CN112698055A - Parameter calibration method of accelerometer on precision centrifuge - Google Patents

Parameter calibration method of accelerometer on precision centrifuge Download PDF

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CN112698055A
CN112698055A CN202110313204.0A CN202110313204A CN112698055A CN 112698055 A CN112698055 A CN 112698055A CN 202110313204 A CN202110313204 A CN 202110313204A CN 112698055 A CN112698055 A CN 112698055A
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accelerometer
coordinate system
error
shaft
axis
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CN112698055B (en
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王常虹
夏红伟
刘庆博
任顺清
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Shenrui Technology Beijing Co ltd
Harbin Institute of Technology
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Shenrui Technology Beijing Co ltd
Harbin Institute of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract

The invention discloses a parameter calibration method of an accelerometer on a precision centrifuge, which comprises the following steps: acquiring each static error and each dynamic error of a precision centrifuge, establishing a coordinate system according to the structure of the precision centrifuge, and calculating a pose error under the coordinate system according to each static error and each dynamic error; driving a main shaft of the precision centrifuge to rotate at a uniform angular velocity so as to generate a centripetal acceleration calibration accelerometer, and calculating specific force distribution of the centripetal acceleration, the gravitational acceleration and the Coriolis acceleration based on the pose error in the coordinate system so as to determine an accelerometer error model; and outputting the indication of six symmetrical positions of the accelerometer in three different installation modes, and calibrating a high-order term error coefficient in an accelerometer error model expression by using an addition and subtraction element method. The method can effectively improve the calibration precision of the high-order error model coefficient of the quartz accelerometer.

Description

Parameter calibration method of accelerometer on precision centrifuge
Technical Field
The invention relates to the field of centrifuge calibration, in particular to a parameter calibration method of an accelerometer on a precision centrifuge.
Background
The literature, "optimization design of accelerometer precision centrifuge test" analyzes the actual measurement noise characteristic of the accelerometer during precision centrifuge test, and indicates that the traditional optimization design method, namely the saturation D optimal test design, has the problem of engineering applicability on the basis. And then, in order to improve the applicability of the saturated D optimal experimental design and consider the compromise relationship between the experimental cost and the precision, a D optimal improved experimental design scheme is provided. According to the scheme, the saturated D optimal test spectrum points are used as basic spectrum points, other spectrum points are uniformly inserted among the basic spectrum points to reduce the influence of input acceleration deviation, the measures of the basic spectrum points and newly added spectrum points are distributed through a weighting method, and the weight is selected according to actual noise characteristics. Although the literature, "optimization design of accelerometer precision centrifuge test" performs a specific calibration test on a quartz accelerometer on a precision centrifuge, the influence of centrifuge errors on the calibration precision of error model coefficients is not considered, which may introduce additional calibration errors, and the error model coefficients of the accelerometer identified in the literature are fewer.
The document 'analysis of error calibration precision of a precision centrifuge to a quartz accelerometer' analyzes each error source of the centrifuge, accurately calculates the generated centripetal acceleration by a homogeneous transformation method, gives components of the centripetal acceleration, the gravitational acceleration and the Coriolis acceleration under an accelerometer coordinate system, and deduces a precise expression of the input acceleration of the tested accelerometer. A10-position testing method is adopted to identify the high-order coefficient of the error model, and the relationship between the calculated value of the error model coefficient and the error of the centrifuge is emphatically discussed. But quadratic error coefficientK OO And cubic error coefficientK PPP 、K OOO The identification is not obtained, and known dynamic and static errors are needed to correct and compensate the identification result, so that various errors of the centrifuge cannot be avoided.
Disclosure of Invention
In view of this, the present invention provides a method for calibrating parameters of an accelerometer on a precision centrifuge, including:
acquiring each static error and each dynamic error of a precision centrifuge, establishing a coordinate system according to the structure of the precision centrifuge, and calculating a pose error under the coordinate system according to each static error and each dynamic error;
driving a main shaft of the precision centrifuge to rotate at a uniform angular velocity so as to generate a centripetal acceleration calibration accelerometer, and calculating specific force distribution of the centripetal acceleration, the gravitational acceleration and the Coriolis acceleration based on the pose error in the coordinate system so as to determine an accelerometer error model;
and outputting the indication of six symmetrical positions of the accelerometer in three different installation modes, and calibrating a high-order term error coefficient in an accelerometer error model expression by using an addition and subtraction element method.
The invention relates to a parameter calibration method of an accelerometer on a precision centrifuge, which provides a precise expression of the input specific force of the centrifuge on the basis of analyzing various dynamic and static error sources of the precision centrifuge; by combining an accelerometer error model and utilizing an addition and subtraction element method to calibrate a high-order term error coefficient in an accelerometer error model expression, the dynamic error and the static error of the centrifuge can be completely eliminated by monitoring and compensating a dynamic misalignment angle and a dynamic radius under the condition that the error of the centrifuge is stable, and the calibration precision of the high-order error model coefficient of the quartz accelerometer can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a precision centrifuge according to the present invention.
FIG. 2 is a schematic diagram of the coordinate systems of the precision centrifuge of the present invention.
Fig. 3 shows 6 symmetrical position combinations of the accelerometer of the present invention in 3 different mounting modes.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, all other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort fall within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
As shown in figure 1, the precision centrifuge is provided with 3 shafting of a main shaft, a horizontal shaft and an azimuth shaft, wherein the 3 shafting have the precision position function, and the shaft end of the horizontal shaft is provided with a 360-tooth multi-tooth dividing plate which can be used for
Figure 602093DEST_PATH_IMAGE001
The precision of the positioning device is positioned to 360 positions, the main shaft system and the azimuth shaft system have the function of precise angular rate, and when the main shaft rotates in the direction of the azimuth shaft system
Figure 50392DEST_PATH_IMAGE002
At a working radius while rotating at a uniform angular rateRWill produce
Figure 33391DEST_PATH_IMAGE003
Centripetal acceleration of (2).
Static error source main bag of centrifugal machineTwo-dimensional sag error including spindle axis
Figure 84393DEST_PATH_IMAGE004
(ii) a Perpendicularity of horizontal shaft axis and main shaft axis
Figure 429923DEST_PATH_IMAGE005
Degree of intersection of
Figure 658911DEST_PATH_IMAGE006
(ii) a Perpendicularity of horizontal axis and azimuth axis
Figure 457102DEST_PATH_IMAGE007
Degree of intersection of
Figure 49145DEST_PATH_IMAGE008
And initial zero error of azimuth axis
Figure 249182DEST_PATH_IMAGE009
(ii) a Perpendicularity of working base plane for installing inertia instrument to axis of azimuth shaft
Figure 649071DEST_PATH_IMAGE010
(ii) a Accelerometer mounting datum attitude error
Figure 855930DEST_PATH_IMAGE011
Eccentricity error
Figure 124100DEST_PATH_IMAGE012
And initial nulling error
Figure 54010DEST_PATH_IMAGE013
(ii) a The angular position errors of the three axes of the main shaft, the horizontal shaft and the azimuth shaft are respectively
Figure 15013DEST_PATH_IMAGE014
And the like. Fig. 1 and 2 show a schematic diagram of the centrifuge and the corresponding coordinate system established.
The dynamic error source of the centrifuge mainly comprises the radial rotation error of the main shaft
Figure 912431DEST_PATH_IMAGE015
Axial play
Figure 718713DEST_PATH_IMAGE016
And rotation error of inclination angle
Figure 768708DEST_PATH_IMAGE017
(ii) a Dynamic radius error
Figure 635033DEST_PATH_IMAGE018
(ii) a Angle of dynamic misalignment
Figure 19747DEST_PATH_IMAGE019
、
Figure 629720DEST_PATH_IMAGE020
(ii) a Radial rotation error of horizontal axis
Figure 534222DEST_PATH_IMAGE021
Axial play
Figure 571448DEST_PATH_IMAGE022
And tilt angle gyration error
Figure 180809DEST_PATH_IMAGE023
(ii) a Radial rotation error of azimuth axis
Figure 594472DEST_PATH_IMAGE024
Axial play
Figure 353481DEST_PATH_IMAGE025
Error of rotation of inclination
Figure 827188DEST_PATH_IMAGE026
And the like.
In order to conveniently research the influence of the radius error, the static error and the dynamic error of the radius are integrated,
Figure 717652DEST_PATH_IMAGE027
wherein, in the step (A),R 0the static radius nominal value is a known quantity calibrated by a metering department, but the static test error of the radius
Figure 872690DEST_PATH_IMAGE028
Is an unknown quantity of the component (a),
Figure 751784DEST_PATH_IMAGE029
the variation of the actual working radius of the centrifuge in the running state relative to the static radius of the centrifuge is monitored by using the dual-frequency laser interferometer, and the variation is the angular velocity of the main shaft
Figure 396392DEST_PATH_IMAGE030
As a function of (c).
The following coordinate system will be established:
(1) geographical coordinate system
Figure 977415DEST_PATH_IMAGE031
The axis is horizontal and pointing to the east,
Figure 732882DEST_PATH_IMAGE032
the axis is horizontally north-pointing,
Figure 466482DEST_PATH_IMAGE033
the axis refers to the sky, constituting the right hand coordinate system.
(2) Spindle sleeve coordinate system
Figure 281992DEST_PATH_IMAGE034
The pose of the spindle sleeve coordinate system relative to the geographic coordinate system is
Figure 350311DEST_PATH_IMAGE035
。
(3) Principal axis coordinate system
Figure 643889DEST_PATH_IMAGE036
. The pose of the main shaft coordinate system relative to the main shaft sleeve coordinate system is
Figure 231996DEST_PATH_IMAGE037
Wherein
Figure 888847DEST_PATH_IMAGE038
Indicating the angle of rotation of the spindle.
(4) Horizontal axis sleeve coordinate system
Figure 523091DEST_PATH_IMAGE039
The pose of the horizontal axis shaft sleeve coordinate system relative to the main axis coordinate system is
Figure 620360DEST_PATH_IMAGE040
。
(5) Horizontal axis coordinate system
Figure 125291DEST_PATH_IMAGE041
The pose of the horizontal axis coordinate system relative to the horizontal axis shaft sleeve coordinate system is
Figure 141657DEST_PATH_IMAGE042
Wherein
Figure 794355DEST_PATH_IMAGE043
Indicating the angle of rotation of the horizontal axis.
(6) Coordinate system of azimuth axis sleeve
Figure 570681DEST_PATH_IMAGE044
The pose of the azimuth axis sleeve coordinate system relative to the horizontal axis coordinate system is
Figure 992435DEST_PATH_IMAGE045
。
(7) Azimuth axis coordinate system
Figure 242020DEST_PATH_IMAGE046
. The position and pose of the azimuth axis coordinate system relative to the azimuth axis sleeve coordinate system are
Figure 585277DEST_PATH_IMAGE047
Wherein
Figure 962031DEST_PATH_IMAGE048
Indicating the angle of rotation of the azimuth axis.
(8) Coordinate system of working base plane
Figure 628505DEST_PATH_IMAGE049
The position and attitude of the working base plane coordinate system relative to the azimuth axis coordinate system are
Figure 127619DEST_PATH_IMAGE050
WhereinLIs composed of
Figure 630276DEST_PATH_IMAGE051
Point to point ratio
Figure 873039DEST_PATH_IMAGE052
The point is displaced.
(9) Accelerometer coordinate system
Figure 131369DEST_PATH_IMAGE053
The position and the attitude of the accelerometer coordinate system relative to the working base plane coordinate system are
Figure 473489DEST_PATH_IMAGE054
Wherein
Figure 588075DEST_PATH_IMAGE055
Is composed of
Figure 493583DEST_PATH_IMAGE056
Point to point ratio
Figure 10015DEST_PATH_IMAGE051
The point is displaced.
All the pose errors of the centrifugal machine are regarded as small displacement and small angle. The pose of the accelerometer coordinate system relative to the geographic coordinate system is
Figure 726298DEST_PATH_IMAGE057
Wherein
Figure 328181DEST_PATH_IMAGE058
Representing a pose transformation matrix between the accelerometer coordinate system and the geographic coordinate system,P 1is the relative displacement vector of the accelerometer coordinate system and the geographic coordinate system.
The position and posture of the accelerometer coordinate system relative to the principal axis coordinate system are
Figure 37380DEST_PATH_IMAGE059
Wherein
Figure 408318DEST_PATH_IMAGE060
And representing an attitude transformation matrix between the accelerometer coordinate system and the principal axis coordinate system.
The origin of the accelerometer coordinate system is expressed as
Figure 295503DEST_PATH_IMAGE061
Neglecting the second order small amount, it is obtained,
Figure 119103DEST_PATH_IMAGE062
Figure 631992DEST_PATH_IMAGE063
Figure 857437DEST_PATH_IMAGE064
。
Figure 915523DEST_PATH_IMAGE065
and
Figure 695260DEST_PATH_IMAGE066
will be used later to calculate the precise centripetal acceleration of the origin of the accelerometer coordinate system.
Specifically, in the parameter calibration method of the accelerometer on the precision centrifuge according to the embodiment, a calculation process of a quartz accelerometer input specific force is as follows:
when the precision centrifuge is used for calibrating acceleration timing by centripetal acceleration generated by rotation of the spindle at a uniform angular velocity, the specific force input of the accelerometer has 3 sources, namely the centripetal acceleration, the gravitational acceleration and the Coriolis acceleration, and the specific force distribution of each acceleration source can be obtained as follows:
(1) distribution of specific force generated by gravity acceleration on three axes of accelerometer to be tested
The components of the gravity acceleration on the input shaft, the pendulum shaft and the output shaft of the accelerometer to be measured are respectively
Figure 621628DEST_PATH_IMAGE067
、
Figure 829143DEST_PATH_IMAGE068
The specific force generated by the gravity acceleration is expressed as
Figure 448343DEST_PATH_IMAGE069
Then expressed as in the accelerometer coordinate system
Figure 840010DEST_PATH_IMAGE070
。
(2) Distribution of centripetal acceleration on three axes of accelerometer to be measured
According to the above, the centripetal acceleration at the origin of the accelerometer coordinates is expressed in the principal axis coordinate system
Figure 445435DEST_PATH_IMAGE071
The components of the input shaft, the pendulum shaft and the output shaft of the accelerometer to be measured are respectively
Figure 379893DEST_PATH_IMAGE072
According to formula (I)
Figure 294628DEST_PATH_IMAGE073
The following can be obtained:
Figure 580116DEST_PATH_IMAGE074
。
(3) coriolis acceleration component generated by earth rotation
The Coriolis acceleration generated by the earth rotation angular rate at the origin of the accelerometer is very small, and the calculation error caused by the centrifuge pose error is much smaller and can be ignored, so that the nominal value of the Coriolis acceleration is considered. At this time, the Coriolis acceleration expression is:
Figure 723653DEST_PATH_IMAGE075
wherein
Figure 778196DEST_PATH_IMAGE076
Is the local latitude.
In summary, the precise specific force on the three axes of the accelerometer is
Figure 660571DEST_PATH_IMAGE077
Because the influence of the rotation error term on the specific force is changed in a sine and cosine form, the whole-cycle integration can be ignored because of the change
Figure 43141DEST_PATH_IMAGE078
And
Figure 115003DEST_PATH_IMAGE079
the integral of the whole cycle of (A) is zero or can be ignored, channelIs calculated to
Figure 417195DEST_PATH_IMAGE080
Figure 17941DEST_PATH_IMAGE081
Figure 605917DEST_PATH_IMAGE082
The accurate specific force input of the accelerometer is calculated, the accelerometer is calibrated by a 12-position method, the specific force input can be calculated by using a formula (16) through 3 mounting modes, and then a corresponding test method is designed.
Specifically, in the parameter calibration method of the accelerometer on the precision centrifuge according to the embodiment, a specific calculation process of a high-order error coefficient of the quartz accelerometer is as follows:
the quartz accelerometer error model expression takes the following form:
Figure 950311DEST_PATH_IMAGE083
wherein the content of the first and second substances,Efor accelerometer output values, units: v;
Figure 854813DEST_PATH_IMAGE084
is the output equivalent of the accelerometer, in units: g;
Figure 892039DEST_PATH_IMAGE085
scale factor, unit: v/g;
Figure 29628DEST_PATH_IMAGE086
acceleration components on an input shaft, a pendulum shaft and an output shaft of the accelerometer respectively, the unit: g;
Figure 443292DEST_PATH_IMAGE087
zero offset, unit: g;
Figure 202301DEST_PATH_IMAGE088
for cross-axis sensitivity, unit: rad;
Figure 676007DEST_PATH_IMAGE089
second-order nonlinear coefficients, unit: g/g2；
Figure 848363DEST_PATH_IMAGE090
Is the singular quadratic coefficient, unit: g/g2；
Figure 721510DEST_PATH_IMAGE091
Third order nonlinear coefficients, in units: g/g3；
Figure 600604DEST_PATH_IMAGE092
For cross-coupling coefficients, the unit: g/g2；
Figure 979633DEST_PATH_IMAGE093
Random error, unit: g.
the invention mainly aims at a test and calibration method of a quartz accelerometer high-order error model coefficient, so that a constant term and a primary term in the error model coefficient are taken as known quantities. The invention adopts 6 symmetrical positions to combine to calibrate the high-order term error coefficient in the quartz accelerometer error model expression.
The high order error model coefficients of the quartz accelerometer are identified by the 6 symmetrical position combinations shown in FIG. 3, in whichaRepresenting a centripetal acceleration vector. The various mounting positions shown in the figures are alignedThe corresponding calibratable accelerometer error model coefficients are shown in table 1.
TABLE 1 relationship between symmetrical position combinations and identifiable high order error model coefficients for quartz accelerometers
Figure 551867DEST_PATH_IMAGE094
In fig. 3, 3 mounting modes are adopted totally, the paired positions 1-2, 3-4 and 7-8 are the 1 st mounting mode, at the moment, the output shaft of the accelerometer is always consistent with the axis of the azimuth axis of the centrifuge, and the horizontal axis of the centrifuge is always positioned at the position of the horizontal axis of the centrifuge
Figure 41754DEST_PATH_IMAGE095
Position, azimuth axis is at 6 positions as shown in table 1, 3 pairs of positions are obtained. The 5-6 and 9-10 positions are the 2 nd installation mode, at the moment, the input shaft of the accelerometer is always consistent with the axis of the azimuth axis of the centrifuge, and the horizontal shaft is positioned at the position of the horizontal shaft
Figure 775355DEST_PATH_IMAGE095
Or
Figure 590864DEST_PATH_IMAGE096
Position, azimuth axis in 4 positions results in 2 pairs of paired positions. The 11-12 positions are the 3 rd installation mode, at the moment, the direction of a pendulum shaft of the accelerometer is opposite to the direction of the axis of an azimuth shaft of the centrifugal machine, and a horizontal shaft is always positioned at
Figure 924762DEST_PATH_IMAGE097
Position, azimuth axis in
Figure 218340DEST_PATH_IMAGE098
These 2 positions.
According to the formula (16), the first one can be obtained
Figure 806447DEST_PATH_IMAGE099
The specific force of each axis of the actual accelerometer corresponding to the installation position is input, during specific calculation, the specific force on the input axis is accurate to a first order and is small, and the pendulum shaftOnly the nominal value is calculated with respect to the specific force on the output shaft, the first order small quantities are also ignored, since the coefficients related to the input specific forces of the two shafts are also small quantities. In the formula (16)
Figure 792858DEST_PATH_IMAGE100
Is a known quantity for calculating the indicating output of the accelerometer
Figure 348473DEST_PATH_IMAGE101
，
Figure 445742DEST_PATH_IMAGE102
Taking first order small quantities, dependent on other coefficients
Figure 888356DEST_PATH_IMAGE103
And taking a nominal value. To calibrate the 3 rd order error model coefficients of the accelerometer, at least 4 specific force inputs are required for each pair of positions, i.e. the principal axis is required to operate at 4 different angular rates
Figure 45668DEST_PATH_IMAGE104
And collecting a whole-cycle average of the accelerometer output. For convenience, the 12 positions are tested using a uniform structural matrix as shown in equation (16), although more angular rate points may be added.
Figure 167208DEST_PATH_IMAGE105
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the position 1 are respectively as follows:
Figure 723960DEST_PATH_IMAGE106
wherein
Figure 286659DEST_PATH_IMAGE107
All in units of g, the following expressions are the same.
Substituting equation (18) into equation (16), the indicated output of the quartz accelerometer at position 1 is:
Figure 614872DEST_PATH_IMAGE108
the specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the position 2 are respectively as follows:
Figure 616851DEST_PATH_IMAGE109
substituting equation (20) for equation (16), the indicated output of the quartz accelerometer at position 2 is:
Figure 993606DEST_PATH_IMAGE110
the following equations (19) and (21) are added and subtracted, respectively:
Figure 535445DEST_PATH_IMAGE111
Figure 893614DEST_PATH_IMAGE112
equation (22) is a constant term of acceleration, and is composed of a primary term and a secondary term. And for equation (23) are constant, first, second and third term compositions. By combining the above analysis, the 4 speed points of the main shaft are adopted for testing, and identification can be realized
Figure 193009DEST_PATH_IMAGE113
、
Figure 904613DEST_PATH_IMAGE114
、
Figure 956751DEST_PATH_IMAGE115
。
Figure 626767DEST_PATH_IMAGE116
Wherein "
Figure 351141DEST_PATH_IMAGE117
"means that this term is theoretically zero or because it is a composite of many pose error terms, and need not be written out.
The formula (24) is written in matrix form
Figure 53386DEST_PATH_IMAGE118
From the least squares one can:
Figure 569818DEST_PATH_IMAGE119
in the formula (24), identification
Figure 20522DEST_PATH_IMAGE120
The item avoids the error of the centrifuge
Figure 622405DEST_PATH_IMAGE121
Thereby increasing
Figure 334533DEST_PATH_IMAGE122
The calibration accuracy of the terms.
According to the formula (23), a
Figure 705472DEST_PATH_IMAGE123
Figure 858236DEST_PATH_IMAGE124
Figure 416256DEST_PATH_IMAGE125
。
From the least squares one can:
Figure 725883DEST_PATH_IMAGE126
in the observation vector
Figure 561115DEST_PATH_IMAGE127
In compensating for dynamic error term
Figure 9414DEST_PATH_IMAGE128
And a Coriolis acceleration term, wherein a pose error term of the centrifugal machine is added in the error coefficient vector
Figure 710523DEST_PATH_IMAGE129
Automatically compensating the static radius test error
Figure 636891DEST_PATH_IMAGE130
And a rotation error term, etc., thereby eliminating the influence of the error of the centrifuge and the Coriolis acceleration, thereby improving
Figure 592208DEST_PATH_IMAGE131
The calibration accuracy of the terms.
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 3 and 4 are respectively as follows:
Figure 945829DEST_PATH_IMAGE132
the indication output of the quartz accelerometer is calculated by substituting the equations (28) and (29) into the equation (16), respectively
Figure 665392DEST_PATH_IMAGE133
And performing addition and subtraction operation to obtain the following expression:
Figure 739659DEST_PATH_IMAGE134
Figure 863997DEST_PATH_IMAGE135
this is obtained according to equation (30):
Figure 388519DEST_PATH_IMAGE136
Figure 549373DEST_PATH_IMAGE137
wherein
Figure 817544DEST_PATH_IMAGE138
Figure 793459DEST_PATH_IMAGE139
。
After compensating for the additional acceleration due to the dynamic misalignment angle, it can be identified
Figure 364249DEST_PATH_IMAGE140
An item.
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 5 and 6 are respectively as follows:
Figure 137033DEST_PATH_IMAGE141
the formula (34) and the formula (35) are respectively substituted into the formula (16), and the indication output of the quartz accelerometer is calculated
Figure 67948DEST_PATH_IMAGE142
And performing addition and subtraction operation to obtain the following expression:
Figure 242578DEST_PATH_IMAGE143
according to the formula
Figure 984269DEST_PATH_IMAGE144
The following can be obtained:
Figure 978770DEST_PATH_IMAGE145
Figure 775693DEST_PATH_IMAGE146
Figure 414616DEST_PATH_IMAGE147
。
according to equation (37):
Figure 451842DEST_PATH_IMAGE148
wherein
Figure 338501DEST_PATH_IMAGE149
，
Figure 424268DEST_PATH_IMAGE150
。
Also after compensating for the additional acceleration due to the dynamic misalignment angle, it can be identified
Figure 42331DEST_PATH_IMAGE151
An item.
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 7 and 8 are respectively as follows:
Figure 375093DEST_PATH_IMAGE152
Figure 16290DEST_PATH_IMAGE153
the formula (39) and the formula (40) are respectively substituted into the formula (16), and the indication output of the quartz accelerometer is calculated
Figure 968065DEST_PATH_IMAGE154
And performing addition and subtraction operation to obtain the following expression:
Figure 627585DEST_PATH_IMAGE155
Figure 147560DEST_PATH_IMAGE156
this is obtained according to equation (42):
Figure 338369DEST_PATH_IMAGE157
Figure 218470DEST_PATH_IMAGE158
Figure 748808DEST_PATH_IMAGE159
。
accurately identify
Figure 564317DEST_PATH_IMAGE160
After coefficients, subtracting previously identified
Figure 369987DEST_PATH_IMAGE161
Can identify
Figure 132406DEST_PATH_IMAGE162
Error model coefficients.
According to formula (43):
Figure 845148DEST_PATH_IMAGE163
wherein
Figure 503662DEST_PATH_IMAGE164
Figure 793698DEST_PATH_IMAGE165
。
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 9 and 10 are respectively as follows:
Figure 563071DEST_PATH_IMAGE166
the formula (45) and the formula (46) are respectively substituted into the formula (16), and the indication output of the quartz accelerometer is calculated
Figure 130318DEST_PATH_IMAGE167
And performing addition and subtraction operation to obtain the following expression:
Figure 412264DEST_PATH_IMAGE168
Figure 471487DEST_PATH_IMAGE169
Figure 106868DEST_PATH_IMAGE170
Figure 715572DEST_PATH_IMAGE171
。
after compensating for the effect of the dynamic misalignment angle, identification
Figure 247048DEST_PATH_IMAGE172
Then, subtract again
Figure 262408DEST_PATH_IMAGE173
Is ready to obtain
Figure 701480DEST_PATH_IMAGE174
。
According to formula (49):
Figure 167621DEST_PATH_IMAGE175
Figure 542102DEST_PATH_IMAGE176
Figure 903813DEST_PATH_IMAGE177
。
the specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 11 and 12 are respectively as follows:
Figure 271209DEST_PATH_IMAGE178
Figure 933134DEST_PATH_IMAGE179
the indication output of the quartz accelerometer is calculated by substituting the expressions (51) and (52) into the expression (16)
Figure 275254DEST_PATH_IMAGE180
And performing addition and subtraction operation to obtain the following expression:
Figure 248895DEST_PATH_IMAGE181
Figure 29769DEST_PATH_IMAGE182
Figure 218305DEST_PATH_IMAGE183
Figure 262485DEST_PATH_IMAGE184
Figure 520160DEST_PATH_IMAGE185
。
identify out
Figure 980091DEST_PATH_IMAGE186
After that, the identified one is subtracted
Figure 351029DEST_PATH_IMAGE187
Can obtain
Figure 566110DEST_PATH_IMAGE188
An item.
According to formula (55):
Figure 579590DEST_PATH_IMAGE189
wherein
Figure 905529DEST_PATH_IMAGE190
By combining the formula proposed above, the calibration result of the high-order error term of the quartz accelerometer can be obtained as follows:
Figure 68657DEST_PATH_IMAGE191
。
the expression of the coefficient of the high-order error model of the quartz accelerometer can be summarized as
Figure 110431DEST_PATH_IMAGE192
As shown in fig. 2, a method for calibrating parameters of an accelerometer on a precision centrifuge according to this embodiment includes
Figure 93431DEST_PATH_IMAGE193
Obtaining error model coefficients
Figure 19799DEST_PATH_IMAGE194
The expression of the term is:
Figure 568592DEST_PATH_IMAGE195
wherein
Figure 843584DEST_PATH_IMAGE196
Representation matrix
Figure 517142DEST_PATH_IMAGE197
Of 1 at
Figure 981621DEST_PATH_IMAGE198
The elements of the column. Assuming that the indicating outputs of the quartz accelerometers are independent and equal in precision, the uncertainty is
Figure 306292DEST_PATH_IMAGE199
Then, then
Figure 830814DEST_PATH_IMAGE200
The uncertainty of the term is
Figure 991669DEST_PATH_IMAGE201
Assuming that the centrifuge provides centripetal accelerations of 5g, 10g, 15g and 20g, the output of the quartz accelerometer has an uncertainty of
Figure 525418DEST_PATH_IMAGE202
Dynamic misalignment angle uncertainty
Figure 492544DEST_PATH_IMAGE203
Uncertainty of dynamic radius error
Figure 640498DEST_PATH_IMAGE204
. The uncertainty of the quadratic term and the cross quadratic term of the quartz accelerometer are respectively calculated as
Figure 288648DEST_PATH_IMAGE205
，
Figure 281880DEST_PATH_IMAGE206
Figure 925351DEST_PATH_IMAGE207
。
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (8)

1. A parameter calibration method of an accelerometer on a precision centrifuge is characterized by comprising the following steps:
acquiring each static error and each dynamic error of a precision centrifuge, establishing a coordinate system according to the structure of the precision centrifuge, and calculating a pose error under the coordinate system according to each static error and each dynamic error;
driving a main shaft of the precision centrifuge to rotate at a uniform angular velocity so as to generate a centripetal acceleration calibration accelerometer, and calculating specific force distribution of the centripetal acceleration, the gravitational acceleration and the Coriolis acceleration based on the pose error in the coordinate system so as to determine an accelerometer error model;
and outputting the indication of six symmetrical positions of the accelerometer in three different installation modes, and calibrating a high-order term error coefficient in an accelerometer error model expression by using an addition and subtraction element method.
2. The method for calibrating the parameters of an accelerometer on a precision centrifuge according to claim 1, wherein the precision centrifuge comprises a main shaft, a horizontal shaft and an azimuth shaft;
the static error of the precision centrifuge comprises a two-dimensional verticality error of a spindle axis
Figure 141692DEST_PATH_IMAGE001
、
Figure 922303DEST_PATH_IMAGE002
(ii) a Perpendicularity of horizontal shaft axis and main shaft axis
Figure 154702DEST_PATH_IMAGE003
Degree of intersection of
Figure 864032DEST_PATH_IMAGE004
(ii) a Perpendicularity of horizontal axis and azimuth axis
Figure 814670DEST_PATH_IMAGE005
Degree of intersection of
Figure 697176DEST_PATH_IMAGE006
And initial zero error of azimuth axis
Figure 987343DEST_PATH_IMAGE007
(ii) a Perpendicularity of working base plane for installing inertia instrument to axis of azimuth shaft
Figure 929891DEST_PATH_IMAGE008
(ii) a Accelerometer mounting datum attitude error
Figure 305508DEST_PATH_IMAGE009
、
Figure 991705DEST_PATH_IMAGE010
Eccentricity error
Figure 634913DEST_PATH_IMAGE011
、
Figure 748363DEST_PATH_IMAGE012
And initial nulling error
Figure 922861DEST_PATH_IMAGE013
(ii) a The angular position errors of the three axes of the main shaft, the horizontal shaft and the azimuth shaft are respectively
Figure 147169DEST_PATH_IMAGE014
；
The dynamic error of the precision centrifuge comprises a main shaft radial rotation error
Figure 411928DEST_PATH_IMAGE015
Axial play
Figure 430700DEST_PATH_IMAGE016
And rotation error of inclination angle
Figure 780910DEST_PATH_IMAGE017
(ii) a Dynamic radius error
Figure 808909DEST_PATH_IMAGE018
(ii) a Angle of dynamic misalignment
Figure 928174DEST_PATH_IMAGE019
(ii) a Radial rotation error of horizontal axis
Figure 383427DEST_PATH_IMAGE020
Axial play
Figure 17670DEST_PATH_IMAGE021
And tilt angle gyration error
Figure 19999DEST_PATH_IMAGE022
(ii) a Radial rotation error of azimuth axis
Figure 321667DEST_PATH_IMAGE023
Axial play
Figure 885504DEST_PATH_IMAGE024
Error of rotation of inclination
Figure 7044DEST_PATH_IMAGE025
；
Radius error
Figure 314528DEST_PATH_IMAGE026
Wherein, in the step (A),R 0the static radius nominal value is a known quantity calibrated by a metering department, and the static test error of the radius
Figure 470703DEST_PATH_IMAGE027
Is an unknown quantity of the component (a),
Figure 205441DEST_PATH_IMAGE028
the variation of the actual working radius of the precision centrifuge in the running state relative to the static radius of the centrifuge is the angular velocity of the main shaft
Figure 814277DEST_PATH_IMAGE029
As a function of (c).
3. The method for calibrating the parameters of the accelerometer on the precision centrifuge according to claim 1, wherein the establishing a coordinate system according to the structure of the precision centrifuge, and the calculating the pose errors in the coordinate system according to the static errors and the dynamic errors comprise:
establishing a geographical coordinate system
Figure 722190DEST_PATH_IMAGE030
，
Figure 169089DEST_PATH_IMAGE031
The axis is horizontal and pointing to the east,
Figure 137046DEST_PATH_IMAGE032
the axis is horizontally north-pointing,
Figure 170861DEST_PATH_IMAGE033
the axis indicates the sky to form a right-hand coordinate system;
establishing a coordinate system of a spindle sleeve
Figure 882465DEST_PATH_IMAGE034
Obtaining the pose of the spindle sleeve coordinate system relative to the geographic coordinate system;
establishing a main shaft coordinate system
Figure 685336DEST_PATH_IMAGE035
Obtaining the pose of the main shaft coordinate system relative to the main shaft sleeve coordinate system;
establishing a horizontal axis sleeve coordinate system
Figure 824193DEST_PATH_IMAGE036
Obtaining the pose of a horizontal shaft sleeve coordinate system relative to a main shaft coordinate system;
establishing a horizontal axis coordinate system
Figure 345304DEST_PATH_IMAGE037
Obtaining the pose of the horizontal axis coordinate system relative to the horizontal axis sleeve coordinate system;
establishing an azimuth axis sleeve coordinate system
Figure 860599DEST_PATH_IMAGE038
Obtaining the pose of the azimuth axis sleeve coordinate system relative to the horizontal axis coordinate system;
establishing an azimuth axis coordinate system
Figure 580293DEST_PATH_IMAGE039
Obtaining the pose of the azimuth axis coordinate system relative to the azimuth axis sleeve coordinate system;
establishing a working base coordinate system
Figure 326270DEST_PATH_IMAGE040
Obtaining the pose of the working base plane coordinate system relative to the azimuth axis coordinate system;
establishing an accelerometer coordinate system
Figure 396994DEST_PATH_IMAGE041
And obtaining the pose of the accelerometer coordinate system relative to the working base coordinate system, the pose of the accelerometer coordinate system relative to the geographic coordinate system and the pose of the accelerometer coordinate system relative to the principal axis coordinate system.
4. The method for calibrating the parameters of the accelerometer on the precision centrifuge as claimed in claim 3,
the pose of the spindle sleeve coordinate system relative to the geographic coordinate system is
Figure 388084DEST_PATH_IMAGE042
The pose of the main shaft coordinate system relative to the main shaft sleeve coordinate system is
Figure 539449DEST_PATH_IMAGE043
Wherein
Figure 895475DEST_PATH_IMAGE044
Representing the angle of rotation of the spindle;
the pose of the horizontal axis shaft sleeve coordinate system relative to the main axis coordinate system is
Figure 391178DEST_PATH_IMAGE045
The pose of the horizontal axis coordinate system relative to the horizontal axis shaft sleeve coordinate system is
Figure 418915DEST_PATH_IMAGE046
Wherein
Figure 988568DEST_PATH_IMAGE047
Represents the angle of rotation of the horizontal axis;
the pose of the azimuth axis sleeve coordinate system relative to the horizontal axis coordinate system is
Figure 843391DEST_PATH_IMAGE048
The position and pose of the azimuth axis coordinate system relative to the azimuth axis sleeve coordinate system are
Figure 623128DEST_PATH_IMAGE049
Wherein
Figure 454556DEST_PATH_IMAGE050
Representing the angle of rotation of the azimuth axis;
the position and attitude of the working base plane coordinate system relative to the azimuth axis coordinate system are
Figure 268928DEST_PATH_IMAGE051
WhereinLIs composed of
Figure 29074DEST_PATH_IMAGE052
Point to point ratio
Figure 233790DEST_PATH_IMAGE053
Point displacement;
the position and the attitude of the accelerometer coordinate system relative to the working base plane coordinate system are
Figure 432690DEST_PATH_IMAGE054
Wherein
Figure 39252DEST_PATH_IMAGE055
Is composed of
Figure 32616DEST_PATH_IMAGE056
Point to point ratio
Figure 223163DEST_PATH_IMAGE057
Point displacement;
the pose of the accelerometer coordinate system relative to the geographic coordinate system is
Figure 960175DEST_PATH_IMAGE058
Wherein
Figure 483561DEST_PATH_IMAGE059
Representing a pose transformation matrix between the accelerometer coordinate system and the geographic coordinate system,P 1the relative displacement vector of the accelerometer coordinate system and the geographic coordinate system is obtained;
the position and posture of the accelerometer coordinate system relative to the principal axis coordinate system are
Figure 116667DEST_PATH_IMAGE060
Wherein
Figure 623872DEST_PATH_IMAGE061
Representing an attitude transformation matrix between an accelerometer coordinate system and a principal axis coordinate system;
the origin of the accelerometer coordinate system is expressed as
Figure 164575DEST_PATH_IMAGE062
Neglecting the second order small amount, it is obtained,
Figure 948991DEST_PATH_IMAGE063
，
Figure 284157DEST_PATH_IMAGE064
Figure 950762DEST_PATH_IMAGE065
。
5. the method for calibrating the parameters of the accelerometer on the precision centrifuge as claimed in claim 1, wherein the step of calculating the specific force distribution of centripetal acceleration, gravitational acceleration and Coriolis acceleration based on the pose error in the coordinate system comprises:
calculating the distribution of specific force generated by gravity acceleration on three axes of the accelerometer to be measured, specifically comprising:
the components of the gravity acceleration on the input shaft, the pendulum shaft and the output shaft of the accelerometer to be measured are respectively
Figure 29577DEST_PATH_IMAGE066
、
Figure 963772DEST_PATH_IMAGE067
、
Figure 735419DEST_PATH_IMAGE068
The specific force generated by the gravity acceleration is expressed as
Figure 686058DEST_PATH_IMAGE069
Then expressed as in the accelerometer coordinate system
Figure 506246DEST_PATH_IMAGE070
Calculating the distribution of the centripetal acceleration on three axes of the accelerometer to be measured, which specifically comprises the following steps:
the centripetal acceleration at the coordinate origin of the accelerometer is expressed as
Figure 858730DEST_PATH_IMAGE071
The components of the input shaft, the pendulum shaft and the output shaft of the accelerometer to be measured are respectively
Figure 738961DEST_PATH_IMAGE072
According to formula (I)
Figure 176896DEST_PATH_IMAGE073
The following can be obtained:
Figure 597513DEST_PATH_IMAGE074
calculating Coriolis acceleration components generated by earth rotation, wherein the specific expression is as follows:
Figure 7766DEST_PATH_IMAGE075
wherein
Figure 557433DEST_PATH_IMAGE076
Is as followsThe latitude of the ground;
the precise specific force on three axes of the accelerometer is
Figure 482664DEST_PATH_IMAGE077
Wherein the content of the first and second substances,
Figure 706972DEST_PATH_IMAGE078
。
6. the method for calibrating the parameters of the accelerometer on the precision centrifuge as claimed in claim 1, wherein the expression of the error model of the accelerometer is as follows:
Figure 706152DEST_PATH_IMAGE079
wherein the content of the first and second substances,Eoutputting a value for the accelerometer;
Figure 990503DEST_PATH_IMAGE080
Figure 340713DEST_PATH_IMAGE081
the high-order term error coefficient comprises the second-order nonlinear coefficient, a singular second-order term coefficient, a third-order nonlinear coefficient and a cross-coupling coefficient.
7. The method for calibrating the parameters of the accelerometer on the precision centrifuge as claimed in claim 6, wherein the outputting of the indication of six symmetric positions of the accelerometer in three different installation modes, calibrating the high-order term error coefficient in the accelerometer error model expression by using the method of adding and subtracting the element includes:
when the output shaft of the accelerometer is always consistent with the axis of the azimuth axis of the centrifuge, the horizontal axis of the centrifuge is always positioned
Figure 368712DEST_PATH_IMAGE082
Position, 3 pairs of paired positions are available, respectively: position 1 and position 2, position 3 and position 4, position 5 and position 6; when the input shaft of the accelerometer is always consistent with the axis of the azimuth axis of the centrifuge, the horizontal shaft is positioned at
Figure 487977DEST_PATH_IMAGE083
Or
Figure 677650DEST_PATH_IMAGE084
Position, 2 pairs of paired positions are available, respectively: positions 7 and 8, positions 9 and 10; when the direction of the swing shaft of the accelerometer is opposite to the direction of the axis of the azimuth shaft of the centrifuge, the horizontal shaft is always positioned at
Figure 13691DEST_PATH_IMAGE085
Position, azimuth axis in
Figure 579802DEST_PATH_IMAGE086
Respectively is as follows: position 11 and position 12;
the 12 positions adopt a uniform structural matrix as shown in a formula (17),
Figure 819153DEST_PATH_IMAGE087
identifying according to specific force of input shaft, pendulum shaft and output shaft of accelerometer at position 1 and position 2
Figure 179728DEST_PATH_IMAGE088
Items and
Figure 504530DEST_PATH_IMAGE089
an item;
identifying according to specific force of input shaft, pendulum shaft and output shaft of accelerometer at position 3 and position 4K PP AndK PPP an item;
identifying the specific force of the input shaft, the pendulum shaft and the output shaft of the accelerometer at the position 5 and the position 6K OO Items andK OOO an item;
identifying from the specific forces of the accelerometer input, yaw and output axes at positions 7 and 8K IP An item;
identifying from the specific force of the accelerometer input, yaw and output axes at positions 9 and 10K OP An item;
according to the specific force of the input shaft, the pendulum shaft and the output shaft of the accelerometer at the position 11 and the position 12
Figure 874331DEST_PATH_IMAGE090
An item.
8. The method for calibrating the parameters of the accelerometer on the precision centrifuge as recited in claim 7,
the specific forces of the input shaft, the pendulum shaft and the output shaft of the accelerometer at the position 1 are respectively as follows:
Figure 702610DEST_PATH_IMAGE091
substituting equation (18) into equation (16), the indication output of the accelerometer at position 1 is:
Figure 499665DEST_PATH_IMAGE092
the specific forces of the input shaft, the swing shaft and the output shaft of the accelerometer at the position 2 are respectively as follows:
Figure 544719DEST_PATH_IMAGE093
substituting equation (20) for equation (16), the accelerometer output at position 2 is:
Figure 655894DEST_PATH_IMAGE094
the following equations (19) and (21) are added and subtracted, respectively:
Figure 666576DEST_PATH_IMAGE095
Figure 572215DEST_PATH_IMAGE096
Figure 668347DEST_PATH_IMAGE097
wherein the content of the first and second substances,
Figure 317634DEST_PATH_IMAGE098
a composite of pose error terms expressed as zero or more;
the formula (24) is written in matrix form
Figure 182822DEST_PATH_IMAGE099
From the least squares one can:
Figure 757897DEST_PATH_IMAGE100
in the formula (24), it is identified
Figure 341325DEST_PATH_IMAGE101
An item;
according to the formula (23), a
Figure 591041DEST_PATH_IMAGE102
Wherein
Figure 513998DEST_PATH_IMAGE103
Figure 761439DEST_PATH_IMAGE104
From the least squares one can:
Figure 832164DEST_PATH_IMAGE105
compensating for dynamic misalignment angles measured by autocollimators
Figure 823253DEST_PATH_IMAGE106
Dynamic radius error measured by a dual-frequency interferometric laser
Figure 663033DEST_PATH_IMAGE107
The generated additional acceleration and Coriolis acceleration terms are identified
Figure 603349DEST_PATH_IMAGE108
Items and
Figure 895790DEST_PATH_IMAGE109
an item;
the specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 3 and 4 are respectively as follows:
Figure 752888DEST_PATH_IMAGE110
Figure 384857DEST_PATH_IMAGE111
the formula (28) and the formula (29) are respectively substituted into the formula (16), and the indication output of the accelerometer is calculated
Figure 974102DEST_PATH_IMAGE112
And performing addition and subtraction operation to obtain the following expression:
Figure 19418DEST_PATH_IMAGE113
Figure 352310DEST_PATH_IMAGE114
Figure 901103DEST_PATH_IMAGE115
wherein
Figure 425363DEST_PATH_IMAGE116
Figure 692397DEST_PATH_IMAGE117
；
Figure 828980DEST_PATH_IMAGE118
Wherein
Figure 232279DEST_PATH_IMAGE119
，
Figure 428906DEST_PATH_IMAGE120
；
After compensating for the additional acceleration caused by the dynamic misalignment angle measured by the autocollimator, it is recognized that
Figure 183235DEST_PATH_IMAGE121
And
Figure 857930DEST_PATH_IMAGE122
an item;
the specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 5 and 6 are respectively as follows:
Figure 381315DEST_PATH_IMAGE123
Figure 247378DEST_PATH_IMAGE124
Figure 223424DEST_PATH_IMAGE125
Figure 701810DEST_PATH_IMAGE126
after compensating for the additional acceleration caused by the dynamic misalignment angle measured by the autocollimator, it is recognized thatK OO Items andK OOO an item;
the specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 7 and 8 are respectively as follows:
Figure 345281DEST_PATH_IMAGE127
Figure 618130DEST_PATH_IMAGE128
the formula (39) and the formula (40) are respectively substituted into the formula (16), and the indication output of the accelerometer is calculated
Figure 284735DEST_PATH_IMAGE129
And
Figure 363549DEST_PATH_IMAGE130
and performing addition and subtraction operation to obtain the following expression:
Figure 861527DEST_PATH_IMAGE131
Figure 803813DEST_PATH_IMAGE132
Figure 20031DEST_PATH_IMAGE133
accurately identify
Figure 840219DEST_PATH_IMAGE134
After the coefficients, the identified coefficients are subtracted
Figure 192703DEST_PATH_IMAGE135
Identify
Figure 72934DEST_PATH_IMAGE136
Error model coefficients;
according to formula (43):
Figure 510869DEST_PATH_IMAGE137
wherein
Figure 869169DEST_PATH_IMAGE138
Figure 341739DEST_PATH_IMAGE139
，
Figure 625827DEST_PATH_IMAGE140
；
Figure 551058DEST_PATH_IMAGE141
Figure 713049DEST_PATH_IMAGE142
The formula (45) and the formula (46) are respectively substituted into the formula (16), and the indication output of the accelerometer is calculated
Figure 40125DEST_PATH_IMAGE143
And performing addition and subtraction operation to obtain the following expression:
Figure 262159DEST_PATH_IMAGE144
Figure 674686DEST_PATH_IMAGE145
Figure 374789DEST_PATH_IMAGE146
wherein
Figure 556371DEST_PATH_IMAGE147
，
Figure 447842DEST_PATH_IMAGE148
；
Figure 347664DEST_PATH_IMAGE149
Wherein
Figure 913775DEST_PATH_IMAGE150
，
Figure 887547DEST_PATH_IMAGE151
；
The specific forces of the input shaft, the swing shaft and the output shaft of the quartz accelerometer at the positions 11 and 12 are respectively as follows:
Figure 513701DEST_PATH_IMAGE152
Figure 838503DEST_PATH_IMAGE153
Figure 880408DEST_PATH_IMAGE154
Figure 36583DEST_PATH_IMAGE155
Figure 269856DEST_PATH_IMAGE156
Figure 878692DEST_PATH_IMAGE157
Figure 989867DEST_PATH_IMAGE158
Figure 549DEST_PATH_IMAGE159
the calibration result of the high-order error term of the accelerometer can be:
Figure 906188DEST_PATH_IMAGE160
then the expression of the accelerometer higher order error model coefficient is:
Figure 2320DEST_PATH_IMAGE161
。
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