CN114111842A - Gyro assembly precession scale factor measuring method - Google Patents
Gyro assembly precession scale factor measuring method Download PDFInfo
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- CN114111842A CN114111842A CN202111395589.6A CN202111395589A CN114111842A CN 114111842 A CN114111842 A CN 114111842A CN 202111395589 A CN202111395589 A CN 202111395589A CN 114111842 A CN114111842 A CN 114111842A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides a method for measuring a scale factor of a gyro component, which can quickly obtain a group of data corresponding to the applied voltage and the appointed action of a turntable, further calculate to obtain a gyro component position mode precession parameter and is used for evaluating whether the gyro component position mode precession parameter meets the standard or not.
Description
Technical Field
The invention relates to the technical field of gyro testing, in particular to a method for measuring precession scale factors of a gyro assembly.
Background
The gyro assembly comprises a gyroscope and a control loop, and can be configured to different working modes, specifically a rate mode and a position mode according to the application requirements of a user.
The rate mode belongs to the closed loop state of the gyroscope assembly, along with the change of the attitude of the gyroscope, the gyroscope can sense the change of the angular speed of a sensing shaft in the change process, and a control loop assists signal processing and the stable work control of the gyroscope.
The position mode belongs to an open loop state of the gyroscope assembly, the control loop only completes the operation and signal processing of the gyroscope, closed loop control is not provided, and a user side is required to apply a control signal to ensure stable work of the gyroscope in the attitude change process. The control signal and the control effect are in corresponding relation, and the related parameters are called precession parameters. Whether the precession parameter reaches the design standard or not can directly influence the control effect of the user terminal, but a method for evaluating the precession parameter is not available in the prior art.
Therefore, it is necessary to provide a method for evaluating precession parameters to determine the control effect of the user end.
Disclosure of Invention
The invention provides a method for evaluating precession parameters, aiming at solving the problems in the prior art, and the method is used for testing and evaluating the accuracy of the precession parameters.
The invention aims to provide a method for measuring precession scale factors of a gyro assembly, which comprises the following steps:
s1: judging whether the working modes of the gyro assembly are normally switched or not, and if the working modes are normally switched, carrying out the next step;
s2: a single-shaft turntable is matched, the gyro assembly is fixedly arranged on the table surface of the turntable, and a sensitive shaft of a pre-test gyroscope is parallel to a rotating shaft of the turntable;
s3: electrifying and starting the gyro assembly, and setting the operating mode of the gyro assembly as a rate mode;
s4: applying standard voltage, standard rotating speed and standard rotating direction according to the standard precession scale factor;
s5: switching the working mode of the gyro assembly into a position mode, observing whether the position mode of the gyro assembly is stable, if so, determining that the precession scale factor of the gyro assembly to be tested is the same as the standard precession scale factor, and if not, performing the next step;
s6: adjusting the applied voltage of a precession control interface of the gyro assembly until the position mode state of the gyro assembly is stable, and recording the applied voltage;
s7: switching the working mode of the gyro assembly into a rate mode, and stopping the turntable;
s8: and calculating the precession scale factor of the gyro component by the value obtained in the step S6.
The method for measuring the scale factor of the gyro assembly provided by the invention is also characterized in that whether the position mode of the gyro assembly is stable or not is judged by measuring the output value of the signal output interface, and the gyro assembly is in a stable state if the output value is smaller than a preset threshold value.
The method for measuring the scale factor of the gyro assembly provided by the invention is also characterized in that the standard precession scale factor in the S4 corresponds to a plurality of groups of test data, and the test data comprises voltage, rotating speed and rotating direction.
The method for measuring the scale factor of the gyro assembly provided by the invention has the characteristics that under the condition that a plurality of groups of test data exist, the step S6 comprises the steps of adjusting the test data after the working mode of the gyro assembly is switched to the rate mode, and repeating the steps S4-S6 until all groups of test data are tested.
Compared with the prior art, the invention has the beneficial effects that:
the method for measuring the scale factor of the gyro component can quickly obtain a group of data corresponding to the applied voltage and the appointed action of the turntable, and further calculate to obtain the precession parameter of the position mode of the gyro component, and is used for evaluating whether the precession parameter of the position mode of the gyro component meets the standard or not.
Drawings
In order to more clearly illustrate the technical solution 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 that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1: the method for measuring the scale factor of the gyro component provided by the embodiment of the invention is a flow chart;
FIG. 2: the connection schematic diagram of the gyro assembly provided by the embodiment of the invention;
FIG. 3: the embodiment of the invention provides a schematic connection diagram for fixing a gyro assembly to a single-shaft turntable.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments are specifically described in the measurement method provided by the invention with reference to the attached drawings.
In the description of the embodiments of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience in describing and simplifying the description of the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 2-3, the gyro assembly to be tested includes a gyroscope and a control loop. The control loop is connected with the gyroscope and directly controls the gyroscope to be electrified, and comprises a power supply interface, a precession control interface and a signal output interface. The power supply interface is connected with the direct current power supply 1, and the direct current power supply 1 provides direct current voltage. The dc power supply 1 is a dc regulated power supply. The precession control interface is connected with the direct current power supply 2, the direct current power supply 2 provides direct current voltage, the working mode control module provides control signals, and the direct current power supply 2 is also a direct current stabilized voltage power supply. The precession control interface is connected with the working mode control module at the same time. The working mode control module provides a control signal required by the switching of the working mode of the gyro component. The operation modes are divided into a rate mode and a position mode. The control signal is a TTL level signal or a differential type electric signal and at least has two different signal states. The signal output interface can output analog quantity or digital quantity, and the analog quantity can be collected by a digital voltmeter connected with the signal output interface. The gyro assembly comprises a plurality of sensitive shafts, and when the gyro assembly is tested, the gyro assembly is placed on the single-shaft rotary table, and the sensitive shaft to be tested is parallel to the rotary shaft of the rotary table and is placed downwards.
As shown in fig. 1, a method for measuring a precession scale factor of a gyro assembly includes the following steps:
s1: judging whether the working modes of the gyro assembly are normally switched or not, and if the working modes are normally switched, carrying out the next step; the normal switching means that the working mode is distinguished by a control signal provided by the working mode control module;
s2: a single-shaft turntable is matched, the gyro assembly is fixedly arranged on the table surface of the turntable, and a sensitive shaft of a pre-test gyroscope is parallel to a rotating shaft of the turntable;
s3: electrifying and starting the gyro assembly, and setting the operating mode of the gyro assembly as a rate mode; when the power is on and started, the power supply voltage of the gyro assembly is +/-15V;
s4: applying standard voltage, standard rotating speed and standard rotating direction according to the standard precession scale factor; the standard precession scale factor application standard voltage data table is shown in table 1 below:
TABLE 1
| Turntable specifying motion | Axial theoretical precessional voltage |
| The turntable rotates clockwise 4 degrees/s | 0.667V |
| The turntable rotates clockwise at 8 degrees/s | 1.333V |
| The turntable rotates clockwise at 16 degrees/s | 2.667V |
| The turntable rotates clockwise 24 degrees/s | 4V |
| The turntable rotates at 32 degrees/s clockwise | 5.333V |
| The turntable rotates at 40 degrees/s clockwise | 6.667V |
| The rotary table rotates anticlockwise by 4 degrees/s | -0.667V |
| The rotary table rotates anticlockwise by 8 degrees/s | -1.333V |
| The rotary table rotates anticlockwise by 16 degrees/s | -2.667V |
| The rotary table is anticlockwise rotated by 24 degrees/s | -4V |
| The rotary table is anticlockwise rotated by 32 degrees/s | -5.333V |
| The rotary table rotates anticlockwise by 40 degrees/s | -6.667V |
S5: switching the working mode of the gyro assembly into a position mode, observing whether the position mode of the gyro assembly is stable, if so, determining that the precession scale factor of the gyro assembly to be tested is the same as the standard precession scale factor, and if not, performing the next step;
s6: adjusting the applied voltage of a precession control interface of the gyro assembly until the position mode state of the gyro assembly is stable, and recording the applied voltage; the table of the records for this example is as follows in table 2:
TABLE 2
S7: switching the working mode of the gyro assembly into a rate mode, and stopping the turntable;
s8: and calculating the precession scale factor of the gyro component by the value obtained in the step S6.
In some embodiments, whether the position mode of the gyro assembly is stable or not is determined by measuring an output value of the signal output interface, and if the output value is smaller than a preset threshold value, the gyro assembly is in a stable state.
In some embodiments, the standard precession scaling factor of S4 corresponds to multiple sets of test data including voltage, rotational speed, and rotational direction.
In some embodiments, in the case that there are multiple sets of test data, the step S6 further includes adjusting the test data after the operating mode of the gyro assembly is switched to the rate mode, and repeating the steps S4-S6 until all sets of test data are tested.
In some embodiments, a least square method is adopted to fit a straight line according to the national standard GJB7952-2012 to calculate a precession parameter of a gyro component position pattern, and whether the precession parameter meets the design standard or not is evaluated, and the data obtained in table 2 shows that the precession parameter of the gyro component finally calculated is shown in table 3:
TABLE 3
| Precessional parameter term of gyro component | Standard of merit | Calculation results |
| Precession scale factor | (5.94，6.06)±1％ | 6.11281 |
| Degree of precession non-linearity | 0.1％ | 0.08858 |
| Precessional scale factor deviation | 0.1％ | 1.88023 |
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention. The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A method for measuring precession scale factor of a gyro component is characterized by comprising the following steps:
s1: judging whether the working modes of the gyro assembly are normally switched or not, and if the working modes are normally switched, carrying out the next step;
s2: a single-shaft turntable is matched, the gyro assembly is fixedly arranged on the table surface of the turntable, and a sensitive shaft of a pre-test gyroscope is parallel to a rotating shaft of the turntable;
s3: electrifying and starting the gyro assembly, and setting the operating mode of the gyro assembly as a rate mode;
s4: applying standard voltage, standard rotating speed and standard rotating direction according to the standard precession scale factor;
s5: switching the working mode of the gyro assembly into a position mode, observing whether the position mode of the gyro assembly is stable, if so, determining that the precession scale factor of the gyro assembly to be tested is the same as the standard precession scale factor, and if not, performing the next step;
s6: adjusting the applied voltage of a precession control interface of the gyro assembly until the position mode state of the gyro assembly is stable, and recording the applied voltage;
s7: switching the working mode of the gyro assembly into a rate mode, and stopping the turntable;
s8: and calculating the precession scale factor of the gyro component by the value obtained in the step S6.
2. The method for measuring the scale factor of the gyro assembly according to claim 1, wherein the gyro assembly position mode is determined by measuring an output value of the signal output interface in a stable state, and the gyro assembly position mode is in a stable state if the output value is smaller than a preset threshold value.
3. The method of claim 1, wherein the standard precession scaling factor of S4 corresponds to multiple sets of test data, the test data including voltage, rotation speed and rotation direction.
4. The method of claim 3, wherein in the case of multiple sets of test data, the step S6 further comprises adjusting the test data after switching the operating mode of the gyro assembly to the rate mode, and repeating the steps S4-S6 until all the sets of test data are tested.
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| CN202111395589.6A CN114111842B (en) | 2021-11-23 | 2021-11-23 | Gyro assembly precession scale factor measurement method |
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| CN202111395589.6A CN114111842B (en) | 2021-11-23 | 2021-11-23 | Gyro assembly precession scale factor measurement method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101568801A (en) * | 2006-12-20 | 2009-10-28 | 萨甘安全防护公司 | Method for calibrating a scale factor in an axisymmetrical vibrating gyrometer |
| US20130111991A1 (en) * | 2011-11-04 | 2013-05-09 | Seiko Epson Corporation | Gyro sensor, electronic apparatus, and method of manufacturing gyro sensor |
| CN111024119A (en) * | 2019-11-25 | 2020-04-17 | 天津津航技术物理研究所 | Rapid calibration method for three-axis MEMS gyroscope |
| US20210348503A1 (en) * | 2020-05-11 | 2021-11-11 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Self-calibration method and system of solid-state resonator gyroscope |
-
2021
- 2021-11-23 CN CN202111395589.6A patent/CN114111842B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101568801A (en) * | 2006-12-20 | 2009-10-28 | 萨甘安全防护公司 | Method for calibrating a scale factor in an axisymmetrical vibrating gyrometer |
| US20130111991A1 (en) * | 2011-11-04 | 2013-05-09 | Seiko Epson Corporation | Gyro sensor, electronic apparatus, and method of manufacturing gyro sensor |
| CN111024119A (en) * | 2019-11-25 | 2020-04-17 | 天津津航技术物理研究所 | Rapid calibration method for three-axis MEMS gyroscope |
| US20210348503A1 (en) * | 2020-05-11 | 2021-11-11 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Self-calibration method and system of solid-state resonator gyroscope |
Non-Patent Citations (1)
| Title |
|---|
| 张慧;李杰;秦丽;刘俊;王一焕;: "基于GUI的MEMS大量程陀螺仪快速标定设计", 传感技术学报, no. 12, pages 38 - 42 * |
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