CN113267202B - Nonlinear error compensation method for scale factors of fiber-optic gyroscope - Google Patents
Nonlinear error compensation method for scale factors of fiber-optic gyroscope Download PDFInfo
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- G—PHYSICS
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- 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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- G—PHYSICS
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- 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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Abstract
The invention discloses a nonlinear error compensation method for a fiber-optic gyroscope scale factor, which comprises the following steps: the optical fiber gyroscope is arranged on the turntable, and the sensitive axis of the optical fiber gyroscope is vertically upwards; when the turntable 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 corresponds to two states of forward rotation and reverse rotation of the turntable respectively; in each group of rate experiments, starting the turntable to accelerate rotation at a variable acceleration from a corresponding rate point until the output value of the fiber-optic gyroscope exceeds the highest rate point, and decelerating the turntable 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 accelerations; and carrying out two-dimensional interpolation calculation to obtain a scale factor model of the fiber-optic gyroscope. According to the fiber-optic gyroscope scale factor nonlinear error compensation method, 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 a high-precision direction. The scale factor is one of important parameters in the fiber-optic gyroscope test, and the size of the scale factor error directly influences the navigation precision of the gyroscope, so that the accurate test of the scale factor of the fiber-optic gyroscope plays an important role in an inertial navigation system. In addition to being affected by temperature, the scale factor error of the fiber optic gyroscope also has different nonlinear errors for different inputs. At present, when testing the scale factor of the fiber optic gyroscope, the influence of the nonlinear error of the gyroscope is mostly ignored, which results in insufficient accuracy of the scale factor.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a nonlinear error compensation method for the scale factors of the fiber-optic gyroscope, which can take two independent variables of angular velocity and angular acceleration as input and take the scale factors as output to carry out nonlinear error compensation, so that the scale factors of the fiber-optic gyroscope are more accurate.
The nonlinear error compensation method for the fiber-optic gyroscope scale factors comprises the following steps: the optical fiber gyroscope is installed on a turntable, and a sensitive axis of the optical fiber gyroscope is vertically upwards; when the turntable 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 corresponds to two states of forward rotation and reverse rotation of the turntable respectively; performing a plurality of groups of speed experiments, wherein in each group of speed experiments, the turntable starts to rotate at variable acceleration from a corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the turntable 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 turntable in the process of accelerating rotation of the turntable at a variable acceleration, and performing smoothing treatment; calculating corresponding scale factors and angular accelerations; and carrying out 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.
The nonlinear error compensation method for the fiber-optic gyroscope scale factors has at least 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 accelerate with variable acceleration from different angular speeds; obtaining corresponding scale factors and angular acceleration according to the output value of the fiber optic gyroscope and the angular speed output value of the turntable; and performing two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration, so as to obtain the scale factors of the fiber-optic gyroscope corresponding to different angular velocities and angular accelerations, and the measured scale factors are more accurate.
According to some embodiments of the invention, the preset plurality of different rate points are specifically: and uniformly setting a plurality of different speed 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 1500Hz.
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 (u) i Representing the output value of the fiber optic gyroscope at the i|th sampling point; omega shape j An angular velocity output value of the turntable at the |j| sampling point is represented; when the turntable rotates positively, i, j and y are positive integers; when the turntable rotates reversely, i, j and y are negative integers.
According to some embodiments of the invention, the first sampling frequency is 1000hz and the value of h is 50.
According to some embodiments of the invention, the corresponding scale factors and angular accelerations are calculated by the following specific calculation formulas:
wherein k is y Is a scale factor; u (u) 0 The average value of the output of the optical fiber gyro when the turntable is in a static state is obtained;is angular acceleration; />And H is the first sampling frequency.
According to some embodiments of the invention, the two-dimensional interpolation method is a Delaunay triangulation algorithm, which is:
wherein A, B, C represents any adjacent three points of a triangle formed by the points at which the angular velocity output value and the angular acceleration have been acquired; k (k) A 、k B 、k C Scale factors of A, B, C three points, respectively; l, m, n are coordinate coefficients, 0<l，m，n<1；A scale factor that is the point inside the triangle with coordinates (Ω, a); />Angular acceleration at three points A, B, C, respectively; />The angular velocity output values at three points A, B, C, 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.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic flow chart of a method for compensating nonlinear error of a fiber optic gyroscope scale factor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system architecture of a method for compensating nonlinear error of a fiber optic gyroscope scale factor according to an embodiment of the present invention;
reference numerals:
fiber optic gyroscope 100.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 and 2, the method for compensating the nonlinear error of the scale factor of the optical fiber gyroscope according to the 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 upwards.
Specifically, referring to fig. 2, the sensitive axis of the optical fiber gyro 100 is an X axis, and the sensitive axis points vertically upward to the sky, so that the output value of the optical fiber gyro 100 on the X axis is the sum of the components 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 stationary state, an average value of the output of the optical fiber gyro 100 is obtained.
Before the experiment starts, keeping the turntable still, and continuously sampling the fiber-optic gyroscope 100, wherein the specific sampling time can be 50 s-200 s or other time lengths; in some embodiments of the present invention, the sampling time is taken to be 100s, so that an average value of the output of the fiber-optic gyroscope 100 during the time is obtained, and the average value is denoted as u 0 。
S300: and presetting a plurality of different speed points, wherein each speed point corresponds to two states of forward rotation and reverse rotation of the turntable respectively.
Specifically, in order to better obtain the full-scale model of the scale factor of the fiber-optic gyroscope 100, P rate points may be uniformly set according to the scale of the fiber-optic gyroscope 100, whereWhen the turntable rotates in the forward direction, P speed points are respectively marked as omega from small to large 1 ，ω 2 ，…，ω p The method comprises the steps of carrying out a first treatment on the surface of the When the turntable 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 a clockwise rotation, where the reverse rotation corresponds to a counter-clockwise rotation; the forward rotation may also be counter-clockwise rotation, where the reverse rotation corresponds to a clockwise rotation.
S400: and (3) carrying out multiple groups of speed experiments, wherein in each group of speed experiments, the turntable 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 decelerating to stop.
Specifically, a total of 2P groups of rate experiments may be performed. First set of rate experiments: the rotary table rotates positively from the stationary state, when the angular velocity of the rotary table reaches omega 1 After the optical fiber gyro 100 enters a state of uniform and stable rotation, the turntable starts to accelerate all the time with variable acceleration until the output value of the optical fiber gyro 100 exceeds omega p The turret is decelerated to a stop. Second set of rate experiments: the rotary table rotates positively from the stationary state, when the angular velocity of the rotary table reaches omega 2 After the optical fiber gyro 100 enters a state of uniform and stable rotation, the turntable is always accelerated with variable acceleration until the output value of the optical fiber gyro 100 exceeds omega p The turret is decelerated to a stop. Third set of rate experiments: the rotary table rotates positively from the stationary state, when the angular velocity of the rotary table reaches omega 3 After the optical fiber gyro 100 enters a state of uniform and stable rotation, the turntable is always accelerated with variable acceleration until the output value of the optical fiber gyro 100 exceeds omega p The turret is decelerated to a stop. After the P-group forward rotation rate experiment is carried out, the turntable is rotated reversely, the process is repeated, and the P-group forward rotation rate experiment is also carried out. It will be appreciated that in practical use, since the turntable is rotated by ω p When the angular velocity of the device rotates forward or reversely, the number of the sampling points is small, so that the two groups of velocity experiments can be omitted, and only 2P-2 groups of velocity experiments are carried out.
S400: sampling is performed at a first sampling frequency, and in the process of accelerating rotation of the turntable at a variable acceleration, an output value of the optical fiber gyro 100 and an angular velocity output value of the turntable are obtained and smoothed.
Specifically, in practical application, the first sampling frequency is denoted by H, where H may take 500Hz to 1500Hz, or may take other values, and in the present invention, H is denoted by 1000Hz. The whole rotation process of the turntable can be sampled, but only sampling points of the turntable in the process of accelerating rotation with variable acceleration are selected to participate in subsequent calculation. The output value of the fiber optic gyroscope 100 at the desired sampling point is denoted as u i When the turntable rotates in the forward direction, i is a positive integer 1,2,3 and …; when the turntable rotates reversely, i is a negative integer of-1, -2, -3 and …; the angular velocity output value of the turntable at the required sampling point is recorded as omega j J is a positive integer 1,2,3 and … when the turntable rotates in the forward direction; when the turntable rotates reversely, j is a negative integer of-1, -2, -3 and …. The specific smoothing formula is:
where h is a positive integer greater than 1, 50 is taken as an example in the present invention, and of course, h may be another positive integer. At this time, the above formula becomes:
when the turntable rotates positively, y is a positive integer 1,2,3 and …; when the turntable rotates reversely, y takes negative integers of-1, -2, -3 and …. Since there are many sampling points obtained, the smoothing process is performed by taking an average value for every 50 sampling points.
S500: the corresponding scale factors and angular accelerations are calculated.
Specifically, the scale factor k of each sampling point is calculated y The formula of (2) is:
calculating the angular velocity of each sampling point by a differential methodThe specific calculation formula is as follows:
wherein,when h=1000 hz, h=50, r=0.05 s.
S600: the angular velocity output value and the angular acceleration obtained after the smoothing processing are subjected to two-dimensional interpolation calculation to obtain a scale factor model of the optical fiber gyro 100.
Specifically, in the invention, a two-dimensional interpolation calculation method with higher precision, namely Delaunay triangle splitting method is adopted, and other two-dimensional interpolation methods can be adopted. The specific calculation formula is as follows:
wherein A, B, C represents any adjacent three points of a triangle formed by three points from which the angular velocity output value and the angular acceleration have been obtained; k (k) A 、k B 、k C Target of A, B, C three points respectivelyA degree factor; l, m, n are coordinate coefficients, 0<l，m，n<1；A scale factor that is the point inside the triangle with coordinates (Ω, a); />Angular acceleration at three points A, B, C, respectively; /> The angular velocity output values at three points A, B, C, 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 fiber-optic gyroscope scale factor nonlinear error compensation method, a plurality of different speed points are set, and a plurality of groups of speed experiments are carried out, so that the fiber-optic gyroscope 100 starts to rotate at variable acceleration from different angular speeds, and the 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 optical fiber gyro 100 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 of which the angular velocity and the angular acceleration are acquired, so as to obtain 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 speeds and angular accelerations are obtained, so that a scale factor model of the full range of the fiber optic gyroscope 100 is obtained, and the accuracy of the measured scale factors is improved.
In the description of the present specification, a description referring to the terms "one embodiment," "further embodiment," "some specific embodiments," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. The nonlinear error compensation method for the scale factors of the fiber optic gyroscope is characterized by comprising the following steps of:
the optical fiber gyroscope is installed on a turntable, and a sensitive axis of the optical fiber gyroscope is vertically upwards;
when the turntable 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 corresponds to two states of forward rotation and reverse rotation of the turntable respectively;
performing a plurality of groups of speed experiments, wherein in each group of speed experiments, the turntable starts to rotate at variable acceleration from the corresponding speed point until the output value of the fiber-optic gyroscope exceeds the highest speed point, and the turntable decelerates 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 turntable in the process of accelerating rotation of the turntable at a variable acceleration, and performing smoothing treatment;
calculating corresponding scale factors and angular accelerations;
performing two-dimensional interpolation calculation on the angular velocity output value and the angular acceleration obtained after the smoothing treatment to obtain a scale factor model of the fiber-optic gyroscope;
the two-dimensional interpolation method is Delaunay triangle splitting method, and the specific formula is as follows:
wherein A, B, C represents any adjacent three points of a triangle formed by the points at which the angular velocity output value and the angular acceleration have been acquired; k (k) A 、k B 、k c Scale factors of A, B, C three points, respectively; l, m, n are coordinate coefficients, 0<l，m，n<1；A scale factor that is a point of coordinates inside the triangle; />Angular acceleration at three points A, B, C, respectively; />The angular velocity output values at three points A, B, C, respectively.
2. The method for compensating nonlinear error of a scale factor of a fiber-optic gyroscope according to claim 1, wherein the presetting of the plurality of different rate points comprises:
and uniformly setting a plurality of different speed points according to the measuring range of the fiber-optic gyroscope.
3. The method of claim 1, wherein the first sampling frequency is configurable to be 500Hz to 1500Hz.
4. The method for compensating for nonlinear error of scale factor of fiber optic gyroscope according to claim 1,2 or 3, wherein the calculation formula of the smoothing process is:
wherein h is a positive integer greater than 1; u (u) i Representing the output value of the fiber optic gyroscope at the i|th sampling point; omega shape j An angular velocity output value of the turntable at the |j| sampling point is represented; when the turntable rotates positively, i, j and y are positive integers; when the turntable rotates reversely, i, j and y are negative integers.
5. The method of compensating for nonlinear error of a scale factor of a fiber optic gyroscope of claim 4, wherein the first sampling frequency is 1000hz and h has a value of 50.
6. The method for compensating nonlinear error of scale factors of fiber optic gyroscope according to claim 4 or 5, wherein the calculating the corresponding scale factors and angular accelerations comprises the following specific calculation formulas:
wherein k is y Is a scale factor; u (u) 0 The average value of the output of the optical fiber gyro when the turntable is in a static state is obtained;is angular acceleration; />And H is the first sampling frequency.
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