CN112362078B - Method for measuring sensitive error of photoelectric turntable double-shaft fiber-optic gyroscope shafting - Google Patents
Method for measuring sensitive error of photoelectric turntable double-shaft fiber-optic gyroscope shafting Download PDFInfo
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Abstract
The invention discloses a method for measuring shafting sensitivity errors of a biaxial fiber-optic gyroscope of a photoelectric turntable, relates to the field of photoelectric information, and solves the problem of shafting sensitivity errors. The invention comprises establishing a coordinate system and driving the photoelectric turntable to move in a pitching frame angleMoving and bringing the position of the X-axis sensitive inertia space motion angle into the motion, and calculating to obtain a double-axis optical fiber gyroscope and O P X P Axial system sensitive error epsilon X (ii) a Lifting photoelectric turntable around and O P Y P Shaft component
Angular movement of the axis of the included angle to obtain a joint solution equation, and combining the biaxial fiber optic gyroscope and the O P X P Axial system sensitive error epsilon X Substituting the joint solution equation to obtain the biaxial fiber optic gyroscope and O P Y P Is the sensitive error epsilon of the axis system Y . The invention has high measurement precision and does not have synchronous sampling error and multiple quantization error.
Description
Technical Field
The invention relates to the field of photoelectric information, in particular to a method for measuring sensitive errors of a biaxial fiber-optic gyroscope shafting of a photoelectric turntable.
Background
A double-shaft fiber-optic gyroscope is arranged in a pitching frame of a photoelectric turntable, the relative inertial space motion angular rate of the azimuth and pitching axis of the turntable is sensed, and a control system is introduced to realize the optical axis stabilizing function of the turntable. The more accurate the angular rate of the biaxial fiber-optic gyroscope sensitive turntable shaft system relative to the inertial space, the higher the optical axis stability precision, and the requirement that the measurement shaft system is approximately parallel to the turntable shaft system and is completely sensitive when the biaxial fiber-optic gyroscope is installed is met.
The parallel error of the sensitive shafting is caused by the problems of processing, technique and the like when the double-shaft optical fiber gyroscope is installed, namely the shafting sensitive error. At present, shafting sensitive errors are tentatively corrected mainly by means of optical equipment such as zenith instruments and mechanical structure adjusting methods, and cannot be accurately measured; or the shafting sensitive error is measured through the three-degree-of-freedom turntable, the photoelectric turntable is required to be placed on the three-degree-of-freedom turntable, the three-degree-of-freedom rotation of the three-degree-of-freedom turntable is required to be controlled under a very strict condition, the sensitive shafting error is obtained by analyzing the data of the biaxial fiber-optic gyroscope in the photoelectric turntable, and only the errors in the pitching and azimuth directions of the two biaxial fiber-optic gyroscope sensitive turntables can be analyzed.
The technical problem is as follows:
1. and inaccurate measurement of sensitive errors of shafting. By means of the zenith instrument and the mechanical structure adjusting method, shafting sensitive errors are repeatedly and tentatively corrected, and no way or necessity is provided for measuring the shafting sensitive errors.
2. And (1) the conditions are severe, the process is complex, and the engineering is not easy to realize. The three-degree-of-freedom rotary table is used for measuring the sensitive shafting errors, a high-precision three-degree-of-freedom rotary table is needed, the photoelectric rotary table needs to be orthogonally fixed on the three-degree-of-freedom rotary table, accurate implementation cannot be achieved, the volume weight of most photoelectric rotary tables exceeds the load requirement of the three-degree-of-freedom rotary table, the process is complex, and engineering implementation is not easy. And (2) the measurement precision is low. The data of the three-degree-of-freedom turntable and the data of the double-shaft fiber-optic gyroscope need to be recorded simultaneously when the sensitive shafting errors are analyzed, and the measurement precision is low due to factors such as multiple quantization errors, synchronous sampling errors and calculation errors.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a method for measuring sensitive errors of a biaxial fiber-optic gyroscope shafting of a photoelectric turntable, which solves the problems that the sensitive errors of the sensitive shafting have parallel errors and shafting sensitive errors when the biaxial fiber-optic gyroscope is installed due to the problems of processing, technology and the like.
The invention is realized by the following technical scheme:
a method for measuring sensitive errors of a biaxial fiber optic gyroscope shaft system of a photoelectric turntable comprises the following steps of 1, establishing a coordinate system O of a pitching frame of the photoelectric turntable P X P Y P Z P Coordinate system O of biaxial fiber-optic gyroscope G X G Y G Z G ；
The sensitive axis X of the double-shaft gyroscope is measured with the axis O G X G ，O G X G Measuring the inertial space angular rate of rotation around the pitch axis of the photoelectric turntable, wherein the measuring axis of the sensitive axis Z of the biaxial gyroscope is O G Z G ，O G Z G Measuring the angular rate of inertia space rotating around the optical axis of the optoelectronic turntable, wherein O P X P For the photoelectric turntable pitch axis system, O P Y P Is an optical axis of the photoelectric turntable;
step 2, calculating the position of the X-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope, and calculating the position of the Z-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope;
step 3, placing the photoelectric turntable on a horizontal table and fixing and enabling the photoelectric turntable to have O shape P X P The photoelectric turntable is pushed to move in the angle of the pitching frame just in the east or west direction of the earth and bring the angular position into the X-axis sensitive inertial space motion angular position, and the double-axis fiber-optic gyroscope and the O are obtained through calculation P X P Axial system sensitive error epsilon X ；
Step 4, placing the photoelectric turntable on a horizontal table, fixing and enabling the photoelectric turntable to have O shape P X P Horizontally and rightly facing the east or west direction of the earth, and lifting the photoelectric turntable to rotate around the O-shaped shaft P Y P Axle becomes
Angular movement of the included angle axis is carried out, and the angular position of the included angle is brought into the position of the X-axis sensitive inertial space motion and the Z-axis sensitive inertial space motion
Sensitive error of axis system under the condition of included angle motion, namely a biaxial fiber-optic gyroscope and O P X P Sensitive error of axis system, biaxial fiber-optic gyroscope and O P Y P Jointly solving an equation of the shafting sensitive error;
step 5, the biaxial fiber-optic gyroscope obtained in the step 3 is mixed with O P X P Axial system sensitive error epsilon X Step 4 data is carried in to obtain a biaxial fiber optic gyroscope and O P Y P Axial system sensitive error epsilon Y 。
Further, among them, the biaxial fiber optic gyroscope causes O at the time of mounting due to problems of processing, technique, and the like + G X G And O P X P Incomplete parallelism and O G Z G And O P Z P Incomplete parallel, wherein the angle error of the incomplete parallel is a sensitive error of a shafting;
biaxial fiber optic gyroscope and O P X P Is sensitive to axis system errors of epsilon X And O with P Y P Has a shafting sensitivity error of epsilon Y And O and P Z P has a shafting sensitivity error of epsilon Z 。
Further, the method also comprises the following detailed steps:
the X-axis and Z-axis sensitive inertia space motion angle positions of the biaxial fiber-optic gyroscope are respectively as follows:
further, the detailed steps of step 3 are as follows:
the photoelectric turntable is pushed to move in an elevation frame angle, and the X-axis and Z-axis position integral quantity of the biaxial fiber-optic gyroscope is P t1 gx And P t1 gz Substituting into equation (1) to obtain
And
biaxial fiber optic gyroscope and O P X P Axial system sensitive error epsilon X ＝-atg(P t1 gz /P t1 gx )；
Wherein, the integral quantity P of the initial positions of the X axis and the Z axis of the biaxial fiber-optic gyroscope is obtained due to the movement of the pitching frame of the photoelectric turntable 0 gx =0 and P 0 gz ＝0，
And
P ω X ＝P t1 gx and P ω Z ＝P t1 gz 。
Further, the detailed steps of step 4 and step 5 are as follows:
lifting photoelectric turntable around and O P Y P Shaft component
The axes of the included angles make angular motion, wherein the lifting comprises quick and short-time lifting, and the X-axis and Z-axis position integral quantity of the biaxial fiber-optic gyroscope is P t3 gx And P t3 gz Substituting the equations (1) and (2) to obtain
Namely that
From equation (4):
epsilon based on the detailed procedure of step 3 X And P t3 gx And P t3 gz Can calculate out
Substituting equation (5) into equations (3) and (4) yields:
obtaining a biaxial fiber-optic gyroscope and O P Y P Sensitive error of axis system
Wherein, because the pitching and the direction of the photoelectric turntable are static, the integral quantity P of the initial position of the X axis and the Z axis of the biaxial fiber-optic gyroscope 0 gx =0 and P 0 gz ＝0，
P ω X ＝P t3 gx And P ω Z ＝P t3 gz ，
Wherein, K S1 ＝cos(ε X )+sin(ε X )，K S2 ＝cos(ε X )-sin(ε X )。
Further, the method comprises the following specific steps: placing the photoelectric turntable on a horizontal table and fixing and enabling the O of the photoelectric turntable P X P The X-axis and Z-axis initial position integral quantity P of the biaxial fiber-optic gyroscope is horizontal and opposite to the east or west direction of the earth 0 gx =0 and P 0 gz And =0, pushing the photoelectric turntable to perform U-shaped frame angular motion, wherein pushing comprises pushing rapidly and temporarily, and the position integral quantity of X and Z axes of the biaxial fiber-optic gyroscope is P t2 gx And P t2 gz Substituting into equation (2) to obtain
And
biaxial fiber optic gyroscope and O P Z P Axial system sensitive error epsilon Z ＝-atg(P t2 gx /P t2 gz )；
Wherein, the pitching frame of the photoelectric turntable is horizontally static relative to the U-shaped frame, so that
And
P ω X ＝P t2 gx and P ω Z ＝P t2 gz 。
Atg in the above formula is Arctangent (i.e., arctan) and arctin in the above formula is arcsin and arcsin.
The invention has the following advantages and beneficial effects:
1. the method is simple and efficient, and the measurement can be realized only by a double-shaft fiber-optic gyroscope of the photoelectric turntable;
2. the measurement precision is high, the calculation process only needs the data of the double-shaft fiber-optic gyroscope, and synchronous sampling errors and multiple quantization errors do not exist;
3. the calculation method is simple, and the calculation process only comprises a trigonometric function and addition, subtraction, multiplication and division.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic diagram of the relationship between the coordinate system of the biaxial fiber-optic gyroscope and the coordinate system of the pitching frame of the photoelectric turntable.
FIG. 2 is a schematic view of the photoelectric turntable winding and O of the present invention P Y P Shaft component
The axes of the included angles make an angular motion schematic diagram.
Detailed Description
Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of the components set forth in the following description or illustrated in the drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive changes, are within the scope of the present invention.
A method for measuring sensitive errors of a biaxial fiber-optic gyroscope shaft system of a photoelectric turntable comprises the following steps of measuring sensitive errors of the biaxial fiber-optic gyroscope shaft system arranged in a pitching frame of the photoelectric turntable, and establishing a coordinate system O of the pitching frame of the photoelectric turntable as shown in step 1 in figure 1 P X P Y P Z P Coordinate system O of biaxial fiber optic gyroscope G X G Y G Z G ；
The sensitive axis X of the double-axis gyroscope is a measuring axis O G X G ，O G X G Measuring the inertial space angular rate of rotation around the pitch axis of the photoelectric turntable, wherein the measuring axis of the sensitive axis Z of the biaxial gyroscope is O G Z G ，O G Z G Measuring the angular rate of inertia space of rotation about the optical axis of the optoelectronic turntable, wherein O P X P For the photoelectric turntable pitch axis system, O P Y P Is an optical axis of the photoelectric turntable;
step 2, calculating the position of the X-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope, and calculating the position of the Z-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope;
step 3, placing the photoelectric turntable on a horizontal table, fixing and enabling the photoelectric turntable to have O shape P X P The photoelectric turntable is pushed to move in an angular direction just in the east or west direction of the earth and bring the angular position into an inertial space motion angular position sensitive to the X axis, and a biaxial fiber-optic gyroscope and O are obtained through calculation P X P Is the sensitive error epsilon of the axis system X ；
Step 4, placing the photoelectric turntable on a horizontal table, fixing and enabling the photoelectric turntable to have O shape P X P Horizontally and rightly facing the east or west direction of the earth, and lifting the photoelectric turntable to rotate around the O-shaped shaft P Y P Shaft component
Angular movement of the axes of the included angles is brought into the angular position of the X-and Z-sensitive inertial space motion
Sensitive error of axis system under the condition of included angle motion, namely a biaxial fiber-optic gyroscope and O P X P Sensitive error of axis system, double-axis optical fiber gyro and O P Y P Jointly solving an equation of the shafting sensitive error;
step 5, the biaxial fiber-optic gyroscope in the step 3 is mixed with O P X P Is the sensitive error epsilon of the axis system X Step 4 data is carried in to obtain a biaxial fiber optic gyroscope and O P Y P Is the sensitive error epsilon of the axis system Y 。
Further, wherein O G X G And O P X P Not perfectly parallel and O G Z G And O P Z P Incomplete parallel, the angle error of incomplete parallel is the sensitive error of shafting, the biaxial fiber-optic gyroscope and O P X P Is sensitive to axis system errors of epsilon X And O with P Y P Has a shafting sensitivity error of epsilon Y And O and P Z P is sensitive to axis system errors of epsilon Z 。
Further, the method also comprises the following detailed steps:
the X-axis and Z-axis sensitive inertia space motion angle positions of the biaxial fiber-optic gyroscope are respectively as follows:
further, the detailed steps of step 3 are as follows:
the photoelectric turntable is pushed to move in a pitching frame angle, and the X-axis and Z-axis position integral quantity of the biaxial fiber-optic gyroscope is P t1 gx And P t1 gz Substituting into the formula (1) to obtain
And
biaxial fiber optic gyroscope and O P X P Axial system sensitive error epsilon X ＝-atg(P t1 gz /P t1 gx )；
Wherein, the X-axis and Z-axis initial position integral quantity P of the biaxial fiber-optic gyroscope 0 gx =0 and P 0 gz ＝0，
And
P ω X ＝P t1 gx and P ω Z ＝P t1 gz 。
Further, the detailed steps of step 4 and step 5 are as follows:
lifting the photoelectric turntable around the axis O as shown in FIG. 2 P Y P Shaft component
The axes of the included angles perform angular motion, wherein the lifting comprises rapid and short-time lifting, and the X-axis and Z-axis position integral quantity of the biaxial fiber-optic gyroscope is P t3 gx And P t3 gz Substituting the equations (1) and (2) to obtain
And
namely that
From equation (4):
epsilon based on the detailed procedure of step 3 X And P t3 gx And P t3 gz Can calculate out
Substituting equation (5) into equations (3) and (4) yields:
obtaining a biaxial fiber-optic gyroscope and O P Y P Sensitive error of axis system
Wherein, the X-axis and Z-axis initial position integral quantity P of the biaxial fiber-optic gyroscope 0 gx =0 andP 0 gz ＝0，
P ω X ＝P t3 gx and P ω Z ＝P t3 gz ，
K S1 ＝cos(ε X )+sin(ε X )，K S2 ＝cos(ε X )-sin(ε X )。
Further, the method comprises the following specific steps: placing the photoelectric turntable on a horizontal table and fixing and enabling the O of the photoelectric turntable P X P X-axis and Z-axis initial position integral P of two-axis fiber-optic gyroscope horizontally and rightly opposite to east or west direction of earth 0 gx =0 and P 0 gz And =0, pushing the photoelectric turntable to perform U-shaped frame angular motion, wherein pushing comprises pushing rapidly and temporarily, and the position integral quantity of X and Z axes of the biaxial fiber-optic gyroscope is P t2 gx And P t2 gz Substituting into the formula (2) to obtain
And
biaxial fiber optic gyroscope and O P Z P Is the sensitive error epsilon of the axis system Z ＝-atg(P t2 gx /P t2 gz )；
Wherein,
and
P ω X ＝P t2 gx and P ω Z ＝P t2 gz 。
Atg in the above formula is Arctangent (i.e., arctan) and arctin in the above formula is arcsin and arcsin.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A method for measuring sensitive errors of a biaxial fiber-optic gyroscope shaft system of a photoelectric turntable comprises the following steps of:
step 1, establishing a coordinate system O of a pitching frame of a photoelectric turntable P X P Y P Z P Coordinate system O of biaxial fiber optic gyroscope G X G Y G Z G ；
The sensitive axis X of the double-shaft gyroscope is measured with the axis O G X G ，O G X G Measuring the inertial space angular rate of rotation around the pitch axis of the photoelectric turntable, wherein the measuring axis of the sensitive axis Z of the biaxial gyroscope is O G Z G ，O G Z G Measuring the angular rate of inertia space rotating around the optical axis of the optoelectronic turntable, wherein O P X P Is a photoelectric turntable pitch axis system, O P Y P Is an optical axis of the photoelectric turntable;
step 2, calculating the position of the X-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope, and calculating the position of the Z-axis sensitive inertia space motion angle of the double-axis optical fiber gyroscope;
step 3, placing the photoelectric turntable on a horizontal table and fixing and enabling the photoelectric turntable to have O shape P X P The photoelectric turntable is pushed to move in the angle of the pitching frame just in the east or west direction of the earth and bring the angular position into the X-axis sensitive inertial space motion angular position, and the double-axis fiber-optic gyroscope and the O are obtained through calculation P X P Is the sensitive error epsilon of the axis system X ；
Step 4, placing the photoelectric turntable on a horizontal table, fixing and enabling the photoelectric turntable to have O shape P X P Horizontally and rightly facing the east or west direction of the earth, and lifting the photoelectric turntable to rotate around the O-shaped shaft P Y P Shaft component
Angular movement of the included angle axis is carried out, and the angular position of the included angle is brought into the position of the X-axis sensitive inertial space motion and the Z-axis sensitive inertial space motion
Sensitive error of axis system under the condition of included angle motion, namely a biaxial fiber-optic gyroscope and O P X P Sensitive error of axis system, double-axis optical fiber gyro and O P Y P Establishing a joint solving equation for the shafting sensitive error;
step 5, the biaxial fiber-optic gyroscope obtained in the step 3 is mixed with O P X P Is the sensitive error epsilon of the axis system X Step 4 data is carried in to obtain a biaxial fiber optic gyroscope and O P Y P Axial system sensitive error epsilon Y 。
2. The method for measuring sensitive errors of shafting of biaxial fiber-optic gyroscope of photoelectric turntable according to claim 1, wherein O is G X G And O P X P Not perfectly parallel and O G Z G And O P Z P Incomplete parallel, the angle error of incomplete parallel is the sensitive error of the axis system, the biaxial fiber-optic gyroscope and O P X P Has a shafting sensitivity error of epsilon X And O with P Y P Has a shafting sensitivity error of epsilon Y And O with P Z P Has a shafting sensitivity error of epsilon Z 。
3. The method for measuring sensitive errors of the shafting of the biaxial fiber optic gyro of the photoelectric turntable according to claim 2, further comprising the following steps:
photoelectric turntableO placed on a horizontal table and used for fixing and making the photoelectric turntable P X P Horizontally and rightly facing the east or west direction of the earth, pushing the photoelectric turntable U-shaped frame to do angular motion, bringing the angular position into an inertia space motion angular position sensitive to the Z axis, and calculating to obtain the double-axis fiber-optic gyroscope and the O P Z P Axial system sensitive error epsilon Z 。
4. The method for measuring the sensitive errors of the shafting of the biaxial fiber-optic gyroscope of the photoelectric turntable according to claim 1, characterized by further comprising the following detailed steps:
the X-axis and Z-axis sensitive inertia space motion angle positions of the biaxial fiber-optic gyroscope are respectively as follows:
5. The method for measuring sensitive errors of the shafting of the biaxial fiber-optic gyroscope of the photoelectric turntable according to claim 4, wherein the detailed steps of the step 3 are as follows:
promote the photoelectric turntable to pitch the frame angle and moveThe X-axis and Z-axis position integral quantity of the biaxial fiber-optic gyroscope is P t1 gx And P t1 gz Substituting into equation (1) to obtain
And
biaxial fiber optic gyroscope and O P X P Is the sensitive error epsilon of the axis system X ＝-atg(P t1 gz /P t1 gx )；
Wherein, the X and Z axis initial position integral quantity P of the biaxial fiber-optic gyroscope 0 gx =0 and P 0 gz ＝0，
And
P ω X ＝P t1 gx and P ω Z ＝P t1 gz 。
6. The method for measuring sensitive errors of the shafting of the biaxial fiber-optic gyroscope of the photoelectric turntable according to claim 5, wherein the detailed steps of the step 4 and the step 5 are as follows:
lifting photoelectric turntable winding and winding P Y P Shaft component
The axis of the included angle makes angular motion, and the position integral quantity of the X axis and the Z axis of the biaxial fiber-optic gyroscope is P t3 gx And P t3 gz Substituting the equations (1) and (2) to obtain
And
namely that
From equation (4):
epsilon based on detailed procedure of step 3 X And P t3 gx And P t3 gz Can calculate out
Substituting equation (5) into equations (3) and (4) yields:
obtaining a biaxial fiber-optic gyroscope and O P Y P Sensitive error of axis system
Wherein, the X and Z axis initial position integral quantity P of the biaxial fiber-optic gyroscope 0 gx =0 and P 0 gz ＝0，
P ω X ＝P t3 gx And P ω Z ＝P t3 gz ，
K S1 ＝cos(ε X )+sin(ε X )，K S2 ＝cos(ε X )-sin(ε X )。
7. The method for measuring the sensitive error of the shafting of the biaxial fiber-optic gyroscope of the photoelectric turntable according to claim 4, characterized by further comprising the following specific steps: placing the photoelectric turntable on a horizontal table and fixing and enabling the O of the photoelectric turntable P X P X-axis and Z-axis initial position integral P of two-axis fiber-optic gyroscope horizontally and rightly opposite to east or west direction of earth 0 gx =0 and P 0 gz =0, the photoelectric turntable is pushed to move angularly, and the position integral quantity of X and Z axes of the biaxial fiber-optic gyroscope is P t2 gx And P t2 gz Substituting into the formula (2) to obtain
And
biaxial fiber optic gyroscope and O P Z P Axial system sensitive error epsilon Z ＝-atg(P t2 gx /P t2 gz )；
Wherein,
and
P ω X ＝P t2 gx and P ω Z ＝P t2 gz 。
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| CN112362078A (en) | 2021-02-12 |
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