CN111089576A - Method for determining actual output value of fiber-optic gyroscope and method for testing threshold value of fiber-optic gyroscope - Google Patents
Method for determining actual output value of fiber-optic gyroscope and method for testing threshold value of fiber-optic gyroscope Download PDFInfo
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- CN111089576A CN111089576A CN201911307609.2A CN201911307609A CN111089576A CN 111089576 A CN111089576 A CN 111089576A CN 201911307609 A CN201911307609 A CN 201911307609A CN 111089576 A CN111089576 A CN 111089576A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a method for determining an actual output value of a fiber-optic gyroscope and a method for testing a threshold value of the fiber-optic gyroscope, wherein the method for determining the actual output value of the fiber-optic gyroscope comprises the following steps: a1, rotating the speed turntable at a set angular speed omega in a set direction; step A2, after the angular velocity omega is stable, collecting the output F of the fiber optic gyroscope when the included angle between the IRA and the north direction of the fiber optic gyroscope is theta+：F+＝Fmcos Ψ + B0; collecting output F of the fiber-optic gyroscope when the fiber-optic gyroscope continuously rotates for 180 degrees along a set direction on the basis that the included angle between the IRA and the north direction is theta－：F－＝‑Fmcos Ψ + B0; wherein, FmK Ω e cos θ, K is the scale factor of the fiber optic gyroscope, Ω e is the angular rate of rotation of the earth, Ψ is the local geographical latitude, and B0 is zero offset; step A3, calculating the actual output value F of the fiber-optic gyroscope: f ═ F++F－)/2＝Fmcos Ψ. The invention can remove zero offset and improve the optical fiber gyroscopeThe accuracy of threshold value measurement of the spiral especially the high-precision fiber optic gyroscope.
Description
Technical Field
The invention particularly relates to a method for determining an actual output value of a fiber-optic gyroscope and a method for testing a threshold value of the fiber-optic gyroscope.
Background
The threshold value is used as an important index for measuring the size of the dead zone, and whether accurate measurement can be carried out is important for evaluating the performance of the gyro system. Most research institutions calibrate the threshold value on the turntable according to the national military standard calibration method when testing the threshold value, and directly calculate and judge the test result.
The national military standard GJB2426A-2015 fiber optic gyroscope test method aims at the test program and the data processing method of the high-precision fiber optic gyroscope threshold value as follows:
(1) firstly, testing a scale factor K of the fiber-optic gyroscope according to a scale factor testing method;
(2) the speed turntable rotates clockwise (clockwise rotation is made to be positive direction) at a preset angular speed, and records the output F of the fiber-optic gyroscope after the input angular speed omega is stable;
(3) sequentially decreasing the input angular rate values, and repeating the process (2) until the threshold value in the positive direction is solved;
(4) in the same way, the inversion (counterclockwise) threshold is tested;
(5) and taking absolute values of the measured positive and reverse threshold values, and taking the maximum value as the threshold value of the fiber-optic gyroscope.
The threshold calculation method comprises the following steps: and when the input of the fiber-optic gyroscope is omega, the corresponding actual output is F, and the theoretical output value of the fiber-optic gyroscope is calculated according to the formula (1) as follows:
F0＝KΩ (1)
and when inequality (2) is satisfied, the corresponding input angular velocity omega is the undetermined threshold.
However, due to the non-ideality of the fiber-optic gyroscope and the influence of the output signal form of the fiber-optic gyroscope, the test error inevitably occurs in the threshold value test, wherein the zero-offset error is a factor which must be considered by the high-precision fiber-optic gyroscope.
The threshold value is a small value relative to the zero offset value, and if the zero offset is not removed in the test, the ratio of the threshold values is close to 1, so that the test result is meaningless.
In the existing method, the influence of the zero bias on the threshold test is not considered, so that the test error is large. Based on this, it is necessary to remove zero offset in the measurement of the threshold value and to make the output of the fiber optic gyro an unbiased output.
Disclosure of Invention
In the existing method, the influence of the zero bias on the threshold test is not considered, so that the test error is large. The invention aims to provide a method for determining an actual output value of a fiber-optic gyroscope and a method for testing a threshold value of the fiber-optic gyroscope, which can remove zero offset and improve the accuracy of measuring the threshold value of the fiber-optic gyroscope, particularly the high-precision fiber-optic gyroscope, aiming at the defects of the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method for determining an actual output value of a fiber-optic gyroscope comprises the following steps:
step A1, rotating the speed turntable at a set angular speed omega along a set direction;
it is characterized by also comprising:
step a2, after the angular velocity Ω has stabilized,
collecting output F of the fiber-optic gyroscope when included angle between IRA and north direction of the fiber-optic gyroscope is theta+：F+＝FmcosΨ+B0；
Collecting output F of the fiber-optic gyroscope when the fiber-optic gyroscope continuously rotates for 180 degrees along a set direction on the basis that the included angle between the IRA and the north direction is theta－：F－＝-FmcosΨ+B0；
Wherein, FmK Ω e cos θ, K is the scale factor of the fiber optic gyroscope, Ω e is the angular rate of rotation of the earth, Ψ is the local geographical latitude, and B0 is zero offset;
step A3, calculating the actual output value F of the fiber-optic gyroscope:
F＝(F++F－)/2＝FmcosΨ。
based on the same inventive concept, the invention also provides a method for testing the threshold value of the fiber-optic gyroscope, which is characterized by comprising the following steps:
step B1, rotating the speed turntable clockwise, decreasing the angular velocity omega of the speed turntable in turn, and obtaining the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the clockwise direction by using the method for determining the actual output value of the fiber-optic gyroscope in claim 1 until obtaining the threshold value of the fiber-optic gyroscope in the clockwise direction;
step B2, rotating the speed turntable in the counterclockwise direction, sequentially decreasing the angular velocity omega of the speed turntable, and obtaining the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the counterclockwise direction by using the method for determining the actual output value of the fiber-optic gyroscope according to claim 1 until obtaining the threshold value of the fiber-optic gyroscope in the counterclockwise direction;
step B3, taking the maximum value of the absolute value of the clockwise threshold value of the fiber optic gyroscope and the absolute value of the counterclockwise threshold value of the fiber optic gyroscope, namely the threshold value of the fiber optic gyroscope;
and the step B1 and the step B2 are not executed in sequence.
Compared with the prior art, the method can remove zero offset and improve the accuracy of the threshold value measurement of the fiber-optic gyroscope, particularly the high-precision fiber-optic gyroscope.
Drawings
Fig. 1 is a schematic diagram (clockwise direction) of a method for determining an actual output value of a fiber-optic gyroscope according to the present invention.
Detailed Description
The principle of the method for determining the actual output value of the fiber-optic gyroscope is a 180-degree symmetrical measuring method, zero offset is removed by the 180-degree symmetrical measuring method, and a test schematic diagram is shown in figure 1.
The method for determining the actual output value of the fiber-optic gyroscope comprises the following steps:
step A1, rotating the speed turntable at a set angular speed omega along a set direction; the set direction is clockwise or anticlockwise;
step a2, after the angular velocity Ω has stabilized,
collecting output F of the fiber-optic gyroscope when included angle between IRA and north direction of the fiber-optic gyroscope is theta+：F+＝FmcosΨ+B0；
The collection fiber-optic gyroscope continuously rotates for 180 degrees along the set direction on the basis that the included angle between the IRA and the north direction is theta (if the set direction is clockwise, the collection fiber-optic gyroscope continuously rotates for 180 degrees clockwise on the basis of theta, and if the set direction is anticlockwise, the collection fiber-optic gyroscope continuously rotates for anticlockwise on the basis of theta180 degrees) of output F－：F－＝-FmcosΨ+B0；
Wherein, FmK Ω e cos θ, K is the scale factor of the fiber optic gyroscope, Ω e is the angular rate of rotation of the earth, Ψ is the local geographical latitude, and B0 is zero offset;
step A3, calculating the actual output value F of the fiber-optic gyroscope:
F＝(F++F－)/2＝FmcosΨ。
thus, the F obtained by the present invention is used as the actual output value of the fiber-optic gyroscope in the threshold calculation.
The invention also provides a method for testing the threshold value of the fiber-optic gyroscope, which comprises the following steps:
step B1, the speed turntable rotates clockwise, the angular velocities omega of the speed turntable are decreased gradually in sequence, the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the clockwise direction is obtained by the method for determining the actual output value of the fiber-optic gyroscope, until the threshold value in the clockwise direction of the fiber-optic gyroscope is obtained;
step B2, the speed turntable rotates counterclockwise, the angular velocities omega of the speed turntable are decreased gradually in sequence, the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the counterclockwise direction is obtained by the method for determining the actual output value of the fiber-optic gyroscope, until the threshold value of the fiber-optic gyroscope in the counterclockwise direction is obtained;
step B3, taking the maximum value of the absolute value of the clockwise threshold value of the fiber optic gyroscope and the absolute value of the counterclockwise threshold value of the fiber optic gyroscope, namely the threshold value of the fiber optic gyroscope;
and the step B1 and the step B2 are not executed in sequence.
The method for calculating the threshold value of the fiber-optic gyroscope in the clockwise or counterclockwise direction comprises the following steps:
when the input of the fiber-optic gyroscope is omega, the corresponding actual output is F, and the theoretical output value F of the fiber-optic gyroscope is calculated according to the following formula0Comprises the following steps:
F0＝KΩ
and when the following inequality is satisfied, the corresponding input angular velocity omega is the undetermined threshold.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (2)
1. A method for determining an actual output value of a fiber-optic gyroscope comprises the following steps:
step A1, rotating the speed turntable at a set angular speed omega along a set direction;
it is characterized by also comprising:
step a2, after the angular velocity Ω has stabilized,
collecting output F of the fiber-optic gyroscope when included angle between IRA and north direction of the fiber-optic gyroscope is theta+：F+＝FmcosΨ+B0；
Collecting output F of the fiber-optic gyroscope when the fiber-optic gyroscope continuously rotates for 180 degrees along a set direction on the basis that the included angle between the IRA and the north direction is theta－：F－＝-FmcosΨ+B0；
Wherein, FmK Ω e cos θ, K is the scale factor of the fiber optic gyroscope, Ω e is the angular rate of rotation of the earth, Ψ is the local geographical latitude, and B0 is zero offset;
step A3, calculating the actual output value F of the fiber-optic gyroscope:
F＝(F++F－)/2＝FmcosΨ。
2. a method for testing threshold value of a fiber-optic gyroscope is characterized by comprising the following steps:
step B1, rotating the speed turntable clockwise, decreasing the angular velocity omega of the speed turntable in turn, and obtaining the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the clockwise direction by using the method for determining the actual output value of the fiber-optic gyroscope in claim 1 until obtaining the threshold value of the fiber-optic gyroscope in the clockwise direction;
step B2, rotating the speed turntable in the counterclockwise direction, sequentially decreasing the angular velocity omega of the speed turntable, and obtaining the actual output of the fiber-optic gyroscope corresponding to each angular velocity in the counterclockwise direction by using the method for determining the actual output value of the fiber-optic gyroscope according to claim 1 until obtaining the threshold value of the fiber-optic gyroscope in the counterclockwise direction;
step B3, taking the maximum value of the absolute value of the clockwise threshold value of the fiber optic gyroscope and the absolute value of the counterclockwise threshold value of the fiber optic gyroscope, namely the threshold value of the fiber optic gyroscope;
and the step B1 and the step B2 are not executed in sequence.
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| CN114088110A (en) * | 2021-09-26 | 2022-02-25 | 湖北三江航天红峰控制有限公司 | High-precision optical fiber gyroscope threshold value testing method |
| CN115638807A (en) * | 2022-12-21 | 2023-01-24 | 中国船舶集团有限公司第七〇七研究所 | Optical fiber gyroscope precision testing method based on earth rotation |
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