CN116007604A - Method and device for improving measurement accuracy of fiber optic gyroscope - Google Patents
Method and device for improving measurement accuracy of fiber optic gyroscope Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for improving the measurement precision of a fiber optic gyroscope. Wherein the method comprises the following steps: fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable; the turntable is controlled to run according to preset conditions, and the angular speed of the fiber-optic gyroscope is determined to output a digital quantity integral value; determining the ground speed zero offset of the optical fiber gyroscope according to N different azimuth positions of the turntable; outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at a first rotation speed; replacing the original scale factors of the fiber optic gyroscope with corrected scale factors; the first rotating speed is the maximum rotating speed when the turntable operates according to preset conditions, N is more than or equal to 4, and N is an even number. According to the technical scheme, the problem that the turntable continuously rotates in the prior art and has high requirements on the output speed and stability of the turntable is solved, and the technical effect of improving the measuring precision of the scale factors of the fiber-optic gyroscope is achieved.
Description
Technical Field
The invention relates to the technical field of optical gyroscopes, in particular to a method and a device for improving the measurement accuracy of an optical fiber gyroscope.
Background
The fiber optic gyroscope is used as an all-solid-state optical gyroscope, has wide application in modern inertial navigation systems and develops towards high precision. The scale factor is one of important parameters in the fiber-optic gyroscope test, and the high-performance fiber-optic gyroscope needs to have good measurement accuracy in the whole dynamic measurement range, and the fiber-optic gyroscope accuracy is directly influenced by the scale factor error, so that the test evaluation of the fiber-optic gyroscope scale factor is an indispensable part in the fiber-optic gyroscope performance test.
In the traditional testing method of the scale factor parameters of the fiber-optic gyroscope, the turntable is required to rotate continuously under the rotation angle rate test point, so that high requirements are provided for the stability of the output rate of the turntable, and particularly for the high-precision fiber-optic gyroscope, the requirements of the output rate of the turntable have larger influence on the testing result.
Disclosure of Invention
The embodiment of the invention provides a method and a device for improving the measurement precision of an optical fiber gyroscope, which solve the problems in the prior art that a turntable is required to rotate continuously and has high requirements on the output speed and stability of the turntable, and realize the technical effect of improving the measurement precision of the scale factor of the optical fiber gyroscope.
According to an aspect of the present invention, there is provided a method for improving measurement accuracy of an optical fiber gyroscope, including:
fixing the optical fiber gyroscope on a turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable;
controlling the turntable to run according to preset conditions, and determining the angular speed of the fiber-optic gyroscope to output a digital quantity integral value;
determining the ground speed zero offset of the optical fiber gyroscope according to N different azimuth positions of the turntable;
outputting a digital quantity integral value and the ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at a first rotation speed;
replacing the original scale factors of the fiber optic gyroscope with the corrected scale factors;
the first rotating speed is the maximum rotating speed when the turntable operates according to preset conditions, N is more than or equal to 4, and N is an even number.
Optionally, before replacing the initial scale factor of the fiber optic gyroscope with the modified scale factor, the method further comprises:
determining correction scale factors of the corresponding optical fiber gyroscopes at a plurality of different rotating speeds;
and fitting a rotating speed-correction scale factor curve according to the corresponding relation between the rotating speed and the correction scale factor, and determining the correction scale factor corresponding to any rotating speed.
Optionally, the controlling the turntable to operate according to a preset condition, determining the angular velocity of the fiber optic gyroscope to output a digital quantity integral value includes:
defining the azimuth position of the turntable at the moment as in the static state of the turntable
Acquiring the angular velocity output digital quantity of the optical fiber gyroscope, wherein the data acquisition starting time is +.>
The acquisition duration is +.>
；
Controlling the turntable slave
Position, & gt>
Starting to rotate at the moment, the rotation speed is increased from 0 to the first rotation speed +.>
The turntable stops at +.>
Position, data acquisition duration is +.>
M is a positive integer;
continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is as follows
In the following
Stopping collecting at the moment;
according to the preset angular velocity output digital quantity sampling frequency f, calculating the angular velocity output digital quantity integral value
。
Optionally, the digital quantity sampling frequency f is output according to a preset angular velocity, and the angular velocity output digital quantity integral value is calculated
Comprising:
checking the data acquired in the data acquisition process and confirming whether the frame is lost or not;
if not, the number of the acquired digital quantity is
Calculating angular velocity output digital quantity integral value +.>
。
Optionally, after checking the data acquired in the data acquisition process and confirming whether to lose a frame, the method further includes:
if yes, interpolation is carried out according to the data before and after frame loss, the interpolation result is filled to the frame loss position of the acquired data, and then the angular velocity is calculated to output a digital quantity integral value
。
Alternatively, the higher the measurement accuracy of the angular velocity output digital quantity integral value is, the larger the value of M is.
Optionally, the determining the ground speed zero offset of the fiber optic gyroscope according to the N different azimuth positions of the turntable includes:
defining N different azimuth positions of the turntable as respectively
、/>
、……/>
、/>
The included angle between adjacent positions is 360 degrees/N;
controlling the turntable to rotate to a position
Measurement->
Static digital output of the fiber optic gyroscope at the location, measurement duration is +.>
And calculating that said fiber optic gyroscope is +.>
Average value of static digital output of position versus rotational speed of the earth +.>
；
Sequentially measuring average value of static digital output quantity of optical fiber gyroscope on earth rotation speed at other N-1 azimuth positions
、/>
、……/>
、/>
Calculating the average value of the static digital output of the fiber optic gyroscope on the earth rotation speed at N azimuth positions +.>
The ground speed zero offset is obtained.
Optionally, the determining the correction scale factor of the fiber optic gyroscope at the first rotation speed according to the output digital quantity integral value of the angular velocity and the ground speed zero offset includes:
determining the modified scale factor according to:
optionally, when determining the ground speed zero bias, a re-measurement is performed to correct for the ground speed zero bias variation measured by the fiber optic gyroscope as each rotational speed is measured.
According to another aspect of the present invention, there is provided an apparatus for improving measurement accuracy of a fiber optic gyroscope, comprising:
the turntable is used for bearing the optical fiber gyroscope, and the measuring shaft of the optical fiber gyroscope is superposed with the rotating shaft of the turntable;
the angular velocity output digital quantity integral value determining module is used for controlling the turntable to operate according to preset conditions and determining the angular velocity output digital quantity integral value of the fiber-optic gyroscope;
the ground speed zero bias determining module is used for determining the ground speed zero bias of the optical fiber gyroscope according to the N different azimuth positions of the turntable;
the scale factor correction module is used for outputting a digital quantity integral value and the ground speed zero offset according to the angular speed and determining a correction scale factor of the fiber optic gyroscope at a first rotation speed;
a replacement module for replacing the original scale factor of the fiber optic gyroscope with the corrected scale factor;
the first rotating speed is the maximum rotating speed when the turntable operates according to preset conditions, N is more than or equal to 4, and N is an even number.
According to the method and the device for improving the measurement precision of the optical fiber gyroscope, the turntable is controlled to operate according to the preset condition, the angular velocity of the optical fiber gyroscope is determined to output a digital quantity integral value, the ground speed zero offset of the optical fiber gyroscope is determined through N different azimuth angle positions of the turntable, the digital quantity integral value and the ground speed zero offset are further output through the angular velocity, the correction scale factor of the optical fiber gyroscope at the first rotation speed is determined, the initial scale factor is replaced by the correction scale factor, the problems that the turntable continuously rotates and the turntable has high requirements on the output speed and stability in the prior art are solved, and the technical effect of improving the measurement precision of the scale factor of the optical fiber gyroscope is achieved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for improving the measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for improving the measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a relationship between a rotation speed of a turntable and a data acquisition time according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another method for improving the measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for improving the measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention;
FIG. 6 is a flow chart of another method for improving the measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a device for improving measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic flow chart of a method for improving measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s110, fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable.
Among them, the optical fiber gyroscopes include, but are not limited to, high-precision optical fiber gyroscopes, such as optical fiber gyroscopes having a precision of better than 0.0001 °/h. The turntable is used for testing performance parameters of the fiber optic gyroscope, including but not limited to ground speed zero bias, scale factors and scale factor nonlinearities; the turntable includes, but is not limited to, a high-precision turntable, and the specific specification of the turntable can be adjusted according to the specification of the optical fiber gyroscope, and is not limited herein, for example, when the optical fiber gyroscope is a high-precision gyroscope, the turntable can select a high-precision gyroscope with a rotation precision of 9'.
Specifically, the optical fiber gyroscope is fixed on the turntable, so that the measuring shaft of the optical fiber gyroscope is overlapped with the rotating shaft of the turntable, the optical fiber gyroscope and the turntable are guaranteed to coaxially rotate, and when the rotating speed is input by the turntable, the reliability of the angular velocity output digital quantity of the optical fiber gyroscope is higher.
S120, controlling the turntable to operate according to preset conditions, and determining the angular speed of the fiber-optic gyroscope to output a digital quantity integral value.
The preset conditions include, but are not limited to, start time, start azimuth position, rotation number, rotation time, stable rotation speed, and rotation direction, and specific preset conditions are set according to actual test requirements, which are not limited herein. Determining the angular velocity output digital quantity integral value includes, but is not limited to, calculating a data acquisition number based on the data acquisition time and the data acquisition frequency, and integrating the angular velocity output digital quantity.
Specifically, the turntable is controlled to run according to preset conditions, the angular velocity output digital quantity integral value of the fiber-optic gyroscope is determined, further acquisition of the angular velocity output digital quantity of the fiber-optic gyroscope is achieved, and scale factors are further calculated by calculating the integral value. And by calculating the integrated value, the error disturbance can be further reduced.
S130, determining the ground speed zero offset of the optical fiber gyroscope according to the N different azimuth positions of the turntable.
Wherein N is more than or equal to 4 and N is an even number; the turntable can be set at N different azimuth positions according to actual test requirements and actual test conditions, for example, N is set to different values according to different requirements on the accuracy of test results. The method comprises the steps of determining the ground speed zero offset of the optical fiber gyroscope, including but not limited to outputting digital quantity by collecting the static angular velocity of the optical fiber gyroscope at a certain azimuth position, further determining the ground speed zero offset, and further obtaining the average value by changing the collecting time and carrying out repeated collection at a certain position.
Specifically, in the actual working process of the optical fiber gyroscope, the rotational speed of the earth can have a certain influence on the output digital quantity of the angular velocity of the optical fiber gyroscope, and in different working environments, the interference degree is different, and according to the N different azimuth angle positions of the turntable, the ground speed zero bias of the optical fiber gyroscope is determined, so that the accuracy of a ground speed zero bias test result is improved, the accuracy of a scale factor is further improved, data acquisition is carried out at a plurality of different positions of the turntable, and the problem of high requirements of the traditional test method on the output speed and the stability of the output speed of the turntable is solved.
S140, outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at the first rotation speed.
The first rotation speed is the maximum rotation speed of the turntable when the turntable operates according to preset conditions, and specific values of the first rotation speed are not limited herein. The modified scale factor of the fiber optic gyroscope at the first rotational speed is determined, including but not limited to by rejecting the effect of ground speed zero bias on the angular speed output digital quantity integral value.
Specifically, according to the output digital quantity integral value of the angular velocity and the zero deviation of the ground speed, the correction scale factor of the optical fiber gyroscope at the first rotation speed is determined, and the influence of the zero deviation of the ground speed on the output digital quantity of the angular velocity of the optical fiber gyroscope is eliminated.
S150, replacing the original scale factors of the fiber optic gyroscope with corrected scale factors.
Specifically, the zero bias of the ground speed and the angular velocity of the fiber-optic gyroscope are tested to output a digital quantity integral value, a correction scale factor is calculated, the influence of the earth rotation speed on the angular velocity to output the digital quantity is eliminated, the initial scale factor is further replaced by the correction scale factor, and the quality of the angular velocity of the fiber-optic gyroscope to output the digital quantity in the actual working process is improved.
According to the technical scheme, the rotary table is controlled to run according to preset conditions, the angular velocity of the optical fiber gyroscope is determined to output a digital quantity integral value, the rotary table is used for determining the ground speed zero offset of the optical fiber gyroscope at N different azimuth angle positions, the digital quantity integral value and the ground speed zero offset are further output through the angular velocity, the correction scale factor of the optical fiber gyroscope at the first rotation speed is determined, the initial scale factor is replaced by the correction scale factor, the problems that the rotary table continuously rotates in the prior art and high requirements are made on the output speed and stability of the rotary table are solved, and the technical effect of improving the scale factor measurement accuracy of the optical fiber gyroscope is achieved.
On the basis of the embodiment, the embodiment of the invention also provides a method for improving the measurement precision of the optical fiber gyroscope, which has the technical effect of determining the corresponding correction scale factors at any rotating speed by testing the corresponding correction scale factors at a plurality of different rotating speeds and fitting the rotating speed and the correction scale factors. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
Fig. 2 is a flow chart of another method for improving measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention, as shown in fig. 2, the method includes:
and S210, fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable.
S220, controlling the turntable to operate according to preset conditions, and determining the angular speed of the fiber-optic gyroscope to output a digital quantity integral value.
S230, determining the ground speed zero offset of the optical fiber gyroscope according to the N different azimuth positions of the turntable.
S240, outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at the first rotation speed.
S250, determining correction scale factors of the corresponding optical fiber gyroscopes at a plurality of different rotating speeds.
The number of the tests of the rotation speed, the rotation speed and the rotation direction can be set according to actual requirements, and are not limited herein. The determination of the revised scale factors for the corresponding fiber optic gyroscopes at the plurality of different rotational speeds may be the same as the method of determining the revised scale factors at the first rotational speed.
Specifically, in the actual use process of the fiber-optic gyroscope, the actual scale factors are influenced by various conditions such as environment, rotating speed and the like, the corrected scale factors of the corresponding fiber-optic gyroscope under a plurality of different rotating speeds are determined, and the test result is more in accordance with the actual application by realizing data acquisition of various test conditions.
S260, fitting a rotating speed-correction scale factor curve according to the corresponding relation between the rotating speed and the correction scale factor, and determining the correction scale factor corresponding to any rotating speed.
Specifically, the correction scale factors under various rotating speeds are tested, the rotating speeds and the corresponding correction scale factors are fitted to obtain a fitting curve, the technical effect of improving the practicability of the test result is achieved, and the number of the test results is increased by increasing the test conditions, so that the performance parameters of the performance of the optical fiber gyroscope can be further determined.
S270, replacing the original scale factors of the fiber optic gyroscope with corrected scale factors.
In summary, by testing the corresponding correction scale factors at a plurality of different rotational speeds, and further fitting the rotational speeds with the correction scale factors, the technical effect of determining the corresponding correction scale factors at any rotational speed is achieved.
On the basis of the embodiment, the embodiment of the invention also provides a method for improving the measurement precision of the fiber-optic gyroscope, which realizes the acquisition of the output digital quantity of the angular velocity of the fiber-optic gyroscope and the calculation of the integral value by further refining the preset condition of controlling the turntable to operate according to the preset condition.
Fig. 3 is a schematic diagram of a relationship between a rotation speed of a turntable and a data acquisition time, and fig. 4 is a schematic flow chart of a method for improving measurement accuracy of an optical fiber gyroscope, which is provided by an embodiment of the present invention, as shown in fig. 4, and the method includes:
and S310, fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable.
S321, defining the azimuth position of the turntable as
The angular velocity output digital quantity of the optical fiber gyroscope is collected, and the starting time of data collection is +.>
The acquisition duration is +.>
。
Wherein the turntable azimuth position
The setting may be performed according to the layout of the actual test device, and is not limited herein. The angular velocity output digital quantity acquisition mode includes but is not limited to wireless signal acquisition. Data acquisition start time +.>
Any time is not limited herein. Acquisition duration +.>
The setting is performed according to actual requirements, including but not limited to, the specification of an actual testing turntable, the specification of a fiber-optic gyroscope to be tested, and the precision requirement for correcting the scale factor.
Specifically, under the static state of the turntable, the angular velocity output digital quantity of the optical fiber gyroscope is acquired, and the influence of the instability of the environment and the turntable rotation on the precision of a test result due to the initial stage of the turntable starting rotation is avoided. And collect for a period of time
The angular velocity of (a) outputs a digital quantity, which facilitates subsequent integration of the digital quantity.
S322, controlling the turntable slave
Position, & gt>
Starting to rotate at the moment, the rotation speed is increased from 0 to the first rotation speed +.>
The turntable stops at +.>
Position, data acquisition duration is +.>
M is a positive integer.
The number of rotations M of the turntable is a positive integer, and a specific value is set according to an actual test requirement, for example, 10. Duration of data acquisition
The value of (2) may be set according to the test requirement, for example, 2min.
Specifically, as shown in fig. 3, the turntable is controlled from
Position, & gt>
Starting to rotate at the moment, continuously collecting the output digital quantity of the angular velocity of the optical fiber gyroscope, and increasing the rotating speed of the turntable from 0 to the first rotating speed +.>
And keep the rotation speed at
Rotating for a period of time, stopping at +.>
Position, data acquisition duration is +.>
M is a positive integer, and then the total rotation angle of the turntable can be calculated according to the number of rotation turns.
It should be noted that fig. 3 only shows one case where the technical solution of the embodiment of the present invention can be implemented, and the rotation speed of the turntable is increased from 0 to the first rotation speed
The specific way of (a) is not limited to accelerating at a fixed acceleration, and the rotating speed of the turntable is changed from a first rotating speed
Reduce speed and stop at +.>
The positions include, but are not limited to, those shown in FIG. 3 to fix the acceleration down, as long as stopping at +.>
The position is just the position.
S323, continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is as follows
In the following
And stopping acquisition at the moment.
Wherein the acquisition duration
The setting is not limited herein, and may be performed for 2 minutes, for example, according to actual needs.
Specifically, in the actual testing process, the turntable is fixedly connected with the optical fiber gyroscope, and after the turntable stops rotating, the optical fiber gyroscope rotates, but because of the working principle of the optical fiber gyroscope, the digital quantity is required to be continuously acquired and output at the angular velocity after the stopping, and the influence of the environment and the internal components of the gyroscope on the testing result is reduced. Continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is as follows
In->
And stopping acquisition at the moment, and further calculating the number of the acquired digital quantity according to the sampling frequency and the total acquisition time.
S324, outputting a digital quantity sampling frequency f according to a preset angular velocity, and calculating the angular velocity to output a digital quantity integral value
。
The preset sampling frequency f is set according to the specification of the data acquisition device, and is not limited herein.
Specifically, the angular velocity output digital quantity sampling frequency f is calculated based on a preset angular velocity output digital quantity integral value
The acquisition of the angular velocity output digital quantity under the test condition is realized, and the angular velocity output digital quantity integral value is further provided for eliminating the ground velocity zero offset.
S330, determining the ground speed zero offset of the optical fiber gyroscope according to the N different azimuth positions of the turntable.
S340, outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at the first rotation speed.
S350, replacing the original scale factors of the fiber optic gyroscope with corrected scale factors.
In summary, according to the technical scheme of the embodiment of the invention, the collection of the output digital quantity of the angular velocity of the fiber optic gyroscope and the calculation of the integral value are realized by further refining the preset conditions for controlling the operation of the turntable, so that the reliability of the integral value is improved.
Optionally, the embodiment of the invention further provides a method for improving the measurement precision of the optical fiber gyroscope, which further solves the problem that the frame loss of the acquired data is further affected to correct the scale factor in the data acquisition process on the basis of the embodiment.
Fig. 5 is a flowchart of another method for improving measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention, as shown in fig. 5, where the method includes:
and S410, fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with the rotating axis of the turntable.
S421, defining the azimuth position of the turntable as
The angular velocity output digital quantity of the optical fiber gyroscope is collected, and the starting time of data collection is +.>
The acquisition duration is +.>
。
S422, controlling the turntable slave
Position, & gt>
Starting to rotate at the moment, the rotation speed is increased from 0 to the first rotation speed +.>
The turntable stops at +.>
Position, data acquisition duration is +.>
M is a positive integer.
S423, continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is
In the following
And stopping acquisition at the moment.
S424, checking the data acquired in the data acquisition process and confirming whether to lose frames.
The checking method includes, but is not limited to, checking whether the number of samples in the fixed time matches the sampling frequency f.
Specifically, the data acquired in the data acquisition process is checked and whether the frame is lost is confirmed, so that the angular velocity is ensured to output a digital quantity integral value
Is to be determined.
If not, S425, the number of the acquired digital quantity is
Calculating angular velocity output digital quantity integral value +.>
。
Wherein the number of the acquired digital quantities is the initial time of data sampling
To the end of the data sampling>
The number of data samples in the digital value is used for calculating the output digital value of angular velocity +.>
。
Specifically, if the data collected during the data collection process is checked for no frame loss, the sampling time can be determined
And the sampling frequency f, calculating the number of the acquired digital quantity, and further calculating the angular velocity according to the sampling number to output a digital quantity integral value +.>
。
If yes, S426, firstly, interpolation is carried out according to the data before and after frame loss, and the interpolation result is filled into the frame loss of the acquired dataAfter the position, calculating the angular velocity to output a digital quantity integral value
。
The method for interpolating according to the data before and after the frame loss includes, but is not limited to, outputting a fitting relation between a digital quantity and a rotating speed of a rotating table through a preset angular speed, and performing interpolation calculation.
Specifically, if the data acquired in the data acquisition process is checked for frame loss, interpolation is performed according to the data before and after frame loss, the interpolation result is filled to the frame loss position of the acquired data, and then the angular velocity is calculated to output a digital quantity integral value
Integral value +.>
The influence on the test result of the correction scale factor due to the frame loss of the sampling data is avoided.
S430, determining the ground speed zero offset of the optical fiber gyroscope according to the N different azimuth positions of the turntable.
S440, outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at the first rotation speed.
S450, replacing the original scale factors of the fiber optic gyroscope with corrected scale factors.
In summary, according to the technical scheme of the embodiment of the invention, whether the data is lost or not is checked, and data filling is performed when the data is lost, so that the problem that the correction of the scale factor is affected due to the loss of the acquired data in the data acquisition process is solved.
Alternatively, the higher the measurement accuracy of the angular velocity output digital quantity integrated value is, the larger the value of M is.
It can be understood that the larger the value of M is, the larger the total rotation angle of the turntable is, and in the actual test process, the same sampling frequency f and sampling time are adopted
Is tested by (a)Under the condition that the number of the obtained angular velocity output digital quantity is larger, the value of M can be adjusted according to the measurement accuracy requirement of the angular velocity output digital quantity integral value.
Optionally, the embodiment of the invention further provides a method for improving the measurement precision of the optical fiber gyroscope, and on the basis of the embodiment, the method for determining the ground speed zero offset of the optical fiber gyroscope is further refined.
Fig. 6 is a flowchart of another method for improving measurement accuracy of an optical fiber gyroscope according to an embodiment of the present invention, as shown in fig. 6, the method includes:
and S510, fixing the optical fiber gyroscope on the turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable.
S521, defining the azimuth position of the turntable as
The angular velocity output digital quantity of the optical fiber gyroscope is collected, and the starting time of data collection is +.>
The acquisition duration is +.>
。
S522, controlling the turntable slave
Position, & gt>
Starting to rotate at the moment, the rotation speed is increased from 0 to the first rotation speed +.>
The turntable stops at +.>
Position, data acquisition duration is +.>
M is a positive integer.
S523, continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is as follows
In the following
And stopping acquisition at the moment.
S524, outputting a digital quantity sampling frequency f according to the preset angular velocity, and calculating the angular velocity to output a digital quantity integral value
。
S531, defining N different azimuth positions of the turntable as respectively
、/>
、……/>
、/>
The included angle between adjacent positions is 360 degrees/N.
Wherein N is more than or equal to 4 and N is an even number,
the position is the azimuth position of the turntable->
、……/>
、/>
Can be according to->
Conducting adjacent azimuth angles360 °/N etc. difference setting.
Specifically, N different azimuthal positions of the turntable are defined as
、/>
、……/>
、/>
And the included angle between adjacent positions is 360 degrees/N, so that the ground speed zero bias under different direction angle positions is tested, and the influence of the environment on the ground speed zero bias test result is reduced.
S532, controlling the turntable to rotate to the position
Measurement->
Static digital output of the fiber optic gyroscope at the location, measurement duration is +.>
And calculates the fiber optic gyroscope at +.>
Average value of static digital output of position versus rotational speed of the earth +.>
。
Wherein the duration of measurement
The setting can be performed according to actual requirements, for example, 30s.
Specifically, in
During the time, collect->
Static digital output of the fiber optic gyroscope at, and thus calculated at +.>
Static digital output of position versus rotational speed of the earth>
Obtain->
Zero offset at the location.
S533, sequentially measuring average value of static digital output quantity of optical fiber gyroscope on earth rotation speed at other N-1 azimuth positions
、/>
、……/>
、/>
Calculating the average value of the static digital output of the fiber optic gyroscope on the earth rotation speed at N azimuth positions +.>
The ground speed zero offset is obtained.
Specifically, the average value of the earth rotation speed at a plurality of positions and the static digital output quantity is measured, and the average value of the static digital output quantity at N azimuth positions is further averaged to obtain the ground speed zero offset
。
S540, outputting a digital quantity integral value and ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at the first rotation speed.
S550, replacing the original scale factors of the fiber optic gyroscope with corrected scale factors.
Optionally, in the method for improving the measurement accuracy of the optical fiber gyroscope shown in fig. 6, step S540 includes: determining a modified scale factor according to:
。
specifically, the ground speed zero offset value is removed
Output digital value of the integrated value of the angular velocity +.>
Is modified by the influence of (2) to obtain a modified scale factor->
And further eliminating the influence of the rotation speed of the earth on the angular velocity output digital quantity.
Optionally, in determining the ground speed zero bias, a re-measurement is performed at each rotational speed measurement to correct for the ground speed zero bias variation measured by the fiber optic gyroscope.
Specifically, in the actual working process of the optical fiber gyroscope, the rotating speed of the optical fiber gyroscope and the rotating speed of the earth can generate certain influence on the angular velocity output, and when each rotating speed is measured, the ground speed zero offset under the rotating speed is measured again so as to correct the ground speed zero offset change measured by the optical fiber gyroscope.
Based on the same concept, the technical solution of the embodiment of the present invention provides a device for improving the measurement accuracy of an optical fiber gyroscope, and fig. 7 is a schematic structural diagram of the device for improving the measurement accuracy of an optical fiber gyroscope, as shown in fig. 7, where the device includes:
the turntable 10 is used for bearing the optical fiber gyroscope 60, and the measuring axis of the optical fiber gyroscope 60 is coincident with the rotating axis 11 of the turntable 10.
The angular velocity output digital quantity integral value determining module 20 is used for controlling the turntable 10 to operate according to preset conditions and determining the angular velocity output digital quantity integral value of the fiber optic gyroscope.
The ground speed zero bias determining module 30 is configured to determine the ground speed zero bias of the optical fiber gyroscope according to the N different azimuth positions of the turntable 10.
The scale factor correction module 40 is used for outputting a digital quantity integral value and a ground speed zero offset according to the angular speed to determine a correction scale factor of the fiber optic gyroscope at the first rotation speed.
A replacement module 50 for replacing the original scale factor of the fiber optic gyroscope with a revised scale factor.
Wherein the first rotation speed is the maximum rotation speed when the turntable 10 operates according to preset conditions, N is more than or equal to 4, and N is an even number.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for improving the measurement accuracy of a fiber optic gyroscope, comprising:
fixing the optical fiber gyroscope on a turntable so that a measuring axis of the optical fiber gyroscope coincides with a rotating axis of the turntable;
controlling the turntable to run according to preset conditions, and determining the angular speed of the fiber-optic gyroscope to output a digital quantity integral value;
determining the ground speed zero offset of the optical fiber gyroscope according to N different azimuth positions of the turntable;
outputting a digital quantity integral value and the ground speed zero offset according to the angular speed, and determining a correction scale factor of the fiber optic gyroscope at a first rotation speed;
replacing the original scale factors of the fiber optic gyroscope with the corrected scale factors;
the first rotating speed is the maximum rotating speed when the turntable operates according to preset conditions, N is more than or equal to 4, and N is an even number.
2. The method of claim 1, further comprising, prior to replacing the initial scale factor of the fiber optic gyroscope with the modified scale factor:
determining correction scale factors of the corresponding optical fiber gyroscopes at a plurality of different rotating speeds;
and fitting a rotating speed-correction scale factor curve according to the corresponding relation between the rotating speed and the correction scale factor, and determining the correction scale factor corresponding to any rotating speed.
3. The method of claim 1, wherein the controlling the turntable to operate according to a preset condition, determining the angular velocity output digital quantity-integrated value of the fiber optic gyroscope, comprises:
defining the azimuth position of the turntable at the moment as in the static state of the turntable
Acquiring the angular velocity output digital quantity of the optical fiber gyroscope, wherein the data acquisition starting time is +.>
The acquisition duration is +.>
；
Controlling the turntable slave
Position, & gt>
Starting to rotate at the moment, the rotation speed is increased from 0 to the first rotation speed +.>
The turntable stops at +.>
Position, data acquisition holdThe duration is->
M is a positive integer;
continuously collecting the angular velocity output digital quantity of the optical fiber gyroscope, wherein the collecting duration time is as follows
In the following
Stopping collecting at the moment;
according to the preset angular velocity output digital quantity sampling frequency f, calculating the angular velocity output digital quantity integral value
。
4. A method according to claim 3, wherein the output digital quantity sampling frequency f is calculated based on a preset angular velocity, and the angular velocity output digital quantity integrated value is calculated
Comprising:
checking the data acquired in the data acquisition process and confirming whether the frame is lost or not;
if not, the number of the acquired digital quantity is
Calculating angular velocity and outputting digital quantity integral value
。
5. The method of claim 4, further comprising, after checking the data collected during the data collection and confirming whether to drop the frame:
if yes, interpolation is carried out according to the data before and after frame loss, and the interpolation result is filled to the acquisition numberCalculating angular velocity to output digital quantity integral value after frame loss position
。
6. A method according to claim 3, wherein the higher the measurement accuracy of the angular velocity output digital quantity integrated value is, the larger the value of M is.
7. A method according to claim 3, wherein said determining the ground speed zero bias of the fiber optic gyroscope based on the turntable at N different azimuth positions comprises:
defining N different azimuth positions of the turntable as respectively
、/>
、……/>
、/>
The included angle between adjacent positions is 360 degrees/N;
controlling the turntable to rotate to a position
Measurement->
Static digital output of the fiber optic gyroscope at the location, measurement duration is +.>
And calculating that said fiber optic gyroscope is +.>
Average value of static digital output of position versus rotational speed of the earth +.>
；
Sequentially measuring average value of static digital output quantity of optical fiber gyroscope on earth rotation speed at other N-1 azimuth positions
、/>
……/>
、/>
Calculating the average value of the static digital output of the fiber optic gyroscope on the earth rotation speed at N azimuth positions +.>
The ground speed zero offset is obtained.
8. The method of claim 7, wherein said outputting a digital magnitude integrated value and said ground speed zero offset from said angular velocity, determining a modified scale factor for said fiber optic gyroscope at a first rotational speed, comprises:
determining the modified scale factor according to:
9. the method of claim 7, wherein in determining the ground speed zero bias, a re-measurement is performed at each rotational speed measurement to correct for the ground speed zero bias variation measured by the fiber optic gyroscope.
10. An apparatus for improving the measurement accuracy of an optical fiber gyroscope, comprising:
the turntable is used for bearing the optical fiber gyroscope, and the measuring shaft of the optical fiber gyroscope is superposed with the rotating shaft of the turntable;
the angular velocity output digital quantity integral value determining module is used for controlling the turntable to operate according to preset conditions and determining the angular velocity output digital quantity integral value of the fiber-optic gyroscope;
the ground speed zero bias determining module is used for determining the ground speed zero bias of the optical fiber gyroscope according to the N different azimuth positions of the turntable;
the scale factor correction module is used for outputting a digital quantity integral value and the ground speed zero offset according to the angular speed and determining a correction scale factor of the fiber optic gyroscope at a first rotation speed;
a replacement module for replacing the original scale factor of the fiber optic gyroscope with the corrected scale factor;
the first rotating speed is the maximum rotating speed when the turntable operates according to preset conditions, N is more than or equal to 4, and N is an even number.
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