CN113267202A - Optical fiber gyroscope scale factor nonlinear error compensation method - Google Patents
Optical fiber gyroscope scale factor nonlinear error compensation method Download PDFInfo
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- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- 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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Abstract
The invention discloses a nonlinear error compensation method for a scale factor of a fiber-optic gyroscope, which comprises the following steps: the optical fiber gyroscope is arranged on the rotary table, and a sensitive shaft of the optical fiber gyroscope is vertically upward; when the rotary table is in a static state, obtaining an average value of the output of the fiber-optic gyroscope; presetting a plurality of different speed points, wherein each speed point respectively corresponds to a forward rotation state and a reverse rotation state of the rotary table; carrying out a plurality of groups of speed experiments, wherein in each group of speed experiments, the rotary table starts to rotate at a variable acceleration from a corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the rotary table decelerates to stop; sampling at a first sampling frequency to obtain an output value of the fiber-optic gyroscope and an angular velocity output value of the turntable, and smoothing; calculating corresponding scale factors and angular acceleration; and performing two-dimensional interpolation calculation to obtain a scale factor model of the fiber-optic gyroscope. According to the nonlinear error compensation method for the scale factor of the fiber-optic gyroscope, the precision of the scale factor can be improved.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to a nonlinear error compensation method for a scale factor of a fiber optic gyroscope.
Background
The fiber-optic gyroscope is used as a novel all-solid-state optical gyroscope, has the advantages of impact resistance, high sensitivity, long service life, large dynamic range, short starting time and the like, is widely applied to inertial navigation systems in the fields of aviation, aerospace, navigation and the like, and is continuously developed towards the direction of high precision. The scale factor is one of important parameters in the test of the fiber-optic gyroscope, and the navigation precision of the gyroscope is directly influenced by the error of the scale factor, so that the accurate test of the scale factor of the fiber-optic gyroscope plays an important role in an inertial navigation system. Besides the scale factor error of the fiber-optic gyroscope is influenced by temperature, the scale factor of the fiber-optic gyroscope has different nonlinear errors for different inputs. At present, when the scale factor of the fiber-optic gyroscope is tested, the influence of the nonlinear error of the gyroscope is mostly ignored, which results in that the accuracy of the scale factor is not high enough.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a nonlinear error compensation method for the scale factor of the fiber-optic gyroscope, which can carry out nonlinear error compensation by taking two independent variables of angular velocity and angular acceleration as input and taking the scale factor as output, so that the scale factor of the fiber-optic gyroscope is more accurate.
The nonlinear error compensation method for the scale factor of the fiber-optic gyroscope provided by the embodiment of the invention comprises the following steps: installing a fiber-optic gyroscope on a turntable, wherein a sensitive shaft of the fiber-optic gyroscope is vertically upward; when the rotary table is in a static state, obtaining an average value of the output of the fiber-optic gyroscope; presetting a plurality of different speed points, wherein each speed point respectively corresponds to two states of forward rotation and reverse rotation of the rotary table; carrying out a plurality of groups of speed experiments, wherein in each group of speed experiments, the rotary table is accelerated and rotated at a variable acceleration from a corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the rotary table is decelerated to stop; sampling at a first sampling frequency, acquiring an output value of the fiber-optic gyroscope and an angular velocity output value of the rotary table in the process that the rotary table rotates at variable acceleration, and smoothing; calculating corresponding scale factors and angular acceleration; and carrying out two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration obtained after the smoothing processing so as to obtain a scale factor model of the fiber-optic gyroscope.
The method for compensating the nonlinear error of the scale factor of the fiber-optic gyroscope according to the embodiment of the invention at least has the following beneficial effects: by setting a plurality of different speed points and carrying out a plurality of groups of speed experiments, the output value of the fiber-optic gyroscope can be acquired when the turntable starts to perform accelerated motion at variable acceleration from different angular speeds; obtaining a corresponding scale factor and an angular acceleration according to the output value of the fiber-optic gyroscope and the angular velocity output value of the turntable; and then, carrying out two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration to obtain the scale factors of the fiber-optic gyroscope corresponding to different angular velocities and angular accelerations, so that the measured scale factors are more accurate.
According to some embodiments of the present invention, the presetting of a plurality of different rate points specifically includes: and uniformly setting a plurality of different rate points according to the measuring range of the fiber-optic gyroscope.
According to some embodiments of the invention, the first sampling frequency may be configured to be 500Hz to 1500 Hz.
According to some embodiments of the invention, the calculation formula of the smoothing process is:
wherein h is a positive integer greater than 1; u. ofiRepresenting the output value of the fiber-optic gyroscope at the ith sampling point; omegajRepresenting an angular velocity output value of the turntable at a jth sampling point; when the rotary table rotates in the positive direction, i, j and y are positive integers; when the rotary table rotates reversely, i, j and y are negative integers.
According to some embodiments of the invention, the first sampling frequency is 1000Hz and h has a value of 50.
According to some embodiments of the invention, the corresponding scaling factor and angular acceleration are calculated by the following specific calculation formula:
wherein k isyIs a scale factor; u. of0The average value of the output of the optical fiber gyroscope when the turntable is in a static state is obtained;
is the angular acceleration;
h is the first sampling frequency.
According to some embodiments of the present invention, the method of two-dimensional interpolation is a Delaunay triangulation algorithm, which is:
a, B, C represents any adjacent three points of a triangle formed by three points where the angular velocity output value and the angular acceleration are obtained; k is a radical ofA、kB、kCA, B, C scale factors of three points, respectively; l, m, n are coordinate coefficients, 0<l，m，n<1；
A scaling factor for a point with coordinates (Ω, a) inside the triangle;
a, B, C angular accelerations at three points, respectively;
a, B, C at three points, respectively.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method for compensating nonlinear error of scale factors of a fiber optic gyroscope according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system structure of a fiber-optic gyroscope scale factor nonlinear error compensation method according to an embodiment of the present invention;
reference numerals:
a fiber optic gyroscope 100.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, a method for compensating for nonlinear error of scale factor of a fiber-optic gyroscope according to an embodiment of the invention comprises the following steps:
s100: the fiber-optic gyroscope 100 is mounted on a turntable with the sensitive axis of the fiber-optic gyroscope 100 facing vertically upward.
Specifically, referring to fig. 2, the sensitive axis of the fiber-optic gyroscope 100 is the X axis, and the sensitive axis points vertically upward to the sky, so that the output value of the fiber-optic gyroscope 100 on the X axis is the sum of the angular velocity output value of the turntable and the rotational angular velocity of the earth on the X axis.
S200: when the turntable is in a static state, an average value of the outputs of the fiber-optic gyroscope 100 is obtained.
Before the experiment begins, the turntable is kept still, the fiber-optic gyroscope 100 is continuously sampled, and the specific sampling time can be 50-200 s or other time lengths; in some embodiments of the present invention, the sampling time is taken as 100s, so as to obtain an average value of the outputs of the fiber-optic gyroscope 100 in the period of time, and the average value is recorded as u0。
S300: a plurality of different speed points are preset, and each speed point respectively corresponds to two states of forward rotation and reverse rotation of the rotary table.
Specifically, in order to better obtain the full-range model of the scale factor of the fiber-optic gyroscope 100, P rate points may be uniformly set according to the range of the fiber-optic gyroscope 100, and when the turntable rotates in the forward direction, the P rate points are respectively recorded as ω from small to large1，ω2，…，ωp(ii) a When the rotary table rotates reversely, P speed points are respectively marked as omega from small to large-1，ω-2，…，ω-p. Wherein, the forward rotation may be clockwise rotation, and the reverse rotation corresponds to counterclockwise rotation; the forward rotation may also be a counterclockwise rotation, where the reverse rotation corresponds to a clockwise rotation.
S400: and carrying out a plurality of groups of speed experiments, wherein in each group of speed experiments, the rotary table is accelerated to rotate at a variable acceleration from a corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the rotary table is decelerated to stop.
Specifically, a total of 2P group rate experiments may be performed. The first set of rate experiments: the turntable rotates in forward direction from rest when the angular velocity of the turntable reaches omega1And after the optical fiber gyroscope enters a state of constant-speed stable rotation, the turntable starts to accelerate at a variable acceleration until the output value of the optical fiber gyroscope 100 exceeds omegapThe turntable is decelerated to a stop. Second set of rate experiments: the turntable rotates in forward direction from rest when the angular velocity of the turntable reaches omega2And after entering a state of constant-speed stable rotation, the turntable is accelerated at a variable acceleration until the output value of the fiber-optic gyroscope 100 exceeds omegapThe turntable is decelerated to a stop. Third set of rate experiments: the turntable rotates in forward direction from rest when the angular velocity of the turntable reaches omega3And after entering a state of constant-speed stable rotation, the turntable is accelerated at a variable acceleration until the output value of the fiber-optic gyroscope 100 exceeds omegapThe turntable is decelerated to a stop. After the P groups of speed experiments of forward rotation are carried out, the rotary table is rotated reversely, the processes are repeated, and the P groups of speed experiments are carried out similarly. It will be appreciated that in practice, the turntable is used at ωpThe angular velocity of (2) is in forward rotation or reverse rotation, the sampling points are fewer, so that the two sets of speed experiments can be omitted, and only the 2P-2 set of speed experiments are carried out.
S400: sampling is carried out at a first sampling frequency, and in the process that the rotary table rotates at variable acceleration, the output value of the fiber-optic gyroscope 100 and the angular velocity output value of the rotary table are obtained and are subjected to smoothing processing.
Specifically, in practical application, the first sampling frequency is denoted as H, and H may be 500Hz to 1500Hz, or other values, and in the present invention, H is 1000 Hz. Sampling can be carried out in the whole rotating process of the rotary table, but only sampling points of the rotary table in the process of accelerating rotation at variable acceleration are selected to participate in subsequent calculation. The output value of the fiber-optic gyroscope 100 at the required sampling point is recorded as uiWhen the rotary table rotates in the positive direction, i is a positive integer 1, 2, 3, …; when the rotary table rotates reversely, i is a negative integer of-1, -2, -3, …; recording the angular speed output value of the rotary table on the required sampling point as omegajWhen the rotary table rotates forwards, j is a positive integer 1, 2, 3, …; when the rotary table rotates reversely, j is negative integer-1, -2, -3, …. The specific smoothing formula is as follows:
h is a positive integer greater than 1, and is 50 in the present invention, but h may be other positive integers. At this time, the above formula becomes:
when the rotary table rotates in the positive direction, y is a positive integer 1, 2, 3, …; when the turntable rotates in the reverse direction, y takes the negative integer-1, -2, -3, …. Since more samples are obtained, the smoothing process is to take the average value of every 50 samples.
S500: the corresponding scale factor and angular acceleration are calculated.
Specifically, a scale factor k is calculated for each sample pointyThe formula of (1) is:
calculating the angular velocity of each sampling point by a difference method
The specific calculation formula is as follows:
wherein the content of the first and second substances,
when H is 1000Hz and H is 50, r is 0.05 s.
S600: and performing two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration obtained after the smoothing processing to obtain a scale factor model of the fiber-optic gyroscope 100.
Specifically, in the present invention, a two-dimensional interpolation calculation method with higher precision, i.e., a Delaunay triangulation method, is adopted, and of course, other two-dimensional interpolation methods may also be adopted. The specific calculation formula is as follows:
a, B, C represents three points of a triangle formed by any adjacent three points which have acquired the angular velocity output value and the angular acceleration; k is a radical ofA、kB、kCA, B, C scale factors of three points, respectively; l, m, n are coordinate coefficients, 0<l，m，n<1；
A scaling factor for a point with coordinates (Ω, a) inside the triangle;
a, B, C angular accelerations at three points, respectively;
a, B, C at three points, respectively.
Furthermore, in order to reduce or even eliminate the effect of ambient temperature on the measured scale factor, the above-described method of the present invention is preferably performed at the same temperature.
According to the nonlinear error compensation method for the scale factor of the fiber-optic gyroscope, a plurality of different rate points are set, and a plurality of groups of rate experiments are carried out, so that the fiber-optic gyroscope 100 rotates at variable acceleration from different angular speeds, and output values of the fiber-optic gyroscope 100 under different angular speeds and angular accelerations are obtained through sampling; smoothing the output value of the fiber-optic gyroscope 100 obtained by sampling and the angular velocity output value of the turntable, and calculating to obtain the scale factor and the angular acceleration of the corresponding sampling point; then, carrying out two-dimensional interpolation calculation on the sampling points which have acquired the angular velocity and the angular acceleration, thereby obtaining the scale factors of the points which are not sampled; and then the scale factors of the fiber-optic gyroscope 100 corresponding to different angular velocities and angular accelerations are obtained, so that a full-range scale factor model of the fiber-optic gyroscope 100 is obtained, and the precision of the measured scale factors is improved.
In the description herein, references to the description of "one embodiment," "a further embodiment," "some specific embodiments," or "some examples," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A nonlinear error compensation method for a scale factor of a fiber-optic gyroscope is characterized by comprising the following steps:
installing a fiber-optic gyroscope on a turntable, wherein a sensitive shaft of the fiber-optic gyroscope is vertically upward;
when the rotary table is in a static state, obtaining an average value of the output of the fiber-optic gyroscope;
presetting a plurality of different speed points, wherein each speed point respectively corresponds to two states of forward rotation and reverse rotation of the rotary table;
carrying out a plurality of groups of speed experiments, wherein in each group of speed experiments, the rotary table is accelerated and rotated at variable acceleration from the corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the rotary table is decelerated to stop;
sampling at a first sampling frequency, acquiring an output value of the fiber-optic gyroscope and an angular velocity output value of the rotary table in the process that the rotary table rotates at variable acceleration, and smoothing;
calculating corresponding scale factors and angular acceleration;
and carrying out two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration obtained after the smoothing processing so as to obtain a scale factor model of the fiber-optic gyroscope.
2. The method for compensating for nonlinear error in scale factor of fiber optic gyroscope according to claim 1, wherein the presetting of a plurality of different rate points is specifically as follows:
and uniformly setting a plurality of different rate points according to the measuring range of the fiber-optic gyroscope.
3. The fiber optic gyroscope scale factor nonlinear error compensation method of claim 1, wherein the first sampling frequency may be configured to be 500Hz to 1500 Hz.
4. The fiber-optic gyroscope scale factor nonlinear error compensation method according to claim 1, 2 or 3, characterized in that the calculation formula of the smoothing process is as follows:
wherein h is a positive integer greater than 1; u. ofiRepresenting the output value of the fiber-optic gyroscope at the ith sampling point; omegajRepresenting an angular velocity output value of the turntable at a jth sampling point; when the rotary table rotates in the positive direction, i, j and y are positive integers; when the rotary table rotates reversely, i, j and y are negative integers.
5. The method of claim 4, wherein the first sampling frequency is 1000Hz, and h is 50.
6. The method for compensating nonlinear error in scale factor of fiber-optic gyroscope according to claim 4 or 5, wherein the corresponding scale factor and angular acceleration are calculated by the following specific formula:
wherein k isyIs a scale factor; u. of0The average value of the output of the optical fiber gyroscope when the turntable is in a static state is obtained;
is the angular acceleration;
h is the first sampling frequency.
7. The method for compensating the nonlinear error of the scale factor of the fiber-optic gyroscope according to claim 6, wherein the method of the two-dimensional interpolation is a Delaunay triangulation method, and the specific formula is as follows:
a, B, C represents any adjacent three points of a triangle formed by three points where the angular velocity output value and the angular acceleration are obtained; k is a radical ofA、kB、kCA, B, C scale factors of three points, respectively; l, m, n are coordinate coefficients, 0<l，m，n<1；
A scale factor for a point of coordinate inside the triangle;
a, B, C angular accelerations at three points, respectively;
a, B, C at three points, respectively.
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Cited By (2)
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| CN116007604A (en) * | 2023-03-24 | 2023-04-25 | 中国船舶集团有限公司第七〇七研究所 | Method and device for improving measurement accuracy of fiber optic gyroscope |
| CN116989826A (en) * | 2023-09-27 | 2023-11-03 | 中国船舶集团有限公司第七〇七研究所 | Method for testing nonlinearity of small-rotation-speed scale factor of fiber optic gyroscope |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116007604A (en) * | 2023-03-24 | 2023-04-25 | 中国船舶集团有限公司第七〇七研究所 | Method and device for improving measurement accuracy of fiber optic gyroscope |
| CN116989826A (en) * | 2023-09-27 | 2023-11-03 | 中国船舶集团有限公司第七〇七研究所 | Method for testing nonlinearity of small-rotation-speed scale factor of fiber optic gyroscope |
| CN116989826B (en) * | 2023-09-27 | 2023-12-08 | 中国船舶集团有限公司第七〇七研究所 | Method for testing nonlinearity of small-rotation-speed scale factor of fiber optic gyroscope |
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