error of rotating accelerometer gravity gradiometer according to claim 1, it is characterized in that: described rotating accelerometer gravity gradiometer is by accelerometer, single-shaft-rotation device and Rotable Control System are formed, the turning axle of single-shaft-rotation device installs conducting ring, optical angular encoder, direct current torque motor and rotation stage body, four equidistant being arranged on of accelerometer rotate on stage body, sensitive axes and the circumference of accelerometer are tangent, paired accelerometer is oppositely settled, two pairs of accelerometer at right angle settings, optical angular encoder, direct current torque motor and outer buttons transcoder controller form Rotable Control System.
3. a kind of method utilizing optical fibre gyro to reduce the measuring error of rotating accelerometer gravity gradiometer according to claim 1, it is characterized in that: described optical fiber gyroscope precision is better than 0.01 °/h, scale factor stability is better than 10ppm.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287372A (en) * | 2017-12-21 | 2018-07-17 | 中国船舶重工集团公司第七0七研究所 | A kind of gravity gradient sensor selection of speed method based on inertial technology |
| CN108873093A (en) * | 2018-07-12 | 2018-11-23 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN109085654A (en) * | 2018-06-11 | 2018-12-25 | 东南大学 | A kind of rotating accelerometer gravity gradiometer digital modeling emulation mode |
| CN109520486A (en) * | 2019-01-02 | 2019-03-26 | 中国船舶重工集团公司第七0七研究所 | A kind of deviation of plumb line real-time computing technique based on horizontal tensor gravity gradient |
| CN109581525A (en) * | 2018-11-23 | 2019-04-05 | 中国船舶重工集团公司第七0七研究所 | The selection method of rotary accelerometer formula gravity gradient sensor original sampling frequency |
| CN110471123A (en) * | 2019-09-02 | 2019-11-19 | 临沂大学 | A kind of rotating accelerometer gravity gradiometer data diagnosis and processing method |
| CN110888174A (en) * | 2019-11-21 | 2020-03-17 | 中国船舶重工集团公司第七0七研究所 | Topology design method for rotating base of rotating accelerometer type gravity gradient measuring device |
| CN111175838A (en) * | 2018-11-13 | 2020-05-19 | 北京自动化控制设备研究所 | High-precision modeling control method for temperature control system of inertial platform type gravimeter |
| CN111220141A (en) * | 2020-02-25 | 2020-06-02 | 北京航空航天大学 | Shaft aligning method for direct coupling of polarization maintaining optical fiber ring terminal and integrated optical chip |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287372A (en) * | 2017-12-21 | 2018-07-17 | 中国船舶重工集团公司第七0七研究所 | A kind of gravity gradient sensor selection of speed method based on inertial technology |
| CN109085654A (en) * | 2018-06-11 | 2018-12-25 | 东南大学 | A kind of rotating accelerometer gravity gradiometer digital modeling emulation mode |
| CN108873093A (en) * | 2018-07-12 | 2018-11-23 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN108873093B (en) * | 2018-07-12 | 2019-11-05 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN111175838A (en) * | 2018-11-13 | 2020-05-19 | 北京自动化控制设备研究所 | High-precision modeling control method for temperature control system of inertial platform type gravimeter |
| CN109581525B (en) * | 2018-11-23 | 2020-06-19 | 中国船舶重工集团公司第七0七研究所 | Selection method of original sampling frequency of rotating accelerometer type gravity gradient sensor |
| CN109581525A (en) * | 2018-11-23 | 2019-04-05 | 中国船舶重工集团公司第七0七研究所 | The selection method of rotary accelerometer formula gravity gradient sensor original sampling frequency |
| CN109520486A (en) * | 2019-01-02 | 2019-03-26 | 中国船舶重工集团公司第七0七研究所 | A kind of deviation of plumb line real-time computing technique based on horizontal tensor gravity gradient |
| CN109520486B (en) * | 2019-01-02 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Vertical line deviation real-time calculation method based on horizontal tensor gravity gradient |
| CN110471123A (en) * | 2019-09-02 | 2019-11-19 | 临沂大学 | A kind of rotating accelerometer gravity gradiometer data diagnosis and processing method |
| CN110888174A (en) * | 2019-11-21 | 2020-03-17 | 中国船舶重工集团公司第七0七研究所 | Topology design method for rotating base of rotating accelerometer type gravity gradient measuring device |
| CN110888174B (en) * | 2019-11-21 | 2021-12-31 | 中国船舶重工集团公司第七0七研究所 | Topology design method for rotating base of rotating accelerometer type gravity gradient measuring device |
| CN111220141A (en) * | 2020-02-25 | 2020-06-02 | 北京航空航天大学 | Shaft aligning method for direct coupling of polarization maintaining optical fiber ring terminal and integrated optical chip |
| CN111220141B (en) * | 2020-02-25 | 2021-06-25 | 北京航空航天大学 | Shaft aligning method for direct coupling of polarization maintaining optical fiber ring terminal and integrated optical chip |
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