CN105910626A - North-seeking full-temperature calibration compensation method for flexible gyro inclinometer - Google Patents
North-seeking full-temperature calibration compensation method for flexible gyro inclinometer Download PDFInfo
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Abstract
The invention discloses a north-seeking full-temperature calibration compensation method for a flexible gyro inclinometer. The method includes the steps that the flexible gyro inclinometer provided with a temperate control tool is installed on a three-axis calibration device; in the process that temperature is raised or reduced to preset temperature, at least one turn of 52 rotation positions of the three-axis calibration device is finished, the flexible gyro inclinometer conducts north-seeking once and outputs a group of corresponding north-seeking data after each position is rotated; a voltage signal output by the X axis of an accelerometer, a voltage signal output by the Y axis of the accelerometer, a voltage signal output by the Z axis of the accelerometer and temperature of a gyroscope in at least 52 groups of north-seeking data are substituted into an accelerometer error compensation module, and accelerometer error coefficients of the X axis, the Y axis and the Z axis are obtained through the least square method; a voltage signal output by the X axis of the gyroscope, a voltage signal output by the Y axis of the gyroscope, temperature of the gyroscope and a specific force signal without errors on the X axis, the Y axis and the Z axis of the accelerometer in at least 52 groups of north-seeking data are substituted into a gyroscope error compensation module, and error coefficients of the X axis and the Y axis of the gyroscope are obtained through the least square method.
Description
Technical field
The present invention relates to flexible gyroscope inclinometer technical field, seek the full temperature scale in north particularly to a kind of flexible gyroscope inclinometer
Determine compensation method.
Background technology
When north sought by inclinometer, in the range of full temperature, gyro and accelerometer signal can vary with temperature, and seek north in same position
Can cause seeking the north result attitude angle difference several years to tens degree.The inclinometer point of drilling well at present surveys the most full temperature scaling method
Solution, low precision, the nominal time is long, and cannot be carried out outfield temperature calibration compensation entirely.The operating temperature of gyrolevel
Scope, at-20 DEG C-85 DEG C, wants the necessary additional heat-preservation cylinder that works under more than 85 DEG C of high temperature, and flexible gyroscope is dynamo-electric knot
Structure, material is big by variations in temperature, quite big on the impact of gyro parameter, and north finding precision compares with true value to differ and can reach tens
Degree, has two kinds of methods to solve this problem: one, to screen gyro: picking out the gyro that temperature performance is superior, shortcoming is the method at present
Relatively costly.Two, Segmented temperature compensation: by frock of heating specially, the nominal time is long, has large deviation point near waypoint
Occur.It is not enough that this method makes up both the above method, and low cost, the nominal time is short, and the heaviest is can to demarcate with outfield.
The shortcoming that the present invention compensate for existing scaling method, it is possible to achieve Beijing Foreign Language Studies University field temperature calibration compensation entirely sought by inclinometer, greatly
Simplifying greatly test process, data automatically read and preserve, it is not necessary to too many artificial manual operations, calculating process is completely by counting
Calculation machine completes.
Summary of the invention
For above-mentioned the deficiencies in the prior art, the technical problem to be solved is: provides a kind of and is not changing now
Mark can be repaid to carrying out full temperature compensation on the basis of the electrical structure that has gyrolevel, the gyrolevel being changed without more high-quality
Fixed, and nominal time short flexible gyroscope inclinometer seeks north full temperature calibration compensation method.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of flexible gyroscope inclinometer
Seek north full temperature calibration compensation method, comprise the following steps:
S101, gyrolevel assemble with temperature control frock, then the gyrolevel that will be equipped with temperature control frock is installed
On three axle caliberating devices, make gyrolevel heat up in predetermined temperature section or be cooled to predetermined temperature, described temperature
Control frock is for making gyroscope persistently overheating or continued down in predetermined temperature section；
S102, heating up or during being cooled to predetermined temperature, completing at least one three axle caliberating device 52 taken turns
Turned position, often rotates and makes behind a position gyrolevel once seek north and export one group of correspondence and seek north data, its
In, seek voltage signal, the Y that north data all include exporting gyro X-axis during three axle caliberating device correspondence turned positions for each group
The voltage signal of axle output, the voltage signal of accelerometer X-axis output, the voltage signal of accelerometer Y-axis output, accelerometer
The voltage signal of Z axis output and temperature T1 of gyro；
S103, the voltage signal of accelerometer X-axis output at least 52 groups sought in the data of north, the output of accelerometer Y-axis
Voltage signal, accelerometer Z axis output voltage signal and gyro temperature T1 substitute into accelerometer error compensation modelUtilize method of least square
Draw X accelerometer error COEFFICIENT Kax、ax0、(aax1T2+abx1T+acx1)、(aax2T2+ abx2T+acx2), Y-axis acceleration
Meter error coefficient Kay、ay0、(aay1T2+aby1T+acy1)、(aay2T2+ aby2T+acy2), and Z axis accelerometer error system
Number Kaz、az0、(aaz1T2+abz1T+acz1)、(aaz2T2+ abz2T+acz2), thus three axles demarcated in temperature section are accelerated
The error coefficient of degree meter is demarcated, and then can obtain three axis accelerometer correspondence according to demarcating the error coefficient resolving obtained
The ratio force signal a of elimination errorxb, ayb, azb, wherein:
KaxFor the constant multiplier of accelerometer X-axis, FaxFor the voltage signal of accelerometer X-axis output, ax0Represent that X-axis adds
The zero offset error coefficient of velometer, axbRepresent that X-axis accelerometer does not has the ratio force signal of error, (aax1T2+abx1T+acx1)
Represent the error coefficient that X-axis accelerometer is relevant with accelerometer Y-axis；(aax2T2+ abx2T+acx2) represent X-axis accelerometer
The error coefficient relevant with Z axis；
KayFor the constant multiplier of accelerometer Y-axis, FayFor the voltage signal of accelerometer Y-axis output, ay0Represent that Y-axis adds
The zero offset error coefficient of velometer, aybRepresent that Y-axis accelerometer does not has the ratio force signal of error, (aay1T2+aby1T+acy1)
Represent the error coefficient that Y-axis accelerometer is relevant with accelerometer X-axis；(aay2T2+ aby2T+acy2) represent Y-axis accelerometer
The error coefficient relevant with Z axis；
KazFor the constant multiplier of accelerometer Z axis, FazFor the voltage signal of accelerometer Z axis output, az0Represent that Z axis adds
The zero offset error coefficient of velometer, azbRepresent that Z axis accelerometer does not has the ratio force signal of error, (aaz1T2+abz1T+acz1)
Represent the error coefficient that Z axis accelerometer is relevant with accelerometer X-axis；(aaz2T2+ abz2T+acz2) represent Z axis accelerometer
The error coefficient relevant with Y-axis；
S104, the voltage signal of gyro X-axis output described at least 52 groups sought in the data of north, the voltage letter of Y-axis output
Number, the X-axis accelerometer obtained in temperature T1 of gyro, step S103 there is no the ratio force signal a of errorxb, Y-axis accelerometer do not has
There is the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into gyro error compensation model,
Utilize
Method of least square draws gyro X-axis error coefficient Kgx、D(x)F、(ax1*T2+bx1*T+cx1)、(ax2*T2+bx2*T+cx2)、
(ax3*T2+bx3*T+cx3)、(ax4*T2+bx4*T+cx4)、(ax5*T2+bx5*T+cx5)、(ax6*T2+bx6*T+cx6)；With
And utilize method of least square to draw Y-axis gyroscope error coefficients Kgy、D(y)F、(ay1*T2+by1*T+cy1)、(ay2*T2+by2*T+
cy2)、(ay3*T2+by3*T+cy3)、(ay4*T2+by4*T+cy4)、(ay5*T2+by5*T+cy5)、(ay6*T2+by6*T+
Cy6), thus the error coefficient of the gyro X-axis in predetermined temperature section and Y-axis is demarcated, and then can be according to the mistake demarcated
Difference coefficient resolves the angular velocity information ω obtaining the X-axis elimination error corresponding with Y-axisxb、ωyb；Wherein:
ωdxRepresent the drift angle speed of X-axis gyro, KgxFor the constant multiplier of gyro X-axis, FgxFor what gyro X-axis was exported
Voltage signal, D (x)FRepresent the constant value drift of gyro X-axis, (ax1*T2+ bx1*T+cx1) represent gyro X-axis and axbRelevant mistake
Difference coefficient, (ax2*T2+ bx2*T+cx2) represent gyro X-axis and aybRelevant error coefficient, (ax3*T2+ bx3*T+cx3) represent
Gyro X-axis and azbRelevant error coefficient, (ax4*T2+ bx4*T+cx4) represent gyro X-axis and axbazbTwo axle accelerations in respect of
The coupling error coefficient closed, (ax5*T2+ bx5*T+cx5) represent gyro X-axis and aybazbThe coupling mistake that two axis accelerometers are relevant
Difference coefficient, (ax6*T2+ bx6*T+cx6) represent the quadrature error coefficient of gyro X-axis and gyro Y-axis, ωybRepresent that gyro Y-axis does not has
There is the angular rate information of error；εxRepresent random error；
ωdyRepresent the drift angle speed of Y-axis gyro, KgyFor the constant multiplier of gyro Y-axis, FgyFor what gyro Y-axis was exported
Voltage signal, D (y)FRepresent the constant value drift of gyro Y-axis, (ay1*T2+ by1*T+cy1) represent gyro Y-axis and axbRelevant mistake
Difference coefficient, (ay2*T2+ by2*T+cy2) represent gyro Y-axis and aybRelevant error coefficient, (ay3*T2+ by3*T+cy3) represent
Gyro Y-axis and azbRelevant error coefficient, (ay4*T2+ by4*T+cy4) represent gyro Y-axis and axbazbTwo axle accelerations in respect of
The coupling error coefficient closed, (ay5*T2+ by5*T+cy5) represent gyro Y-axis and aybazbThe coupling mistake that two axis accelerometers are relevant
Difference coefficient, (ay6*T2+ by6*T+cy6) represent the quadrature error coefficient of gyro Y-axis and gyro X-axis, ωxbRepresent that gyro X-axis does not has
There is the angular rate information of error；εyRepresent random error.
Wherein, described three axle caliberating devices are three-axle table.
Wherein, described three axle caliberating devices are inclinometer tripod, and described inclinometer tripod includes a base, stands on the end
Housing axle on seat, it is located at the center axle in horizontal direction on housing axle top and is located at the inner axis of center axle end face, three
Individual frame axle is mutually orthogonal, and described inclinometer is installed on described inner axis, is provided with three height in the bottom surface of described base and adjusts
Joint part, triangular in shape after three height adjusting part lines, described housing axle, center axle and inner axis are able to turn around its axle center
Dynamic；
Before described S101 step, also include:
S100, the housing of inclinometer is directed at position, north and the base according to the high flat inclinometer in local geographical position.
Wherein, described gyrolevel includes that inertance element and the collection being connected with the lead-out terminal of inertance element resolve
Circuit；
In S102 step, during heating up or being cooled to predetermined temperature, complete at least one three axles taken turns and demarcate
52 turned positions of device, make the inertance element of gyrolevel once seek north after often rotating a position, make gyro survey
Tiltedly the inertance element of instrument exports each turned position correspondence and seeks north signal, described in seek north signal and include: the simulation of gyro X-axis output
The analogue signal of signal, gyro Y-axis output, the analogue signal of three accelerometer correspondence outputs and temperature T1 of gyro；Logical
Cross gather form correspondence group number after resolving circuit converts analog signals into digital signal seek north data transmission to corresponding upper
Bit machine；
In S103 step, at least 52 groups produced in temperature-rise period received are sought adding in the data of north by computer
Velometer X-axis output voltage signal, accelerometer Y-axis output voltage signal, accelerometer Z axis output voltage signal with
And temperature T1 of gyro substitutes into described accelerometer error compensation model, method of least square is utilized to draw X-axis accelerometer error
Coefficient, Y-axis accelerometer error coefficient and Z axis accelerometer error coefficient；
In S104 step, described at least 52 groups are sought the voltage signal of gyro X-axis output in the data of north, Y by computer
The X-axis accelerometer obtained in the voltage signal of axle output, temperature T1 of gyro, step S103 does not has the ratio force signal of error
axb, Y-axis accelerometer there is no the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into described top
Spiral shell error model, utilizes method of least square formula to obtain gyro X-axis and the error coefficient of gyro Y-axis；
Further, north full temperature calibration compensation method is sought described in further comprising the steps of:
Each error coefficient calculated is transmitted to gyrolevel by S105, computer；
The error coefficient received is stored by S106, described gyrolevel；It is written with in described gyrolevel
Described accelerometer error compensation model and gyro error compensation model, gyrolevel when every task exports, root
It is updated in accelerometer error compensation model and gyro error compensation model compensate according to the corresponding error coefficient of storage,
Thus the error ratio force signal a of the accelerometer of three axles is obtained by model formationxb、ayb、aybAnd X-axis is corresponding with Y-axis
Angular velocity information ωxb、ωyb。
North full temperature calibration compensation method sought by the flexible gyroscope inclinometer of the present invention, it is not necessary to change the electrical structure of inclinometer,
Only needing can realize determining full temperature scale when seeking north by the way of increasing an error compensation module (utilizing programming), these are by mistake
Difference coefficient is stored in inclinometer after trying to achieve.It is not difficult to find out that each error term passes through with the relation of temperature by error compensation model
One 2 function relevant with temperature states out, and constant multiplier is influenced by temperature less, the most not to constant multiplier and temperature
Degree opening relationships formula, as long as constructing least square X, Y matrix by error model, corresponding coefficient can be obtained by.Surveying
Tiltedly during instrument work, set up the relation of temperature and inertance element (gyro and accelerometer) error model, pass through accelerometer error
Compensation model and gyro error compensation model, by the position measurement in the range of test point, divide error with method of least square
Separate out, then bring temperature into error compensation model as input variable quantity and inertance element error is carried out effective compensation, i.e.
Available error be eliminated after the gyro angular rate information not having error.Compared with prior art, it is not necessary to change inclinometer
With the electrical structure of change inclinometer, the degree of accuracy of the lower inclinometer output signal of full temperature can be improved, with Segmented temperature compensation side
Formula is compared, and this nominal time is short, does not haves the situation of large deviation point.The full temperature of the present invention seeks north scaling method, can be the fastest
Speed, accurately, overall process is demarcated in the easiest realization.Reliability, practical, accuracy and efficiency is the highest.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the flow chart that north full temperature calibration compensation method first embodiment sought by flexible gyroscope inclinometer of the present invention.
Fig. 2 is the flow chart that north full temperature calibration compensation method the second embodiment sought by flexible gyroscope inclinometer of the present invention.
Fig. 3 is the structural representation of inclinometer tripod.
Fig. 4 is the flow chart that north full temperature calibration compensation method the 3rd embodiment sought by flexible gyroscope inclinometer of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, north full temperature calibration compensation method sought by the flexible gyroscope inclinometer of the present embodiment, comprises the following steps:
S101, gyrolevel assemble with temperature control frock, then the gyrolevel that will be equipped with temperature control frock is installed
On three axle caliberating devices, gyrolevel is made to be warming up to predetermined temperature in the given time；
Described temperature control frock can be in prior art can in the given time to gyrolevel in predetermined temperature section
In persistently overheating or continued down, described predetermined temperature section can be the operating temperature section of gyroscope, such as-10 degrees Celsius～
85 degrees Celsius, the time in described predetermined amount of time can make three axle caliberating devices complete at least one rotation taking turns 52 positions.
The temperature of gyrolevel can first be controlled at-10 degree by such as temperature control frock, as the basal temperature heated up, then-10
On the basis of degree, the most persistently overheating to 85 degree, the most such as temperature control frock can be first by the temperature of gyrolevel
Degree controls at 85 degree, and in this, as basal temperature, then on the basis of 85 degree, continued down is to-10 degree, so, completes to continue
Heat up or the process of continued down.
As conventional, can directly use warming tube or heating work, make gyrolevel from room temperature (such as 25
Degree) it is heated up to 85 degree, maximum temperature is set as 85 degree by the present embodiment, is owing to existing gyrolevel is more than 85 degree
Temperature environment under, gyroscope can not be operated or work normally, it will be appreciated that, along with the development of technology with carry
Rise, in the time afterwards, if gyro can work or normally work under the temperature environment more than 85 degree, should
Maximum temperature can increase with the performance of gyro.When using intensification cylinder, intensification cylinder of the prior art is it is generally required to four
Inclinometer within about individual hour, just can be made to be warming up to about 85 degree, then the above-mentioned scheduled time is then that corresponding four hours are left
Right.
Described three axle caliberating devices can be three-axle table or inclinometer tripod, and the present embodiment enters with three-axle table
Row narration.
S102, heat up or during being cooled to predetermined temperature (predetermined temperature that the present embodiment heats up is 85 degree,
The predetermined temperature of cooling is room temperature, such as 25 degree), complete at least one 52 turned positions of three axle caliberating devices taken turns, often rotate
Make behind one position gyrolevel once seek north and export correspondence one group seek north data, wherein, three axle caliberating devices
After often rotating a position, the analogue signal of gyro X-axis output correspondence of gyrolevel, the simulation of Y-axis gyro output correspondence
Signal, X-axis, Y-axis and Z axis accelerometer export the analogue signal of correspondence respectively, and each group is sought north data and all include correspondence
The gyro X-axis of turned position, gyro Y-axis, X, Y and the voltage signal of Z axis accelerometer output and temperature T1 of gyro.
In this step, if being warming up to about 85 degree to need four hours, then need to make three axles complete in these four hours
Become at least one 52 turned positions taken turns, say, that if the 52 of the first round turned positions complete and after output signal, the most not
It is warming up to 85 degree, then then continue the second 52 turned positions taken turns, by that analogy, until temperature is raised to predetermined value.
In the present embodiment, controlling three-axle table by industrial computer and rotate 52 positions, it controls precisely, and speed is relatively
Hurry up.
Intelligible, above-mentioned north data of seeking only list the critical data relevant to this programme, seek north data and also include: three
(notebook data manually inputs the position angle<pitching, roll, course>of three axles of axle turntable, and every turn of position is artificial
Input preserves corresponding position angle), actual<pitching, roll, the course>measured of inclinometer (seek in north each time, all wrap
Include this measured data, and owing to being not directed to this data in the present embodiment, these data be not described in detail), gyro
Corresponding voltage signal, gyro Y-axis after the analogue signal conversion of the gyro X-axis output measured during inclinometer initial position export
Voltage signal corresponding after corresponding voltage signal after analogue signal conversion, the analogue signal conversion of accelerometer X-axis output, add
Voltage signal, the analogue signal of accelerometer Z axis output corresponding after the analogue signal conversion of velometer Y-axis output are right after changing
The voltage signal answered, by the gyroscope warp that gyro X-axis, gyro Y-axis export after axle center rotation turnback under initial position
Cross corresponding voltage signal and temperature T1 of gyro after analog digital conversion.What above-mentioned gyro and accelerometer exported believes for simulation
Number, it is therefore desirable to convert analog signals into the voltage signal of correspondence, to participate in follow-up formula calculating.
Specifically, 52 turned positions are respectively:
Inclinometer right angle setting (hole deviation 0 °), tripod housing alignment 0,90,180,270 is each once
Three-axle table housing 0 °: hole deviation 20 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 40 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 60 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Three-axle table housing 90 °: hole deviation 20 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 40 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 60 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Three-axle table housing 180 °: hole deviation 20 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 40 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 60 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Three-axle table housing 270 °: hole deviation 20 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 40 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
Hole deviation 60 °, tool-face 0 ° respectively, 90 °, 180 °, 270 °.
S103, the voltage signal of accelerometer X-axis output at least 52 groups sought in the data of north, the output of accelerometer Y-axis
Voltage signal, accelerometer Z axis output voltage signal and gyro temperature T1 substitute into accelerometer error compensation modelUtilize
Method of least square draws X accelerometer error COEFFICIENT Kax、ax0、(aax1T2+abx1T+acx1)、(aax2T2+ abx2T+acx2),
Y-axis accelerometer error COEFFICIENT Kay、ay0、(aay1T2+aby1T+acy1)、(aay2T2+ aby2T+acy2), and Z axis acceleration
Degree meter error coefficient Kaz、az0、(aaz1T2+abz1T+acz1)、(aaz2T2+ abz2T+acz2), thus in predetermined temperature section
The error coefficient of three axis accelerometer to carry out full temperature scale fixed, and then can resolve according to the error coefficient demarcated and obtain three axles and add
The ratio force signal a eliminating error coefficient that velometer is correspondingxb、ayb、ayb, according to error model, scaling method calculates error system
Number, brings error model into and has just reached compensation effect, wherein:
KaxFor the constant multiplier of accelerometer X-axis, FaxFor the voltage signal of accelerometer X-axis output, ax0Represent that X-axis adds
The zero offset error coefficient of velometer, axbRepresent that X-axis accelerometer does not has the ratio force signal of error, (aax1T2+abx1T+acx1)
Represent the error coefficient that X-axis accelerometer is relevant with accelerometer Y-axis；(aax2T2+ abx2T+acx2) represent X-axis accelerometer
The error coefficient relevant with Z axis；
KayFor the constant multiplier of accelerometer Y-axis, FayFor the voltage signal of accelerometer Y-axis output, ay0Represent that Y-axis adds
The zero offset error coefficient of velometer, aybRepresent that Y-axis accelerometer does not has the ratio force signal of error, (aay1T2+aby1T+acy1)
Represent the error coefficient that Y-axis accelerometer is relevant with accelerometer X-axis；(aay2T2+ aby2T+acy2) represent Y-axis accelerometer
The error coefficient relevant with Z axis；
KazFor the constant multiplier of accelerometer Z axis, FazFor the voltage signal of accelerometer Z axis output, az0Represent that Z axis adds
The zero offset error coefficient of velometer, azbRepresent that Z axis accelerometer does not has the ratio force signal of error, (aaz1T2+abz1T+acz1)
Represent the error coefficient that Z axis accelerometer is relevant with accelerometer X-axis；(aaz2T2+ abz2T+acz2) represent Z axis accelerometer
The error coefficient relevant with Y-axis；
In this step, each error coefficient is asked for by Y=Xb method of least square formula, order:
Least square solves parameter, order
n≥52；
n≥52
Test data abundant in the case of, the least square solution that can try to achieve parameter vector b is:
Subscript T is matrix transpose, and subscript-1 is matrix inversion.
By above-mentioned formula two to formula four, the error coefficient that X-axis accelerometer is relevant, the most above-mentioned formula four can be tried to achieve
8 data of middle correspondence.Intelligible, Y-axis accelerometer and Z axis accelerometer to ask for mode similar, the most one by one
Repeat.
S104, the voltage signal of gyro X-axis output described at least 52 groups sought in the data of north, the voltage letter of Y-axis output
Number, the X-axis accelerometer obtained in temperature T1 of gyro, step S103 there is no the ratio force signal a of errorxb, Y-axis accelerometer do not has
There is the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into gyro error compensation model,
Utilize
Method of least square draws gyro X-axis error coefficient Kgx、D(x)F、(ax1*T2+bx1*T+cx1)、(ax2*T2+bx2*T+cx2)、
(ax3*T2+bx3*T+cx3)、(ax4*T2+bx4*T+cx4)、(ax5*T2+bx5*T+cx5)、(ax6*T2+bx6*T+cx6)；With
And utilize method of least square to draw Y-axis gyroscope error coefficients Kgy、D(y)F、(ay1*T2+by1*T+cy1)、(ay2*T2+by2*T+
cy2)、(ay3*T2+by3*T+cy3)、(ay4*T2+by4*T+cy4)、(ay5*T2+by5*T+cy5)、(ay6*T2+by6*T+
Cy6), thus the error coefficient of the gyro X-axis under predetermined temperature section and Y-axis is demarcated, and then can be according to the mistake demarcated
Difference coefficient resolves and obtains the angular velocity information ω that X-axis is corresponding with Y-axisxb、ωyb；Wherein:
ωdxRepresent the drift angle speed of X-axis gyro, KgxFor the constant multiplier of gyro X-axis, FgxFor what gyro X-axis was exported
Voltage signal, D (x)FRepresent the constant value drift of gyro X-axis, (ax1*T2+ bx1*T+cx1) represent gyro X-axis and axbRelevant mistake
Difference coefficient, (ax2*T2+ bx2*T+cx2) represent gyro X-axis and aybRelevant error coefficient, (ax3*T2+ bx3*T+cx3) represent
Gyro X-axis and azbRelevant error coefficient, (ax4*T2+ bx4*T+cx4) represent gyro X-axis and axbazbTwo axle accelerations in respect of
The coupling error coefficient closed, (ax5*T2+ bx5*T+cx5) represent gyro X-axis and aybazbThe coupling mistake that two axis accelerometers are relevant
Difference coefficient, (ax6*T2+ bx6*T+cx6) represent the quadrature error coefficient of gyro X-axis and gyro Y-axis, ωybRepresent that gyro Y-axis does not has
There is the angular rate information of error；εxRepresent random error；
ωdyRepresent the drift angle speed of Y-axis gyro, KgyFor the constant multiplier of gyro Y-axis, FgyFor what gyro X-axis was exported
Voltage signal, D (y)FRepresent the constant value drift of gyro Y-axis, (ay1*T2+ by1*T+cy1) represent gyro Y-axis and axbRelevant mistake
Difference coefficient, (ay2*T2+ by2*T+cy2) represent gyro Y-axis and aybRelevant error coefficient, (ay3*T2+ by3*T+cy3) represent
Gyro Y-axis and azbRelevant error coefficient, (ay4*T2+ by4*T+cy4) represent gyro Y-axis and axbazbTwo axle accelerations in respect of
The coupling error coefficient closed, (ay5*T2+ by5*T+cy5) represent gyro Y-axis and aybazbThe coupling mistake that two axis accelerometers are relevant
Difference coefficient, (ay6*T2+ by6*T+cy6) represent the quadrature error coefficient of gyro Y-axis and gyro X-axis, ωxbRepresent that gyro X-axis does not has
There is the angular rate information of error；εyRepresent random error.
Specifically, the same method of least square using Y=Xb asks for gyro X-axis and the error coefficient of gyro Y-axis, order:
n≥52。
n≥52。
Test data abundant in the case of, the least square solution that can try to achieve parameter vector b is
Subscript T is transposition, and subscript-1 is inverted.By above-mentioned formula seven to public affairs
Formula nine can try to achieve the error coefficient that gyro X-axis is relevant to temperature, and 20 data in the most above-mentioned formula nine, each coefficient is equal
For fixed value, at different temperatures, this fixed value is calculated with corresponding temperature, benefit corresponding at a temperature of i.e. can obtaining this
Repay data.Intelligible, the error coefficient that error coefficient that gyro Y-axis is relevant asks for mode relevant to gyro X-axis is similar, herein
Repeat the most one by one.
Embodiment of the present invention, it is not necessary to change the electrical structure of inclinometer, it is only necessary to by increasing an error compensation mould
It is fixed that the mode of block (utilizing programming) can realize full temperature scale when seeking north, and these error coefficients are stored in inclinometer after trying to achieve.
By error compensation model, embodiment of the present invention, is not difficult to find out that each error term is had with temperature by one with the relation of temperature
Close 2 functions to state out, and constant multiplier is influenced by temperature less, the most not to constant multiplier and temperature opening relationships
Formula, as long as constructing least square X, Y matrix by error model, corresponding coefficient can be obtained by.When inclinometer works,
Set up the relation of temperature and inertance element (gyro and accelerometer) error model, by accelerometer error compensation model and top
Spiral shell error compensation model, by the position measurement in the range of test point, with method of least square error separate out, then will
Temperature is brought error compensation model into as input variable quantity and inertance element error is carried out effective compensation, i.e. can get error and is disappeared
Except the gyro angular rate information not having error afterwards.Compared with prior art, it is not necessary to change inclinometer and change inclinometer
Electrical structure, can improve the degree of accuracy of the lower inclinometer output signal of full temperature, compared with Segmented temperature compensation mode, this timing signal
Between short, do not have the situation of large deviation point.The full temperature of the present invention seeks north scaling method, can be efficiently quick, accurately, the easiest
Realization demarcate overall process.Reliability, practical, accuracy and efficiency is the highest.
Referring to Fig. 2 and Fig. 3, the flexible gyroscope inclinometer of the present embodiment is sought in the full temperature calibration compensation method of north, three axle marks
Determining device is inclinometer tripod (three axle calibrated mounts), and its small volume, weight are relatively low, are convenient for carrying carrying, and permissible
Install outside the venue and demarcate.Described three axle caliberating devices are inclinometer tripod, and described inclinometer tripod includes an end
Seat 10, the housing axle 12, the center axle in horizontal direction being located at housing axle 12 top that stand on base 10 and be located at center
The inner axis 16 of axle 14 end face, three frame axles are mutually orthogonal, and described inclinometer is installed on described inner axis 16, at described base
The bottom surface of 10 is provided with three height adjusting parts, triangular in shape after three height adjusting part lines, described housing axle 12, center axle
14 and inner axis 16 be able to around its axis rotation.Three axles of tripod are mutually orthogonal, the corresponding inclinometer coordinate of inner axis 16
Axle Z, the coordinate axes X of the corresponding inclinometer of center axle 14, the corresponding inclinometer coordinate axes Y of housing axle 12.
The flexible gyroscope inclinometer of the present embodiment is sought north full temperature calibration compensation method and is comprised the following steps:
S201, inclinometer tripod is arranged on need geographical position to be mounted；
S202, inclinometer 20 is arranged on tripod, according to the situation in geographical position, inclinometer tripod is adjusted
Flat step and make housing axle 12 tuning zero-bit (being directed at north orientation), even if tripod is arranged on after on position, tripod
Base 10 upper surface is the level of state；
In this step, first housing axle 12 can be transferred to zero-bit leveling base 10 again, it is also possible to first leveling base 10 is adjusted again
The zero-bit of housing axle 12.Specifically can be adjusted in the following way:
1) inclinometer 20 is arranged on tripod；
2) inclinometer 20 position is adjusted extremely: direction of deflection 0 °, hole deviation 45 °, tool-face 0 °；
3) inclinometer 20 is disposed vertically (hole deviation 0), " demarcates " value and puts 2, rotate three in the Debugging interface of host computer
Corner bracket housing is to 0 °；
4) record adds table Y numerical value, 12 to 180 ° of rotary triangle frame housing axle, and record adds table Y numerical value again.
5) again divided by 2 after being added by twice numerical value, it is assumed that this value is L, threaded post (north-south on tripod base 10 is adjusted
One group, 2), adding table output valve to Y is L.
6) 12 to 90 ° of rotary triangle frame housing axle, adjusts threaded post (East and West direction one group, 1) on tripod base 10, extremely
It is L that Y adds table output valve.
7) any rotary triangle frame housing axle 12, checking Y adds table output valve excursion less than 5/10000ths.So far, assembling
Success.
S203, temperature control frock being installed on gyrolevel, the gyrolevel that will be equipped with temperature control frock is arranged on
On tripod, gyrolevel is made to heat up in predetermined temperature section or be cooled to predetermined temperature；
S204, heating up or during being cooled to predetermined temperature, completing at least one three axle caliberating devices 52 taken turns
Individual turned position, often rotates and makes behind a position gyrolevel once seek north and export one group of correspondence and seek north data,
Wherein, each group seek north data all include to during three axle caliberating device correspondence turned positions gyro X-axis export voltage signal,
The voltage signal of Y-axis output, the voltage signal of accelerometer X-axis output, the voltage signal of accelerometer Y-axis output, acceleration
The voltage signal of meter Z axis output and temperature T1 of gyro；
S205, the voltage signal of accelerometer X-axis output at least 52 groups sought in the data of north, the output of accelerometer Y-axis
Voltage signal, accelerometer Z axis output voltage signal and gyro temperature T1 substitute into accelerometer error compensation model,
Method of least square is utilized to draw X accelerometer error coefficient, Y-axis accelerometer error coefficient, Z axis accelerometer error system respectively
Number, this step is identical with S103 step in first embodiment, is the most no longer described in detail；
S206, the voltage signal of gyro X-axis output described at least 52 groups sought in the data of north, the voltage letter of Y-axis output
Number, the X-axis accelerometer obtained in temperature T1 of gyro, step S205 there is no the ratio force signal a of errorxb, Y-axis accelerometer do not has
There is the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into gyro error compensation model, utilize
Method of least square draws gyro X-axis error coefficient, gyro Y-axis error coefficient, this step and S104 step in first embodiment respectively
The most identical, the most no longer it is described in detail.
Embodiment of the present invention, three axle caliberating devices are inclinometer tripod, and its small volume, weight are relatively low, convenient
Carry carrying, and can install and demarcate in the working site outside the venue.Temperature north finding precision complete to gyrolevel is carried out
Effective compensation, practicality simple to operate, solve the problem that working site compensates, gyro has been used long or has had collision to join
Number such issues that run into that will change can only re-scale with special turntable by return-to-factory at present, and two-way time is the most unrestrained
Take.If purchase three-axle table, then the price of three-axle table is the highest, and uses the tripod of the manner, then can save
Purchase cost, can carry out field calibration simultaneously.Do not change existing inclinometer structure electrically on the basis of, only need to change gyro by mistake
Difference compensating module, does not affect the use of other function of inclinometer, and amendment is convenient.The behaviour of operator it is likely to be due at well logging scene
It is improper to make, and makes gyro suffer to compare hard impacts north finding precision overproof, available present embodiment effectively quick solution
It it is exactly field calibration.The method is applicable to test chamber, oil well logging scene, and working condition and testing equipment are simpler and cruder, lack 3
The working environment of axle temperature case rate table (three-axle table), uses hand 3 corner brackets to carry out compensating approach temperature north finding precision entirely at the scene.
Referring to Fig. 4, Fig. 4 is the stream that north full temperature calibration compensation method the 3rd embodiment sought by flexible gyroscope inclinometer of the present invention
Cheng Tu.Full temperature calibration compensation method in the present embodiment utilizes inclinometer and host computer to cooperate to carry out, at upper meter
By in accelerometer error compensation model and the equal write-in program of gyro error compensation model in calculation machine, carry out asking of error coefficient
Taking, in inclinometer, each error coefficient obtained is asked in storage, and foundation has accelerometer error compensation model and top equally
Spiral shell error compensation model, for when inclinometer works, substitutes into corresponding every error coefficient of storage according to ambient temperature
In error model, to ask for the gyro angular rate information not having error and the accelerometer scaling signal of correspondence, thus improve survey
The tiltedly degree of accuracy of pitching, roll and the course angle of instrument output.Use the manner, due to workload bigger calculate error coefficient
Step processes in a computer, and the processor performance of computer is higher than the processor of inclinometer, and faster, inclinometer is only for processing speed
Need operationally to substitute into the error amount asked for and carry out simple plus and minus calculation, it is not necessary to change high performance processor, subtract
Few cost.
Three axle caliberating devices in the present embodiment can be three-axle table, it is also possible to is inclinometer tripod, if three axles
During turntable, then inclinometer is installed in the way of first embodiment, if inclinometer tripod, then with the side of the second embodiment
Formula is installed and debugging inclinometer tripod.
Described gyrolevel includes inertance element and the collection resolving circuit being connected with the lead-out terminal of inertance element.
Specifically, the present embodiment flexible gyroscope inclinometer is sought north full temperature calibration compensation method and is comprised the following steps:
S301, gyrolevel temperature control frock are assembled, then the gyrolevel that will be equipped with temperature control frock is arranged on
On three axle caliberating devices, make gyrolevel heat up in predetermined temperature section or be cooled to predetermined temperature, described temperature control work
Dress is for making gyroscope persistently overheating or continued down in predetermined temperature section；
S303, heating up or during being cooled to predetermined temperature, completing at least one three axle caliberating device 52 taken turns
Turned position, makes the inertance element of gyrolevel once seek north after often rotating a position, makes the used of gyrolevel
Property element export each turned position correspondence seek north signal, described each group seek north signal all include: gyro X-axis output simulation
The analogue signal of signal, gyro Y-axis output, the analogue signal of three accelerometer correspondence outputs and temperature T1 of gyro；Logical
Cross gather form correspondence group number after resolving circuit converts analog signals into digital signal seek north data transmission to corresponding upper
Bit machine；
In this step, can be connected with host computer by serial ports, thus north data will be sought and transmit to host computer.
Each group seek north signal also include three axle caliberating devices three axles turned position angle signal < pitching, roll,
Course>, inclinometer exports on this turned position and measures when not eliminating<pitching, roll, the course>of error, initial position
The analogue signal of gyro X-axis output, the analogue signal of gyro Y-axis output, the analogue signal of accelerometer X-axis output, acceleration
Count the analogue signal of Y-axis output, analogue signal, the temperature of gyro of the output of accelerometer Z axis, initial position is revolved turnback
After, the analogue signal of gyro X-axis output, the analogue signal of gyro Y-axis output.Gather resolving circuit above-mentioned analogue signal all to be turned
It is changed to voltage signal.
And above-mentioned collection resolving circuit by initial position time measure the analogue signal of gyro X-axis output, the output of gyro Y-axis
Analogue signal, gyrolevel under initial position around axle center rotation turnback after gyro X-axis output analogue signal, gyro Y
After the analogue signal of axle output carries out analog digital conversion, calculate the voltage signal F that gyro X-axis is correspondinggxFor: (the top of initial position
The voltage signal that voltage signal+gyro X-axis is corresponding behind 180 degree of positions of axis rotation that spiral shell X-axis is corresponding)/2 and the voltage that obtains
Signal, calculates the voltage signal F that gyro Y-axis is correspondinggyFor: (voltage signal+180 that the gyro Y-axis of initial position is corresponding spends position
Put the voltage signal that gyro Y-axis is corresponding)/2 and the voltage signal that obtains.
At least 52 groups produced in temperature-rise period received are sought the accelerometer X in the data of north by S305, computer
The voltage signal of axle output, the voltage signal of accelerometer Y-axis output, the voltage signal of accelerometer Z axis output and gyro
Temperature T1 substitute into described accelerometer error compensation model, utilize method of least square to draw X-axis accelerometer error coefficient, Y
Axis accelerometer error coefficient and Z axis accelerometer error coefficient；This step asks for the mode and first of correlated error coefficient
In embodiment in S103 step to ask for mode identical, the most no longer describe in detail.
Described at least 52 groups are sought the voltage signal of gyro X-axis output in the data of north by S307, computer, Y-axis exports
The X-axis accelerometer obtained in voltage signal, temperature T1 of gyro, step S305 does not has the ratio force signal a of errorxb, Y-axis accelerate
Degree meter does not has the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into described gyro error mould
Type, utilizes method of least square formula to obtain gyro X-axis and the error coefficient of gyro Y-axis；This step asks for correlated error coefficient
Mode with in S104 step in first embodiment to ask for mode identical, the most no longer describe in detail.
Each error coefficient calculated is transmitted to gyrolevel by S309, computer；
The error coefficient received is stored by S311, described gyrolevel；It is written with in described gyrolevel
Described accelerometer error compensation model and gyro error compensation model, gyrolevel when every task exports, root
It is updated in accelerometer error compensation model and gyro error compensation model compensate according to the corresponding error coefficient of storage,
Thus the error ratio force signal a of the accelerometer of three axles is obtained by model formationxb、ayb、aybAnd X-axis is corresponding with Y-axis
Angular velocity information ωxb、ωyb。
In the present embodiment, after inclinometer installs, it is connected with host computer by serial ports.S301 and S303 it
Between, also there is S302 step: whether the work of test inclinometer is in normal condition, specifically comprises the following steps that
1) computer sends startup inclinometer order；
2) angle of pitch, roll angle and the course angle that gyrolevel output current location is corresponding, resolving circuit passes through serial ports
Send to computer, judge that inclinometer work is the most correct with this；If normal, then enter S303 step, three-axle table industry control
Computer controls three-axle table and rotates 52 positions, and after often rotating a position, computer sends seeks north order, treats inclinometer
Seek after north completes, the one of current location group is sought north data and is saved in computer, with to analogizing, until 52 positions are corresponding
Seek north data all to transmit to computer；
Judge that Current Temperatures, whether more than or equal to predetermined temperature, if being less than predetermined temperature, then carries out next round
52 positions rotate, until inclinometer temperature is raised to predetermined temperature.
Embodiment of the present invention, the step that calculate error coefficient bigger due to workload is used ready-made computer and is carried out
Process, it is only necessary to program is asked in write in a computer, is written in computer by error model, the processor of computer
Performance is higher than the processor of inclinometer, and faster, inclinometer only needs operationally to substitute into the error amount asked for be carried out processing speed
Simple plus and minus calculation, it is not necessary to change high performance processor, reduces cost.
These are only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize the present invention
Equivalent structure or equivalence flow process that description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant technology
Field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (4)
1. a north full temperature calibration compensation method sought by flexible gyroscope inclinometer, comprises the following steps:
S101, gyrolevel assemble with temperature control frock, then the gyrolevel that will be equipped with temperature control frock is arranged on three
On axle caliberating device, make gyrolevel heat up in predetermined temperature section or be cooled to predetermined temperature, described temperature control work
Dress is for making gyroscope persistently overheating or continued down in predetermined temperature section；
S102, heating up or during being cooled to predetermined temperature, completing at least one three axle caliberating device 52 rotation taken turns
Position, often rotates and makes behind a position gyrolevel once seek north and export one group of correspondence and seek north data, wherein, often
Seek voltage signal, the Y-axis output that north data all include exporting gyro X-axis during three axle caliberating device correspondence turned positions for one group
Voltage signal, accelerometer X-axis output voltage signal, accelerometer Y-axis output voltage signal, accelerometer Z axis defeated
The voltage signal gone out and temperature T1 of gyro；
S103, the voltage signal of accelerometer X-axis output at least 52 groups sought in the data of north, the electricity of accelerometer Y-axis output
Temperature T1 of pressure signal, the voltage signal of accelerometer Z axis output and gyro substitutes into accelerometer error compensation modelUtilize method of least square
Draw X accelerometer error COEFFICIENT Kax、ax0、(aax1T2+abx1T+acx1)、(aax2T2+ abx2T+acx2), Y-axis acceleration
Meter error coefficient Kay、ay0、(aay1T2+aby1T+acy1)、(aay2T2+ aby2T+acy2), and Z axis accelerometer error system
Number Kaz、az0、(aaz1T2+abz1T+acz1)、(aaz2T2+ abz2T+acz2), thus three axles demarcated in temperature section are accelerated
The error coefficient of degree meter is demarcated, and then can resolve, according to demarcating the error coefficient that obtains, obtain that different temperatures is corresponding three
The ratio force signal a of the elimination error of axis accelerometerxb, ayb, azb, wherein:
KaxFor the constant multiplier of accelerometer X-axis, FaxFor the voltage signal of accelerometer X-axis output, ax0Represent X-axis acceleration
The zero offset error coefficient of meter, axbRepresent that X-axis accelerometer does not has the ratio force signal of error, (aax1T2+ abx1T+acx1) represent X
The error coefficient that axis accelerometer is relevant with accelerometer Y-axis；(aax2T2+ abx2T+acx2) represent X-axis accelerometer and Z axis
Relevant error coefficient；
KayFor the constant multiplier of accelerometer Y-axis, FayFor the voltage signal of accelerometer Y-axis output, ay0Represent Y-axis acceleration
The zero offset error coefficient of meter, aybRepresent that Y-axis accelerometer does not has the ratio force signal of error, (aay1T2+ aby1T+acy1) represent Y
The error coefficient that axis accelerometer is relevant with accelerometer X-axis；(aay2T2+ aby2T+acy2) represent Y-axis accelerometer and Z axis
Relevant error coefficient；
KazFor the constant multiplier of accelerometer Z axis, FazFor the voltage signal of accelerometer Z axis output, az0Represent Z axis acceleration
The zero offset error coefficient of meter, azbRepresent that Z axis accelerometer does not has the ratio force signal of error, (aaz1T2+ abz1T+acz1) represent Z
The error coefficient that axis accelerometer is relevant with accelerometer X-axis；(aaz2T2+ abz2T+acz2) represent Z axis accelerometer and Y-axis
Relevant error coefficient；
S104, the voltage signal of gyro X-axis output described at least 52 groups sought in the data of north, the voltage signal of Y-axis output, top
The X-axis accelerometer obtained in temperature T1 of spiral shell, step S103 does not has the ratio force signal a of errorxb, Y-axis accelerometer do not misses
The ratio force signal a of differenceyb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into gyro error compensation model,
Utilize minimum
Square law draws gyro X-axis error coefficient Kgx、D(x)F、(ax1*T2+bx1*T+cx1)、(ax2*T2+bx2*T+cx2)、(ax3*
T2+bx3*T+cx3)、(ax4*T2+bx4*T+cx4)、(ax5*T2+bx5*T+cx5)、(ax6*T2+bx6*T+cx6)；And profit
Y-axis gyroscope error coefficients K is drawn with method of least squaregy、D(y)F、(ay1*T2+by1*T+cy1)、(ay2*T2+by2*T+cy2)、
(ay3*T2+by3*T+cy3)、(ay4*T2+by4*T+cy4)、(ay5*T2+by5*T+cy5)、(ay6*T2+ by6*T+cy6), from
And the error coefficient of the gyro X-axis in predetermined temperature section and Y-axis is demarcated, and then can be according to the error coefficient solution demarcated
Calculate the angular velocity information ω of the elimination error obtaining X-axis corresponding to different temperatures and Y-axisxb、ωyb；Wherein:
ωdxRepresent the drift angle speed of X-axis gyro, KgxFor the constant multiplier of gyro X-axis, FgxFor the voltage that gyro X-axis is exported
Signal, D (x)FRepresent the constant value drift of gyro X-axis, (ax1*T2+ bx1*T+cx1) represent gyro X-axis and axbRelevant error system
Number, (ax2*T2+ bx2*T+cx2) represent gyro X-axis and aybRelevant error coefficient, (ax3*T2+ bx3*T+cx3) represent gyro
X-axis and azbRelevant error coefficient, (ax4*T2+ bx4*T+cx4) represent gyro X-axis and axbazbTwo axis accelerometers are relevant
Coupling error coefficient, (ax5*T2+ bx5*T+cx5) represent gyro X-axis and aybazbThe coupling error system that two axis accelerometers are relevant
Number, (ax6*T2+ bx6*T+cx6) represent the quadrature error coefficient of gyro X-axis and gyro Y-axis, ωybRepresent that gyro Y-axis is not missed
The angular rate information of difference；εxRepresent random error；
ωdyRepresent the drift angle speed of Y-axis gyro, KgyFor the constant multiplier of gyro Y-axis, FgyFor the voltage that gyro Y-axis is exported
Signal, D (y)FRepresent the constant value drift of gyro Y-axis, (ay1*T2+ by1*T+cy1) represent gyro Y-axis and axbRelevant error system
Number, (ay2*T2+ by2*T+cy2) represent gyro Y-axis and aybRelevant error coefficient, (ay3*T2+ by3*T+cy3) represent gyro
Y-axis and azbRelevant error coefficient, (ay4*T2+ by4*T+cy4) represent gyro Y-axis and axbazbTwo axis accelerometers are relevant
Coupling error coefficient, (ay5*T2+ by5*T+cy5) represent gyro Y-axis and aybazbThe coupling error system that two axis accelerometers are relevant
Number, (ay6*T2+ by6*T+cy6) represent the quadrature error coefficient of gyro Y-axis and gyro X-axis, ωxbRepresent that gyro X-axis is not missed
The angular rate information of difference；εyRepresent random error.
2. north full temperature calibration compensation method sought by flexible gyroscope inclinometer as claimed in claim 1, it is characterised in that: described three axles
Caliberating device is three-axle table.
3. north full temperature calibration compensation method sought by flexible gyroscope inclinometer as claimed in claim 1, it is characterised in that: described three axles
Caliberating device is inclinometer tripod, and described inclinometer tripod includes a base, the housing axle that stands on base, be located at housing
The center axle in horizontal direction on axle top and be located at the inner axis of center axle end face, three mutually orthogonal described deviational surveys of frame axle
Instrument is installed on described inner axis, is provided with three height adjusting parts, three height adjusting part lines in the bottom surface of described base
The most triangular in shape, described housing axle, center axle and inner axis are able to around its axis rotation；
Before described S101 step, also include:
S100, the housing of inclinometer is directed at position, north and the base according to the high flat inclinometer in local geographical position.
4. north full temperature calibration compensation method sought by flexible gyroscope inclinometer as claimed in claim 1, it is characterised in that: described gyro
Inclinometer includes inertance element and the collection resolving circuit being connected with the lead-out terminal of inertance element；
In S102 step, during heating up or being cooled to predetermined temperature, complete at least one three axle caliberating devices taken turns
52 turned positions, make the inertance element of gyrolevel once seek north after often rotating a position, make gyrolevel
Inertance element export each turned position correspondence seek north signal, described in seek north signal include: gyro X-axis output simulation letter
Number, the analogue signal of gyro Y-axis output, the analogue signal of three accelerometer correspondences output and temperature T1 of gyro；Pass through
Gather form correspondence group number after resolving circuit converts analog signals into digital signal seek north data transmission to corresponding upper
Computer；
In S103 step, at least 52 groups produced in temperature-rise period received are sought the acceleration in the data of north by computer
The voltage signal of meter X-axis output, the voltage signal of accelerometer Y-axis output, the voltage signal of accelerometer Z axis output and top
Temperature T1 of spiral shell substitutes into described accelerometer error compensation model, utilize method of least square draw X-axis accelerometer error coefficient,
Y-axis accelerometer error coefficient and Z axis accelerometer error coefficient；
In S104 step, computer described at least 52 groups are sought north data in gyro X-axis output voltage signal, Y-axis defeated
The X-axis accelerometer obtained in the voltage signal that goes out, temperature T1 of gyro, step S103 does not has the ratio force signal a of errorxb, Y-axis
Accelerometer does not has the ratio force signal a of erroryb, Z axis accelerometer there is no the ratio force signal a of errorzbSubstitute into described gyro error
Model, utilizes method of least square formula to obtain gyro X-axis and the error coefficient of gyro Y-axis；
It is described that to seek north full temperature calibration compensation method further comprising the steps of:
Each error coefficient calculated is transmitted to gyrolevel by S105, computer；
The error coefficient received is stored by S106, described gyrolevel；It is written with described in described gyrolevel
Accelerometer error compensation model and gyro error compensation model, gyrolevel is when every task exports, according to depositing
The corresponding error coefficient of storage is updated in accelerometer error compensation model and gyro error compensation model compensate, thus
The error ratio force signal a of the accelerometer of three axles is obtained by model formationxb、ayb、aybAnd the angle speed that X-axis is corresponding with Y-axis
Degree information ωxb、ωyb。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424899.9A CN105910626B (en) | 2016-06-15 | 2016-06-15 | Flexible gyroscope inclinometer seeks northern complete warm calibration compensation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424899.9A CN105910626B (en) | 2016-06-15 | 2016-06-15 | Flexible gyroscope inclinometer seeks northern complete warm calibration compensation method |
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| Publication Number | Publication Date |
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| CN105910626B CN105910626B (en) | 2018-09-21 |
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| CN106643684A (en) * | 2016-10-19 | 2017-05-10 | 北京七维航测科技股份有限公司 | Double-axis digital gyroscope and gyroscope multi-level error compensation method |
| CN108534800A (en) * | 2018-03-09 | 2018-09-14 | 中国科学院长春光学精密机械与物理研究所 | A kind of MEMS-IMU warm population parameter calibration compensation method entirely |
| CN108645427A (en) * | 2018-04-20 | 2018-10-12 | 北京航天时代激光导航技术有限责任公司 | The used system-level temperature-compensation method of group of laser based on spline interpolation iterated revision |
| CN110044383A (en) * | 2019-04-30 | 2019-07-23 | 安徽北方芯动联科微***技术有限公司 | Three axis microsensor the high and low temperature test devices and its test method |
| CN110375726A (en) * | 2019-05-15 | 2019-10-25 | 北京航天发射技术研究所 | A kind of optical fibre gyro system grade temperature-compensation method, device and optical fiber inertial navigation system |
| CN110823216A (en) * | 2019-10-29 | 2020-02-21 | 上海航天控制技术研究所 | Adaptive accelerometer temperature compensation method for inertial navigation |
| CN111006686A (en) * | 2018-11-13 | 2020-04-14 | 河北汉光重工有限责任公司 | Zero offset test method for large-depth submersible triaxial accelerometer |
| CN113062721A (en) * | 2021-03-15 | 2021-07-02 | 重庆工程学院 | Total temperature compensation method and system for exploration logging instrument |
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| CN106643684A (en) * | 2016-10-19 | 2017-05-10 | 北京七维航测科技股份有限公司 | Double-axis digital gyroscope and gyroscope multi-level error compensation method |
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| CN111006686B (en) * | 2018-11-13 | 2023-04-07 | 河北汉光重工有限责任公司 | Zero offset test method for large-depth submersible triaxial accelerometer |
| CN110044383A (en) * | 2019-04-30 | 2019-07-23 | 安徽北方芯动联科微***技术有限公司 | Three axis microsensor the high and low temperature test devices and its test method |
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| CN110375726A (en) * | 2019-05-15 | 2019-10-25 | 北京航天发射技术研究所 | A kind of optical fibre gyro system grade temperature-compensation method, device and optical fiber inertial navigation system |
| CN110823216A (en) * | 2019-10-29 | 2020-02-21 | 上海航天控制技术研究所 | Adaptive accelerometer temperature compensation method for inertial navigation |
| CN110823216B (en) * | 2019-10-29 | 2022-01-28 | 上海航天控制技术研究所 | Adaptive accelerometer temperature compensation method for inertial navigation |
| CN113062721A (en) * | 2021-03-15 | 2021-07-02 | 重庆工程学院 | Total temperature compensation method and system for exploration logging instrument |
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