CN105277210A - Calibration method for multi-axis integrated gyro installed in any way - Google Patents

Abstract

The invention belongs to the technical field of gyro calibration and specifically relates to a multi-axis integrated gyro calibration method without any restriction on the quantity and installation manner of sensitive axes of a gyro. Offsetting of a part of error coefficients is realized by designing a calibration technology for the multi-axis integrated gyro installed in any way and utilizing axial symmetric rotation of three coordinate systems, thereby realizing separation of the installation angle, scale factor, zero offset, acceleration correlation coefficients of each sensitive axis of the gyro. The calibration method overcomes the problem of restriction on the quantity and installation manner of a sensitive axis in conventional calibration methods for integrated gyros and has high calibration precision and wide applicability.

Description

A kind of multiaxis of installation arbitrarily Gyro scaling method

Technical field

The invention belongs to Gyro Calibration technical field, be specially a kind of sensitive axes quantity to gyro and the mounting means multiaxis Gyro scaling method without any restriction.

Background technology

Traditional Gyro adopts the orthogonal installation form of three axles usually, and its scaling method is more, and technology is very ripe.Along with the development of technology, consider for redundancy or otherwise technology, the Gyro of some four axles or more multiaxis number engenders, and the change of the installation form of gyro is various.This any installation multiaxis Gyro technology is comparatively new, proposes brand-new requirement to scaling method.

In published technical information, demarcation for Gyro all gives certain solution, simultaneously all there is a common limitation in these scaling methods---and be only applicable to the conventional three axle Gyros installed and demarcate (or the gyro part of IMU, as follows) be used to measure the angular speed that bears in space of carrier, set up coordinate system with three mutually orthogonal axles.Conventional design have employed the mentality of designing that gyro sensitive axes overlaps with product coordinate system axle, namely carrys out the angular velocity on sensitive carrier three coordinate system axles with the gyro of three mutually orthogonal installations.This type of scaling method makes Gyro rotate according to certain angle by rotating table, thus inspires every error coefficient of product.In Project Realization, this kind of scaling method requires gyro sensitive axes and carrier coordinate axis less parallel, also the depth of parallelism must be controlled within the specific limits when stated accuracy requires high.But this kind of scaling method be not suitable for gyro sensitive axes and do not overlap with carrier coordinate axis, the i.e. gyro demarcation of Gyro of installing arbitrarily, this kind of scaling method is only applicable to the demarcation of three axle Gyros simultaneously, is not suitable for the demarcation of the arbitrary axis Gyro of Redundancy Design.

To sum up, also there is no the disclosed multiaxis Gyro scaling method without any restriction at present, therefore, need a kind of brand-new scaling method of development badly, the requirement of demarcating with the Gyro meeting multiaxis number.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of multiaxis of installation arbitrarily Gyro scaling method, solves the problem of calibrating of the multiaxis Gyro installed arbitrarily, meets higher stated accuracy simultaneously.

In order to realize this purpose, the technical scheme that the present invention takes is:

A kind of multiaxis of installation arbitrarily Gyro scaling method, comprises the following steps:

(1) error model of single gyro is determined

Gyro is defined by two attitude angle relative to the established angle of optical reference and mechanical references:

Course angle fa: the projection of sensitive axes in product ontology coordinate system ZOY plane and the angle of OZ axle is negative clockwise is just counterclockwise, and scope is-180 ° ~+180 °;

Angle of pitch si: the angle of sensitive axes and product ontology coordinate system ZOY plane, scope is-90 ° ~+90 °;

The error model of single gyro is as follows:

Ng_A1＝K0+D1x×a _x+D1y×a _y+D1z×a _z+K1×[cos(si)×cos(fa)×w _z+sin(si)×w _x-cos(si)×sin(fa)×w _y]…………(1)

In formula:

The original pulse number that in Ng_A1--Gyro, A1 gyro exports;

K0--gyro zero-bit;

D1x, D1y, D1z--gyro on x, y, z axle with the continuous item of gravity acceleration g;

A _x, a _y, a _z--the acceleration of gravity of product ontology coordinate system on x, y, z axle;

K1--gyro constant multiplier;

W _z, w _x, w _y--the angular velocity on product ontology coordinate system x, y, z axle;

(2) zero of demarcation Gyro is inclined

Ignore the vertical error between double axle table two turning axles, set two turning axles orthogonal, wherein OXb, OYb are respectively two turning axles of turntable, and for any one gyro, setting any reference position is position one:

In position for the moment, set this gyro space sensitive to earth rate be

Rotate 180 ° around Xb axle, then this teetotum has forwarded position two to, now responsive to earth rate be

Around Yb axle rotate 180 ° then this teetotum forwarded position three to, now responsive to earth rate be

Rotate 180 ° around Xb axle, then this teetotum has forwarded position four to, now responsive to earth rate be

Due to one ~ position, position four sensitivity to acceleration of gravity vector be zero, determine that the inclined computing method of gyro zero are: $K0=\underset{j=1}{\overset{4}{\mathrm{\Σ}}}K0\_j;$

Wherein K0_j (j=1 ~ 4) is the umber of pulse output of gyro in a jth position;

(3) Gyro body X-axis leveling

(3.1) on three axle rate tables, leveling is carried out to product optical reference mirror X face;

(3.2) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, N >=1; Exporting gyro takes the mean as Ng_x_1;

(3.3) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_2;

(3.4) inside casing turns over turnback, and center turns over turnback;

(3.5) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_3;

(3.6) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_4;

(4) Gyro body Y face leveling

(4.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_1;

(4.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_2;

(4.3) inside casing turns over turnback, and center turns over turnback;

(4.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_3;

(4.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_4;

(5) Gyro body Z face leveling

(5.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_1;

(5.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_2;

(5.3) inside casing turns over turnback, and center turns over turnback;

(5.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_3;

(5.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_4;

(6) each error term computing formula is determined

$D1x=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_3}{2g}...\left(2\right)$

$D1y=\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_3}{2g}...\left(3\right)$

$D1z=\frac{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_3}{2g}...\left(4\right)$

$\mathrm{fa}=\arctan [-\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_2}]...\left(5\right)$

$\mathrm{si}=\arctan [-\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}\×\sin \left(\mathrm{fa}\right)]...\left(6\right)$

$K1=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{2\×\sin \left(\mathrm{si}\right)\×w_x}...\left(7\right).$

Further, as above a kind of install arbitrarily multiaxis Gyro scaling method, in step (3) ~ (5), turntable velocity-stabilization refers to turntable output pulsation≤0.01 °/s.

Use this scaling method to carry out Gyro demarcation, not only solve the restriction of conventional Gyro scaling method for sensitive axes quantity and sensitive axes mounting means, and possess very high stated accuracy, the applicability of this scaling method widely.

Embodiment

Below in conjunction with specific embodiment, technical solution of the present invention is described in detail.

The mentality of designing of technical solution of the present invention is, by designing a kind of multiaxis of installation arbitrarily Gyro calibration technique, utilize the symmetrical rotary of three coordinate system axis, realize the payment of part error coefficient, so realize the established angle of each gyro sensitive axes, constant multiplier, zero partially, the separation of acceleration related coefficient.Specifically comprise the following steps:

(1) error model of single gyro is determined

Gyro is defined by two attitude angle relative to the established angle of optical reference and mechanical references:

Course angle fa: the projection of sensitive axes in product ontology coordinate system ZOY plane and the angle of OZ axle is negative clockwise is just counterclockwise, and scope is-180 ° ~+180 °;

Angle of pitch si: the angle of sensitive axes and product ontology coordinate system ZOY plane, scope is-90 ° ~+90 °;

The error model of single gyro is as follows:

Ng_A1＝K0+D1x×a _x+D1y×a _y+D1z×a _z+K1×[cos(si)×cos(fa)×w _z+sin(si)×w _x-cos(si)×sin(fa)×w _y]…………(1)

In formula:

The original pulse number that in Ng_A1--Gyro, A1 gyro exports;

K0--gyro zero-bit;

D1x, D1y, D1z--gyro on x, y, z axle with the continuous item of gravity acceleration g;

A _x, a _y, a _z--the acceleration of gravity of product ontology coordinate system on x, y, z axle;

K1--gyro constant multiplier;

W _z, w _x, w _y--the angular velocity on product ontology coordinate system x, y, z axle;

(2) zero of demarcation Gyro is inclined

Ignore the vertical error between double axle table two turning axles, set two turning axles orthogonal, wherein OXb, OYb are respectively two turning axles of turntable, and for any one gyro, setting any reference position is position one:

v

In position for the moment, set this gyro space sensitive to earth rate be X1;

Rotate 180 ° around Xb axle, then this teetotum has forwarded position two to, now responsive to earth rate be

Around Yb axle rotate 180 ° then this teetotum forwarded position three to, now responsive to earth rate be

Rotate 180 ° around Xb axle, then this teetotum has forwarded position four to, now responsive to earth rate be

Due to one ~ position, position four sensitivity to acceleration of gravity vector be zero, determine that the inclined computing method of gyro zero are: $K0=\underset{j=1}{\overset{4}{\mathrm{\Σ}}}K0\_j;$

Wherein K0_j (j=1 ~ 4) is the umber of pulse output of gyro in a jth position;

(3) Gyro body X-axis leveling

(3.1) on three axle rate tables, leveling is carried out to product optical reference mirror X face;

(3.2) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, N >=1; Exporting gyro takes the mean as Ng_x_1;

In this particular embodiment, in this step and following each step, turntable velocity-stabilization refers to turntable output pulsation≤0.01 °/s.

(3.3) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_2;

(3.4) inside casing turns over turnback, and center turns over turnback;

(3.5) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_3;

(3.6) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_4;

(4) Gyro body Y face leveling

(4.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_1;

(4.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_2;

(4.3) inside casing turns over turnback, and center turns over turnback;

(4.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_3;

(4.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_4;

(5) Gyro body Z face leveling

(5.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_1;

(5.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_2;

(5.3) inside casing turns over turnback, and center turns over turnback;

(5.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_3;

(5.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_4;

(6) each error term computing formula is determined

$D1x=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_3}{2g}...\left(2\right)$

$D1y=\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_3}{2g}...\left(3\right)$

$D1z=\frac{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_3}{2g}...\left(4\right)$

$\mathrm{fa}=\arctan [-\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_2}]...\left(5\right)$

$\mathrm{si}=\arctan [-\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}\×\sin \left(\mathrm{fa}\right)]...\left(6\right)$

$K1=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{2\×\sin \left(\mathrm{si}\right)\×w_x}...\left(7\right).$

Claims (2)

1. a multiaxis Gyro scaling method is installed arbitrarily, it is characterized in that, comprise the following steps:

(1) error model of single gyro is determined

Gyro is defined by two attitude angle relative to the established angle of optical reference and mechanical references:

Course angle fa: the projection of sensitive axes in product ontology coordinate system ZOY plane and the angle of OZ axle is negative clockwise is just counterclockwise, and scope is-180 ° ~+180 °;

Angle of pitch si: the angle of sensitive axes and product ontology coordinate system ZOY plane, scope is-90 ° ~+90 °;

The error model of single gyro is as follows:

Ng_A1＝K0+D1x×a _x+D1y×a _y+D1z×a _z+K1×[cos(si)×cos(fa)×w _z+sin(si)×w _x-cos(si)×sin(fa)×w _y]…………(1)

In formula:

The original pulse number that in Ng_A1--Gyro, A1 gyro exports;

K0--gyro zero-bit;

D1x, D1y, D1z--gyro on x, y, z axle with the continuous item of gravity acceleration g;

A _x, a _y, a _z--the acceleration of gravity of product ontology coordinate system on x, y, z axle;

K1--gyro constant multiplier;

W _z, w _x, w _y--the angular velocity on product ontology coordinate system x, y, z axle;

(2) zero of demarcation Gyro is inclined

Ignore the vertical error between double axle table two turning axles, set two turning axles orthogonal, wherein OXb, OYb are respectively two turning axles of turntable, and for any one gyro, setting any reference position is position one:

In position for the moment, set this gyro space sensitive to earth rate be

Rotate 180 ° around Xb axle, then this teetotum has forwarded position two to, now responsive to earth rate be

Around Yb axle rotate 180 ° then this teetotum forwarded position three to, now responsive to earth rate be

Rotate 180 ° around Xb axle, then this teetotum has forwarded position four to, now responsive to earth rate be

Due to one ~ position, position four sensitivity to acceleration of gravity vector be zero, determine that the inclined computing method of gyro zero are: $K0=\underset{j=1}{\overset{4}{\mathrm{\Σ}}}K0\_j;$

Wherein K0_j (j=1 ~ 4) is the umber of pulse output of gyro in a jth position;

(3) Gyro body X-axis leveling

(3.1) on three axle rate tables, leveling is carried out to product optical reference mirror X face;

(3.2) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, N >=1; Exporting gyro takes the mean as Ng_x_1;

(3.3) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_2;

(3.4) inside casing turns over turnback, and center turns over turnback;

(3.5) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_3;

(3.6) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_x_4;

(4) Gyro body Y face leveling

(4.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_1;

(4.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_2;

(4.3) inside casing turns over turnback, and center turns over turnback;

(4.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_3;

(4.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_y_4;

(5) Gyro body Z face leveling

(5.1) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_1;

(5.2) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_2;

(5.3) inside casing turns over turnback, and center turns over turnback;

(5.4) with speed w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_3;

(5.5) with speed-w rotating table housing, after turntable velocity-stabilization, rotate whole N enclose, gyro is exported and takes the mean as Ng_z_4;

(6) each error term computing formula is determined

$D1x=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_3}{2g}...\left(2\right)$

$D1y=\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_3}{2g}...\left(3\right)$

$D1z=\frac{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_3}{2g}...\left(4\right)$

$\mathrm{fa}=\arctan [-\frac{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}{\mathrm{Ng}\_z\_1-\mathrm{Ng}\_z\_2}]...\left(5\right)$

$\mathrm{si}=\arctan [-\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{\mathrm{Ng}\_y\_1-\mathrm{Ng}\_y\_2}\×\sin \left(\mathrm{fa}\right)]...\left(6\right)$

$K1=\frac{\mathrm{Ng}\_x\_1-\mathrm{Ng}\_x\_2}{2\×\sin \left(\mathrm{si}\right)\×w_x}...\left(7\right).$

2. as claimed in claim 1 a kind of install arbitrarily multiaxis Gyro scaling method, it is characterized in that, in step (3) ~ (5), turntable velocity-stabilization refers to turntable output pulsation≤0.01 °/s.