CN113418521B - Method for improving long-term stability of scale factor of laser gyroscope - Google Patents
Method for improving long-term stability of scale factor of laser gyroscope Download PDFInfo
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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
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- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
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Abstract
A method for improving the long-term stability of scale factors of a laser gyroscope comprises the steps of segmenting the temperature covering the whole working range of the laser gyroscope, establishing a segmented matrix model, adopting a calibration process and a compensation process at the full temperature, determining parameter array values, and automatically performing segmented compensation on the model in subsequent use so as to compensate the problem of model performance degradation caused by a cavity length control execution mechanism.
Description
Technical Field
The invention relates to a method for improving the long-term stability of a scale factor of a laser gyroscope, belonging to the technical field of laser gyroscope control.
Background
The change of temperature or the change of external stress can cause the micro deformation of the microcrystalline glass of the laser gyro, thereby causing the change of the cavity length of the laser gyro and finally causing the change of the direct current intensity of the laser gyro. Therefore, an effective means is needed to control the path length, and the function of the optical cavity length control system of the laser gyro is to control the cavity length of the laser gyro, so that the cavity length is dynamically kept unchanged, and the light intensity is kept at the maximum value. The laser gyro cavity length control system is a system for realizing the functions.
Due to the tracking of the cavity length circuit. The clamping control voltage of the gyroscope can be changed at different temperatures, when the inertial measurement unit is powered on, whether the gyroscope mode during the power-on and other gyroscope modes during the power-on are the same mode or not is not known, particularly, when the gyroscope is powered on at different temperatures, scale factors of different modes are different, and according to an output formula of gyroscope pulses, the change of the scale factors directly causes the reduction of the output precision of the laser gyroscope, so that the mode of the laser gyroscope at different temperatures is ensured to be the same mode in one mode.
The existing method is to test the temperature and cavity length control voltage in a warm box, establish a fitting curve, or store all temperature values and corresponding voltage values in a memory. The first method is characterized in that fitting accuracy of the whole curve is insufficient at partial temperature due to fitting full-temperature data, the fitting accuracy often occurs in practical use, a calculated voltage value is far away from a voltage value of a real mode, the length of a gyroscope cavity slides to another mode, and curve accuracy in a full-temperature range cannot be guaranteed. Meanwhile, calibration parameters are different during production of the gyroscope at different temperatures, so that the production links are differentiated, and the production cost is increased.
In the long-term work of the laser gyro, the change of the cavity length control actuating mechanism performance can be brought by the clamping adhesion, the piezoelectric ceramic performance, the jackscrew performance and the like, generally speaking, the change is very slow, but in consideration of the stability of the scale factor of the whole life cycle of the laser gyro, the change must be tracked to ensure the high-precision requirement of the model at the full temperature and the whole life cycle of the gyro, the conventional method is to compensate the zero-order term of a curve, but the problem is brought that the temperature range of the gyro is very wide, the compensation of the zero-order term can bring the change of the whole model, the degradation of the clamping performance is not necessarily linear, and the model after certain temperature compensation cannot adapt to other temperatures, so that the model error is caused.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method comprises the steps of segmenting the temperature covering the whole working range of the laser gyroscope, establishing a segmented matrix model, determining parameter array values by adopting a calibration flow and a compensation flow at the full temperature, and automatically performing segmented compensation on the model in subsequent use so as to compensate the problem of performance degradation of the model caused by performance degradation of a cavity length control execution mechanism.
The purpose of the invention is realized by the following technical scheme:
a method for improving the long-term stability of a scale factor of a laser gyroscope comprises the following steps:
segmenting the working range temperature of the laser gyroscope; establishing a primary calibration model according to the segmentation result, wherein the initial value of a compensation array in the primary calibration model is zero;
measuring the cavity length control voltage of the laser gyroscope in a set temperature interval, wherein the set temperature interval covers the temperature of a working range;
correcting the value of a compensation array in the preliminary calibration model by using a certain temperature point of each section in the temperature of the working range, the cavity length control voltage calculation result of the preliminary calibration model and the cavity length control voltage measured by the temperature point, and further obtaining a corrected calibration model;
after the laser gyroscope is normally powered on to work, measuring the real-time temperature, and calculating the cavity length control voltage V by using the corrected calibration model; and when a cavity length control circuit of the laser gyroscope is closed, obtaining a cavity length control voltage V-output by the laser gyroscope, and continuously updating the corrected compensation array in the calibration model by utilizing the V and the V-.
Preferably, the preliminary calibration model of the method for improving the long-term stability of the scale factor of the laser gyroscope is as follows:
V＝N·(D·T+E+H)
v is the cavity length control voltage calculated by the calibration model; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a temperature section array, only the value corresponding to the measured temperature section is 1, and the rest is 0.
The method for improving the long-term stability of the scale factor of the laser gyroscope is preferably used for calibrating the laser gyroscope, and the laser gyroscope is selected to work in a gyroscope mode with the minimum backscattering signal or the highest test precision.
Preferably, when the cavity length control voltage of the laser gyroscope in the set temperature interval is measured, the laser gyroscope is placed in a temperature box, after the lowest temperature of the set temperature interval is kept for a preset time, the temperature is gradually increased to the highest temperature of the set temperature interval and kept, and then the temperature is gradually decreased to the lowest temperature of the set temperature interval and kept.
An apparatus for improving the long term stability of a scale factor of a laser gyroscope, comprising:
the modeling module is used for segmenting the working range temperature of the laser gyroscope; establishing a primary calibration model according to the segmentation result, wherein the initial value of a compensation array in the primary calibration model is zero;
the measuring module is used for measuring the cavity length control voltage of the laser gyroscope in a set temperature interval, and the set temperature interval covers the temperature of a working range;
the correction module corrects the value of a compensation array in the preliminary calibration model by using a certain temperature point of each section in the temperature of the working range, the cavity length control voltage calculation result of the preliminary calibration model and the cavity length control voltage measured by the temperature point, and further obtains the corrected calibration model;
the updating module is used for measuring the real-time temperature after the laser gyroscope is normally powered on to work, and calculating the cavity length control voltage V by using the corrected calibration model; and when a cavity length control circuit of the laser gyroscope is closed, obtaining a cavity length control voltage V output by the laser gyroscope, and continuously updating the compensation array in the corrected calibration model by using the V and the V-.
The above-mentioned device for improving the long-term stability of the scale factor of the laser gyroscope, preferably, the preliminary calibration model is:
V＝N·(D·T+E+H)
v is the cavity length control voltage calculated by the calibration model; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a temperature section array, only the value corresponding to the measured temperature section is 1, and the rest are 0.
The device for improving the long-term stability of the scale factor of the laser gyroscope is preferably used for calibrating the laser gyroscope, and the laser gyroscope is selected to work in a gyroscope mode with the minimum backscattering signal or the highest test precision.
Preferably, when the cavity length control voltage of the laser gyroscope in the set temperature range is measured, the laser gyroscope is placed in the incubator, the temperature is gradually increased to the highest temperature in the set temperature range and kept after the lowest temperature in the set temperature range is kept for a preset time, and then the temperature is gradually decreased to the lowest temperature in the set temperature range and kept.
Compared with the prior art, the invention has the following beneficial effects:
(1) The matrix type fitting model is established in a segmented mode, the fitting precision is higher and the adaptability of the gyroscope is better than that of the conventional single curve fitting method, a unified calibration method is adopted in the production link, calibration processes of the gyroscope under different working environments do not need to be distinguished, the production cost is reduced, and the production efficiency is improved;
(2) Compared with a mode of storing all temperature measurement data and corresponding voltages without adopting a fitting mode, the method only needs to store a plurality of parameters in the model matrix, and greatly saves the cost of the memory compared with the memory with thousands of data volumes at many places.
(3) When the model is compensated, only the compensation value of the corresponding segment is compensated at each time, the models at other temperatures cannot be interfered, the problem that the error of other temperatures is increased due to the compensation at a certain temperature is solved, the adaptability is stronger, and the compensation precision is higher.
(4) Different from the least square method, the spline interpolation method and the like, the fitting mode of each section of curve can be required and the experiment precision can be realized according to the requirements, a fitting mode does not need to be adopted at the full temperature, the design can also be carried out according to a method, and the adaptability of the fitting method is greatly widened.
Drawings
FIG. 1 is a laser gyro mode scanning process;
FIG. 2 is a schematic diagram of a laser gyro cavity length control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
a method for improving the long-term stability of scale factors of a laser gyroscope is characterized in that the full-temperature test range of the gyroscope is T1-T2, and the T1-T2 is divided into n temperature sections.
Establishing a corresponding matrix for modeling by adopting a corresponding temperature segmentation mode, wherein the established relation of V and T is as follows:
V＝N·(D·T+E+H)
v is the output value, which is a scalar; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a corresponding temperature section array, only the value corresponding to the measured temperature section is 1, the rest is 0, and the specific expansion is as follows:
the microprocessor establishes a V-T model by storing coefficient array parameters and a relational expression, and automatically updates the compensation amount corresponding to the temperature section in the H array by starting the system every time, so that the problem of large error in the prior art of adopting single curve fitting for full-temperature use is solved, the temperature adaptability of the gyroscope is better, and meanwhile, the problem of amplifying the errors of models at other temperatures by fully compensating zero-order terms at full temperature in the compensation model at every time under the single curve is solved.
Correcting the preliminary calibration model, wherein the correcting steps are as follows:
(1) Selecting a cavity length control voltage corresponding to a laser gyro MODE which needs to be tracked by the gyroscope in advance in a full temperature range, selecting a cavity length control voltage (V1) corresponding to a gyro MODE (MODE 1) with the minimum backscattering signal or the highest test precision in advance by calculating the relative variation of the cavity length control voltage in the full temperature range and testing the cavity length control voltage corresponding to a plurality of continuous MODEs which do not generate a MODE hopping range in the full temperature range, and after selecting the MODE, starting the gyroscope to work in a selected working MODE (MODE 1) at a temperature of T1 by changing the MODE sweeping range of the cavity length control voltage when the gyroscope is electrified, wherein the cavity length control voltage corresponding to the MODE selected by the laser gyroscope at the temperature is V2;
(2) And (3) putting the gyroscope into a temperature box, setting the starting temperature to be T1, the stopping temperature to be T2 and the temperature change rate to be Te, starting the gyroscope, and starting calibration.
(3) Starting a cavity length control circuit, enabling a gyroscope to work under MODE1 through a MODE scanning method, locking a fixed MODE (MODE 1) of the gyroscope all the time through a cavity length control stabilization method, enabling a cavity length control voltage corresponding to MODE1 to change according to temperature change, and sending digital quantity corresponding to gyroscope temperature and digital quantity corresponding to the cavity length control voltage in a range of T1-T2 to a computer through a bus or a test circuit and the like to serve as subsequent fitting development data;
(4) After calibration is finished, fitting n sections set in advance for T1-T2 according to data recorded by a computer, establishing n relational expressions of a digital value corresponding to cavity length control voltage and a digital value corresponding to temperature, generating a relational expression coefficient matrix, and solidifying the relational expression coefficient matrix into a microcontroller to form a V-T model;
(5) Selecting a temperature point from the first section of temperature from low temperature, keeping the temperature for M seconds, starting a gyroscope to obtain a temperature point piezoelectric digital quantity VP1 at the power-on moment, starting a control circuit, calculating an output cavity length control voltage at the moment by a V-T model, obtaining a real cavity length control voltage VZ1 corresponding to MODE1 after the cavity length control circuit is closed, obtaining a corresponding value H1 in an H array through the amplitude value of the VZ1-VP1, selecting the temperature point in each temperature section, repeatedly executing for n times, and finishing updating the H array at the moment.
And correcting the corrected calibration model each time the gyroscope is used, and the method specifically comprises the following steps:
starting the gyroscope, measuring temperature values TPs, calculating corresponding VPs through a model stored in the current period, outputting the VPs through a cavity length control circuit, selecting MODE1, closing a loop of the cavity length control circuit, locking a real cavity length control voltage VPz under the MODE1 through a cavity length stability related principle, calculating VPZ-VPs, updating a numerical value in an H array under a corresponding temperature section, generating temperature rise when the gyroscope normally works, sampling different temperatures and actual voltages in real time for the controller, and compensating the H value of the corresponding temperature section.
An apparatus for improving the long term stability of a scale factor of a laser gyroscope, comprising:
the modeling module is used for segmenting the working range temperature of the laser gyroscope; establishing a primary calibration model according to the segmentation result, wherein the initial value of a compensation array in the primary calibration model is zero;
the measuring module is used for measuring the cavity length control voltage of the laser gyroscope in a set temperature interval, and the set temperature interval covers the temperature of a working range;
the correction module corrects the value of a compensation array in the preliminary calibration model by using a certain temperature point of each section in the temperature of the working range, the cavity length control voltage calculation result of the preliminary calibration model and the cavity length control voltage measured by the temperature point, and further obtains the corrected calibration model;
the updating module is used for measuring real-time temperature after the laser gyroscope is normally powered on to work, and calculating cavity length control voltage V by using the corrected calibration model; and when a cavity length control circuit of the laser gyroscope is closed, obtaining a cavity length control voltage V-output by the laser gyroscope, and continuously updating the corrected compensation array in the calibration model by utilizing the V and the V-.
Example 2:
based on embodiment 1, as shown in fig. 1, when the cavity length control voltage of the laser gyroscope changes, the light intensity signal may generate a change curve similar to a sine wave, each peak becomes a mode of the laser gyroscope, the cavity length between adjacent modes is a wavelength, the scale factor, the backscatter signal, and the gyroscope precision in each mode are different, a test needs to be performed in advance, the cavity length of the gyroscope changes with the change of temperature, the cavity length control voltage may track the mode of the gyroscope to be adjusted, and the control circuit of the laser gyroscope generally includes lighting control, dithering control, and cavity length control. The cavity length control circuit realizes the function of tracking the gyroscope mode, the stability of the scale factor is related to the cavity length control, and the laser gyroscope is ensured to work in the same mode when being electrified at different temperatures.
As shown in fig. 2, which is a schematic diagram of a laser gyro cavity length control system, the change of the laser gyro cavity length can cause the change of the direct current light intensity, the laser gyro cavity length is controlled by the voltage of the clamping piezoelectric ceramic, the laser gyro needs to maintain the cavity length at the maximum value of the direct current light intensity through the control of the voltage of the clamping piezoelectric ceramic, as can be seen from fig. 2, the laser gyro direct current light intensity shows nonlinear change along with the change of the voltage of the clamping piezoelectric ceramic, the ideal working point is the point C in fig. 2, when the system is initially powered on, the microcontroller makes the piezoelectric ceramic voltage change linearly between n1 and n2, the direct current light intensity of the gyroscope presents the variation trend of a curve 1, the microcontroller finds the piezoelectric ceramic voltage n3 when the direct current light intensity signal is the maximum value in the curve 1, namely, the voltage at a point C, the output of the digital-to-analog converter 104 is always n3, the change of the cavity length of the laser gyroscope is caused because the temperature change or the change of the external stress can cause the micro deformation of the microcrystalline glass of the laser gyroscope, the direct current light intensity of the laser gyroscope can be moved to a curve 2 due to the change of the cavity length of the laser gyroscope, the working point of the piezoelectric ceramic of the gyroscope is still n3 at the moment, and the working point A at the moment is not the maximum light intensity of the direct current light intensity. Therefore, the control voltage of the piezoelectric ceramic of the clamping needs to be adjusted to enable the working point of the piezoelectric ceramic control voltage of the laser gyroscope to be close to n4, and therefore the direct current light intensity of the gyroscope is enabled to work at the maximum value C. Similarly, if the initial curve is curve 3, the initial piezoelectric ceramic operating point is n5, curve 3 moves to curve 2 to the left, and the direct-current light intensity of the gyroscope corresponding to piezoelectric ceramic n5 is point B, the piezoelectric ceramic voltage needs to be adjusted to approach n4 to track point C.
When the working point is at the point A or the point B, a sine wave modulation quantity DS is input into the clamping piezoelectric ceramic of the laser gyro, so that the modulated alternating current component, namely the signal A1 or B1 in the graph, is superposed in the direct current light intensity signal of the laser gyro, and the cavity length control circuit demodulates the signal so that the cavity length control voltage of the laser gyro, namely the working point approaches to n4, thereby realizing the closed loop tracking function of a certain mode of the laser gyro.
This solves the tracking problem, but due to the different temperatures at each power-up, it cannot be guaranteed that the mode obtained at each initialization is the same mode. Therefore, the tracking can only solve the single mode stability, and can not solve the same problem of the mode after the gyroscope starts to work at different temperatures.
The data calibration, fitting and modeling process is explained as follows:
establishing a corresponding matrix for modeling by adopting a corresponding temperature segmentation mode, wherein the established relation of V and T is as follows:
V＝N·(D·T+E+H)
v is the output value, which is a scalar; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a corresponding temperature section array, only the value corresponding to the measured temperature section is 1, the rest is 0, and the specific expansion is as follows:
(1) The laser gyroscope is placed in a incubator, a circuit is connected to a PC outside the incubator through a serial port, and real-time digital temperature quantity and digital quantity of cavity length control voltage are sent to the PC; the temperature of the incubator is adjusted to-40 ℃, and the temperature is kept for 2 hours. After 2 hours, the gyroscope was powered up and the PC started receiving data. At the moment, the cavity length control circuit enables the gyroscope to work in a mode selected in advance through a mode scanning method, and the fixed mode of the gyroscope is always locked through a cavity length control stabilizing method when the temperature of the incubator changes.
(2) The temperature of the incubator starts to rise at the speed of 1 ℃/3min, the incubator keeps the temperature for 1 hour after rising to 60 ℃, then starts to reduce the temperature at the speed of 1 ℃/3min, and keeps the temperature for 1 hour after reducing to-40 ℃, and the power is not cut off in the middle. After the temperature is kept, the gyroscope is powered off, and data are stored.
(3) And processing the data, segmenting the temperature into 5 segments according to 20 ℃, performing curve fitting on the data of each segment to obtain a primary calibration model, adding a model formula into software, and storing the parameters of each matrix into a microcontroller of the gyroscope. The model at this time should be:
(4) Selecting five temperature points of-30 ℃,10 ℃,30 ℃ and 50 ℃, respectively preserving heat for 2 hours at the five temperature points, then electrifying the gyroscope for 1 minute, calculating voltage and outputting at each temperature point according to the previously established model, respectively taking [ 10 0], [01 0], [01 0] 0, 0 01 0] and [0 0 0 0] from the N array, and after the gyroscope cavity length control circuit is started, recording corresponding temperature and cavity length control voltage digital values by a PC until 5 temperature points are preserved and recorded.
And taking a difference value between the calculated voltage and the measured voltage at each temperature point, attaching the difference value to a corresponding position in the corresponding H array to obtain a model corrected during calibration, and storing the model into the microcontroller.
(5) Supposing that the subsequent gyro starts to normally work at 35 ℃, the current temperature measurement value is taken after electrification, N is [0 0 01 ] at the moment, the corresponding V is calculated, after the cavity length control circuit is closed loop, the cavity length control voltage is possibly changed due to the tracking gyro mode, the measurement value V after the closed loop can be obtained, the difference value between V and V is calculated and updated to H4, the compensation work is carried out when the gyro is electrified every time, and only the value of H corresponding to the current temperature section is updated, so as to deal with the performance degradation of an execution mechanism.
(6) If the gyroscope is expected to be compensated within the normal working temperature rise range, the natural temperature rise of the gyroscope can be adopted during normal working, the microcontroller collects voltage values of temperature and closed-loop cavity length control voltage at different temperature points, the voltage values are compared with values calculated by the model, and the corresponding H array is compensated, so that the problem that the corresponding value of the H array at the power-on time can only be compensated during each power-on can be solved, the whole working temperature range model can be compensated, and the gyroscope can be powered on at different temperature points once at regular intervals, and the self-compensation of all temperature ranges can be realized.
In the embodiment of the invention, the division of the temperature is not necessarily a fixed value, the range of each temperature section can be changed according to the actual condition, the curve fitting modes of each section can be the same or different, the selection is carried out according to the requirement, the selection of the temperature range is also determined according to the condition, and the data testing method and the method for sending the data to the upper computer can be determined according to the actual condition.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are not particularly limited to the specific examples described herein.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (6)
1. A method for improving the long-term stability of scale factors of a laser gyroscope is characterized by comprising the following steps:
segmenting the working range temperature of the laser gyroscope; establishing a primary calibration model according to the segmentation result, wherein the initial value of a compensation array in the primary calibration model is zero; the preliminary calibration model is as follows:
V＝N·(D·T+E+H)
v is the cavity length control voltage calculated by the calibration model; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a temperature section array, only the value corresponding to the measured temperature section is 1, and the rest is 0;
measuring cavity length control voltage of the laser gyroscope in a set temperature interval, wherein the set temperature interval covers the temperature of a working range;
correcting the value of a compensation array in the preliminary calibration model by using a certain temperature point of each section in the temperature of the working range, the cavity length control voltage calculation result of the preliminary calibration model and the cavity length control voltage measured by the temperature point, and further obtaining a corrected calibration model;
after the laser gyroscope is normally powered on to work, measuring the real-time temperature, and calculating the cavity length control voltage V by using the corrected calibration model; and when a cavity length control circuit of the laser gyroscope is closed, obtaining a cavity length control voltage V-output by the laser gyroscope, and continuously updating the corrected compensation array in the calibration model by utilizing the V and the V-.
2. The method for improving the long-term stability of the scale factor of the laser gyroscope of claim 1, wherein the laser gyroscope is selected to operate in a gyro mode with the minimum backscattering signal or the highest test accuracy for the calibrated laser gyroscope.
3. The method for improving the long-term stability of the scale factor of the laser gyroscope as claimed in claim 1, wherein when the cavity length control voltage of the laser gyroscope in the set temperature interval is measured, the laser gyroscope is placed in a temperature box, after the lowest temperature in the set temperature interval is kept for a preset time, the temperature is gradually increased to the highest temperature in the set temperature interval and kept, and then the temperature is gradually decreased to the lowest temperature in the set temperature interval and kept.
4. An apparatus for improving the long term stability of a scale factor of a laser gyroscope, comprising:
the modeling module is used for segmenting the working range temperature of the laser gyroscope; establishing a primary calibration model according to the segmentation result, wherein the initial value of a compensation array in the primary calibration model is zero; the preliminary calibration model is as follows:
V＝N·(D·T+E+H)
v is the cavity length control voltage calculated by the calibration model; d is a coefficient array; t is a temperature array; e is a zero-order term array; h is a compensation array; n is a temperature section array, only the value corresponding to the measured temperature section is 1, and the rest is 0;
the measuring module is used for measuring the cavity length control voltage of the laser gyroscope in a set temperature interval, and the set temperature interval covers the temperature of a working range;
the correction module corrects the value of a compensation array in the preliminary calibration model by using a certain temperature point of each section in the temperature of the working range, the cavity length control voltage calculation result of the preliminary calibration model and the cavity length control voltage measured by the temperature point, and further obtains the corrected calibration model;
the updating module is used for measuring the real-time temperature after the laser gyroscope is normally powered on to work, and calculating the cavity length control voltage V by using the corrected calibration model; and when a cavity length control circuit of the laser gyroscope is closed, obtaining a cavity length control voltage V output by the laser gyroscope, and continuously updating the compensation array in the corrected calibration model by using the V and the V-.
5. The apparatus for improving the long-term stability of scale factor of a laser gyroscope of claim 4, wherein the laser gyroscope is selected to operate in a gyro mode with minimum backscattering signal or highest test accuracy.
6. The device for improving the long-term stability of the scale factor of the laser gyroscope as claimed in claim 4, wherein when the cavity length control voltage of the laser gyroscope in the set temperature interval is measured, the laser gyroscope is placed in the incubator, after the lowest temperature in the set temperature interval is kept for a preset time, the temperature is gradually increased to the highest temperature in the set temperature interval and kept, and then the temperature is gradually decreased to the lowest temperature in the set temperature interval and kept.
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| FR2882591B1 (en) * | 2005-02-25 | 2007-05-18 | Sagem | GYROMETRIC MEASUREMENT METHOD COMPENSATED AT TEMPERATURE AND GYROMETRIC MEASURING DEVICE USING THE SAME |
| CN101738204B (en) * | 2009-12-31 | 2012-06-27 | 上海亨通光电科技有限公司 | Temperature compensation method for optical fiber gyroscope |
| CN104330095A (en) * | 2014-10-24 | 2015-02-04 | 中国兵器工业集团第二一四研究所苏州研发中心 | MEMS gyro temperature compensation method on basis of sectional fitting |
| CN108645427A (en) * | 2018-04-20 | 2018-10-12 | 北京航天时代激光导航技术有限责任公司 | The used system-level temperature-compensation method of group of laser based on spline interpolation iterated revision |
| CN110763220A (en) * | 2019-11-07 | 2020-02-07 | 西安邮电大学 | Laser gyroscope autonomous mode selection method based on temperature compensation |
| CN112729333A (en) * | 2020-11-25 | 2021-04-30 | 北京仿真中心 | Segmented polynomial digital temperature compensation method suitable for silicon micro gyroscope |
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