CN115628756B - Adaptive compensation method for scale factors of fiber optic gyroscope - Google Patents
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Abstract
The invention discloses a self-adaptive compensation method for a scale factor of an optical fiber gyroscope, which belongs to the technical field of optical fiber sensor design and comprises the following steps: superposing excitation signals of preset angular velocity to the Y waveguide modulation end to obtain the first half period angular velocity and the second half period angular velocity; respectively calculating the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal; acquiring the front half period error and the rear half period error of the angular speed caused by the sensitivity of the fiber optic gyroscope and the front half period error and the rear half period error of the angular speed caused by the excitation signal, and constructing a boundary condition model of compensation parameters; self-compensating the scale factors of the fiber-optic gyroscope based on the boundary condition model of the compensation parameters; according to the invention, the error value of the scale factor is calculated in real time through the preset excitation signal, and the error is compensated and output, so that the relation between the scale factor and the temperature is not required to be calibrated in advance, and the temperature data is not required to be acquired, and the scale factor is compensated.
Description
Technical Field
The invention belongs to the technical field of optical fiber sensor design, and particularly relates to a self-adaptive compensation method for a scale factor of an optical fiber gyroscope.
Background
The fiber optic gyroscope is a sensitive angular velocity or angular displacement fiber optic sensor based on Sagnac effect, and is a core sensitive element of an inertial system. The gyroscope has become a mainstream scheme at present by relying on a series of advantages of small volume, high precision, quick start, long service life and the like. When the method is used for a flight control system and an inertial navigation system with higher requirements on temperature indexes, the change of the performance indexes of the gyroscope along with the temperature is required to be smaller, and particularly when the method is used in a severe temperature environment, the influence on the performance indexes of the gyroscope is more serious and complex, so that the self-adaptive compensation technology of the performance indexes of the gyroscope is very important. The fiber optic gyroscope adopting the self-adaptive compensation technology can complete index compensation correction in real time by only extracting error information without considering excessive influence factors.
In order to improve the temperature performance of the scale factors, a temperature model of the scale factors is established for compensation, the scale factors at all temperature points are required to be calibrated in advance, then data fitting is carried out, and after compensation parameters are obtained, a temperature compensation algorithm is realized in a processor. Meanwhile, a temperature sensor needs to be installed, temperature data is acquired in real time, the compensation mode requires that the temperature model of the gyroscope is good in repeatability, temperature change in the use environment is slow, no temperature mutation exists, and otherwise, the conditions of poor applicability, compensation precision, non-ideal compensation effect and the like of the compensation model in actual use exist.
Disclosure of Invention
Aiming at the defects in the prior art, the adaptive compensation method for the fiber-optic gyroscope scale factor provided by the invention solves the scale factor error value in real time through a preset excitation signal and compensates the error into output, so that the purposes of not needing to mark the relation between the scale factor and the temperature in advance and not needing to collect temperature data and compensating the scale factor are realized.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention provides a self-adaptive compensation method for a scale factor of an optical fiber gyroscope, which comprises the following steps:
S1, superposing an excitation signal of a preset angular velocity to a Y waveguide modulation end to obtain a first half period angular velocity and a second half period angular velocity;
S2, calculating the angular velocity of the first half period and the angular velocity of the second half period, and respectively calculating the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
s3, acquiring an angular speed front half period error and a rear half period error which are caused by the sensitivity of the fiber-optic gyroscope and an excitation signal, and constructing a boundary condition model of compensation parameters based on the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
and S4, performing self-compensation on the fiber-optic gyroscope scale factor based on the boundary condition model of the compensation parameter.
The beneficial effects of the invention are as follows: according to the self-adaptive compensation method for the scale factors of the fiber optic gyroscope, provided by the invention, the output angular speed is obtained by adding the preset excitation signal on the modulator, the relation between output and input is further obtained, and the error of the scale factors along with the temperature change is extracted, so that the real-time compensation of the scale factors is realized.
Further, the period of the excitation signal is the same as the period of the Y waveguide output signal; the first half period of the excitation signal is a forward step wave with equal steps, the second half period of the excitation signal is a reverse step wave with equal steps, and the steps of the forward step wave and the reverse step wave are equal in size; the first half period angular velocity and the second half period angular velocity are equal in magnitude and opposite in direction.
The beneficial effects of adopting the further scheme are as follows: a feedback phase is additionally added on the gyroscope to obtain a corresponding rotating speed, and a principle of closing the fiber-optic gyroscope is combined, namely, a fixed angular velocity signal can be obtained by superposing an additional step wave signal on the modulator, so that a foundation is provided for self-adaptive compensation of the scale factors through the change of the scale factors at different temperatures.
Further, the step S2 includes the steps of:
S21, based on the first half period angular velocity and the second half period angular velocity, obtaining the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period:
D+＝DΩ+DΔ+
D-＝DΩ+DΔ-
|DΔ|＝|DΔ+|＝|DΔ-|
Wherein, D + and D - respectively represent the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period, D Ω represents the rotational speed of the fiber-optic gyroscope, D Δ+ represents the rotational speed corresponding to the superimposed forward step, D Δ- represents the rotational speed corresponding to the superimposed reverse step, |d Δ | represents the rotational speed absolute value of the excitation signal, |d Δ+ | represents the rotational speed absolute value corresponding to the superimposed forward step, and|d Δ- | represents the rotational speed absolute value corresponding to the superimposed reverse step;
s22, based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period, respectively calculating to obtain the rotational speed of the fiber-optic gyroscope and the rotational speed of the excitation signal:
The beneficial effects of adopting the further scheme are as follows: and resolving the angular velocity corresponding to the excitation signal to obtain the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal respectively, and providing a basis for the compensation of the scale factors.
Further, the calculation expression of the boundary condition model of the compensation parameter in the step S3 is as follows:
D′+-D′_＝D′Ω+D′Δ+-D′Ω-D′Δ-＝εΩ+2DΔ+εΔ
Wherein epsilon Ω represents the error of the front half period and the back half period of the angular velocity caused by the sensitivity of the fiber-optic gyroscope, epsilon Δ represents the error of the front half period and the back half period of the angular velocity caused by the excitation signal, D Ω (N) represents the average value of the output rape of the fiber-optic gyroscope of the front half period, D Ω (N-1) represents the average value of the output rape of the fiber-optic gyroscope of the back half period, D △0 represents the theoretical angular velocity value corresponding to the excitation signal, D ' + represents the rotational speed data of the Y waveguide output in the front half period when errors are considered, D ' - represents the rotational speed data of the Y waveguide output in the back half period when errors are considered, D ' Ω represents the rotational speed of the fiber-optic gyroscope when errors are considered, D ' Δ+ represents the rotational speed corresponding to the superimposed forward step when errors are considered, and D ' Δ- represents the rotational speed corresponding to the superimposed reverse step when errors are considered.
The beneficial effects of adopting the further scheme are as follows: by constructing a boundary condition model of the compensation parameters, the reliability of compensation is increased.
Further, the step S4 includes the steps of:
s41, setting an output reference value of the fiber-optic gyroscope, and respectively acquiring rotating speed data output by the Y waveguide in the first half period and rotating speed data output by the Y waveguide in the second half period in a preset acquisition time interval;
S42, obtaining an angular velocity front half period error and a rear half period error caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period and an angular velocity front half period error and a rear half period error caused by an excitation signal based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period in the preset acquisition time period;
S43, judging whether the front half period error and the rear half period error of the angular velocity, which are caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period, and the front half period error and the rear half period error of the angular velocity, which are caused by the excitation signal, meet the boundary condition model of the compensation parameter, if yes, entering a step S44, otherwise returning to the step S41;
S44, calculating to obtain a scale factor compensation value of the fiber-optic gyroscope in a preset acquisition time period based on the acquired rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period;
S45, calculating compensation parameters of the fiber optic gyroscope based on the fiber optic gyroscope output reference value and the scale factor compensation value of the fiber optic gyroscope within a preset acquisition time length:
Wherein, K T represents the compensation parameter of the relation gyroscope, D T represents the output of the fiber-optic gyroscope at different temperatures, and D 0 represents the output reference value of the fiber-optic gyroscope;
S46, calculating the output value of the compensated fiber-optic gyroscope based on the compensation parameters of the fiber-optic gyroscope, and completing the self-compensation of the scale factors of the fiber-optic gyroscope.
The beneficial effects of adopting the further scheme are as follows: the output reference value of the fiber-optic gyroscope is set, the rotating speed data output by the Y waveguide in the first half period and the rotating speed data output by the Y waveguide in the second half period in the preset acquisition time period are respectively acquired according to the preset time interval, and the fiber-optic gyroscope meeting the boundary condition model condition of the compensation parameter is subjected to scale factor compensation, so that the reliability of compensation is improved.
Further, the output reference value of the fiber-optic gyroscope is an output value corresponding to the normal-temperature excitation signal.
The beneficial effects of adopting the further scheme are as follows: and taking a normal temperature value of a fixed angular velocity output value corresponding to the excitation signal as a standard value, and performing scale factor compensation on the fiber-optic gyroscope.
Further, the calculation expression of the output value of the compensated fiber optic gyroscope in the step S46 is as follows:
DF＝KT×DOUT
Wherein D F represents an output value of the optical fiber gyro after compensation, and D OUT represents an output value of the optical fiber gyro before compensation.
The beneficial effects of adopting the further scheme are as follows: and the self-compensation of the scale factors of the fiber-optic gyroscope under different temperature environments is realized based on the compensation parameters of the fiber-optic gyroscope.
Drawings
FIG. 1 is a schematic diagram of adaptive compensation of a fiber optic gyroscope according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating steps of a method for adaptively compensating for a scale factor of an optical fiber gyro according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of the excitation signal according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
The scale factor is an important index of the fiber-optic gyroscope, and represents the conversion dimension between the output digital quantity and the angular velocity of the fiber-optic gyroscope, namely the ratio of output and input of the gyroscope, and the output values under a plurality of different input rotating speeds are measured by a calibration method generally and are obtained through least square fitting. In the actual use process, the scale factor changes along with the temperature, so that the performance index of the gyroscope is affected. The temperature error of the scale factor is mainly caused by the temperature variation of parameters such as the center wavelength of a light source, the modulation coefficient of a modulator, the geometric dimension of an optical fiber ring, the gain of a circuit and the like.
When the fiber-optic gyroscope works in a closed loop state, the scale factor relational expression is as follows:
Wherein K represents a scale factor, L and D represent the diameter and the circumference of the optical fiber ring respectively, r represents the photoelectric coefficient of the modulator, L and D represent the length of the modulator electrode and the distance between the electrodes respectively, c represents the speed of light, n represents the refractive index of the modulator, and K 1 and K 2 represent the front-stage gain parameter and the rear-stage gain parameter of the circuit respectively;
the fringe movement number in the Sagnac effect is proportional to the product of the angular velocity of the interferometer and the area enclosed by the loop;
as shown in FIG. 1, the implementation device for the adaptive compensation of the scale coefficient of the fiber-optic gyroscope is constructed, and comprises a light source, a coupler, a phase modulator (Y waveguide), a fiber ring, a light path system consisting of a detector, and a circuit system consisting of an AD acquisition circuit, a programmable logic circuit (FPGA) and a DA control circuit; the light source is connected with the input end of the coupler, one output end of the coupling is connected with the input end of the phase modulator, the coupler in the figure is a2 multiplied by 2 coupler, the other output end of the coupling is not connected with any device or module in the embodiment, and the output end of the phase modulator is connected with the optical fiber ring to form the Sagnac interferometer; the detector receives the optical signals, converts the optical signals into electric signals, sequentially transmits the electric signals to the AD acquisition circuit, the programmable logic circuit (FPGA) and the DA control circuit for resolving and controlling the rotating speed information, obtains the step wave signals at the programmable logic circuit (FPGA) at the same time, and outputs the modulated signals to control the phase modulator (Y waveguide) to form closed-loop control of the gyroscope.
The output angular velocity after demodulation is obtained through adding an excitation signal with a preset fixed rotating speed, particularly a step wave signal, modulating and demodulating an optical path and a circuit, and under a high-low temperature environment, different output angular velocities can be obtained by the same excitation signal under different temperatures along with the changes of the length, the diameter, the wavelength and the modulation coefficient of a phase modulator of an optical fiber ring, so that the output and input relation of different temperatures is obtained, and the output is compensated;
according to the fiber-optic gyroscope Sagnac effect and the working principle of the closed-loop fiber-optic gyroscope, the phase rotation speed relationship is obtained:
Wherein, The phase of the feedback is indicated and,Indicating Sagnac phase shift, L and D respectively indicate the diameter and circumference of the optical fiber loop, c indicates the speed of light, lambda indicates the wavelength, and omega indicates the rotation speed corresponding to the feedback phase;
when an external feedback phase is overlapped, the rotating speed corresponding to the external feedback phase is obtained:
Wherein, The external feedback phase is represented, and omega 1 represents the rotating speed corresponding to the external feedback phase;
By combining the principle of a closed fiber optic gyroscope, namely, an additional step wave signal is overlapped on a modulator through an FPGA (field programmable gate array), so that a fixed angular velocity signal can be obtained;
When the scale factors are required to be compensated to the standard values, the scale factor values at normal temperature are generally taken as the standard values, and the scale factor error model is obtained based on the scale factors at different temperatures and normal temperature:
Wherein K' T represents the scale factors of the fiber optic gyroscope at different temperatures, The output digital quantity of the fiber optic gyroscope at different temperatures is represented, omega in represents the input angular velocity, K C represents the scale factor of the fiber optic gyroscope at normal temperature,The output digital quantity of the fiber optic gyroscope at normal temperature is represented; when compensating, taking the normal temperature value of the fixed angular velocity output value corresponding to the excitation signal as a standard value, collecting the angular velocity output value under the same excitation signal at different temperatures, comparing with the standard value to obtain an error signal, and compensating the error to the output of the fiber optic gyroscope in real time, so that the compensation of the scale factor can be realized;
As shown in fig. 2, in one embodiment of the present invention, the present invention provides a method for adaptively compensating a scale factor of a fiber optic gyroscope, comprising the steps of:
S1, superposing an excitation signal of a preset angular velocity to a Y waveguide modulation end to obtain a first half period angular velocity and a second half period angular velocity;
as shown in fig. 3, the period T of the excitation signal is the same as the period T of the Y waveguide output signal; along with the direction of time t, the first half period of the excitation signal is a forward step wave with equal steps, the second half period is a reverse step wave with equal steps, and the steps of the forward step wave and the reverse step wave are equal in size; the angular velocity of the first half period is equal to the angular velocity of the second half period, and the phase direction Conversely;
S2, calculating the angular velocity of the first half period and the angular velocity of the second half period, and respectively calculating the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
the step S2 includes the steps of:
S21, based on the first half period angular velocity and the second half period angular velocity, obtaining the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period:
D+＝DΩ+DΔ+
D-＝DΩ+D△-
|DΔ|＝|DΔ+|＝|D△-|
Wherein, D + and D - respectively represent the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period, D Ω represents the rotational speed of the fiber-optic gyroscope, D △+ represents the rotational speed corresponding to the superimposed forward step, D Δ- represents the rotational speed corresponding to the superimposed reverse step, |d △ | represents the rotational speed absolute value of the excitation signal, |d △+ | represents the rotational speed absolute value corresponding to the superimposed forward step, and|d △- | represents the rotational speed absolute value corresponding to the superimposed reverse step;
s22, based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period, respectively calculating to obtain the rotational speed of the fiber-optic gyroscope and the rotational speed of the excitation signal:
Ideally, the angular velocities sensed by the gyroscopes in the front and rear half periods should be equal and can be mutually offset through corresponding calculation; when the angular velocity sensed by the gyroscope in the front half period and the gyroscope in the rear half period possibly exists under the condition of larger maneuver, the angular velocity cannot be completely counteracted after difference frequency operation, an error item exists, the error is superimposed into data for scale factor compensation, and then compensation errors are brought, meanwhile, in the compensation process, if unknown interference signals exist, conditions such as abnormal compensation parameters are brought, and the like, compensation errors are brought, and on the basis, the boundary conditions of the compensation parameters are required to be set to increase the reliability of compensation;
s3, acquiring an angular speed front half period error and a rear half period error which are caused by the sensitivity of the fiber-optic gyroscope and an excitation signal, and constructing a boundary condition model of compensation parameters based on the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
the calculation expression of the boundary condition model of the compensation parameter in the step S3 is as follows:
D′+-D′＝D′Ω+D′Δ+-D′Ω-D′Δ-＝εΩ+2DΔ+εΔ
Wherein epsilon Ω represents the error of the front half period and the rear half period of the angular velocity caused by the sensitivity of the fiber-optic gyroscope, epsilon Δ represents the error of the front half period and the rear half period of the angular velocity caused by the excitation signal, D Ω (N) represents the average value of the output of the fiber-optic gyroscope of the front half period, D Ω(N-1) represents the average value of the output of the fiber-optic gyroscope of the rear half period, D Δ0 represents the theoretical angular velocity value corresponding to the excitation signal, D ' + represents the rotational speed data of the output of the Y waveguide in the front half period when the error is considered, D ' - represents the rotational speed data of the output of the Y waveguide in the rear half period when the error is considered, D ' Ω represents the rotational speed of the fiber-optic gyroscope when the error is considered, D ' Δ+ represents the rotational speed corresponding to the superimposed forward step when the error is considered, and D ' Δ- represents the rotational speed corresponding to the superimposed reverse step when the error is considered;
S4, performing self-compensation on the scale factors of the fiber-optic gyroscope based on a boundary condition model of the compensation parameters;
the step S4 includes the steps of:
S41, setting an output reference value of the fiber-optic gyroscope, and respectively acquiring rotating speed data output by the Y waveguide in the first half period and rotating speed data output by the Y waveguide in the second half period in a preset acquisition time interval; in the embodiment, the preset time interval is 1s, and the preset acquisition time length is 200ms before the compensation time;
the output reference value of the fiber-optic gyroscope is an output value corresponding to a normal-temperature excitation signal;
S42, obtaining an angular velocity front half period error and a rear half period error caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period and an angular velocity front half period error and a rear half period error caused by an excitation signal based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period in the preset acquisition time period;
S43, judging whether the front half period error and the rear half period error of the angular velocity, which are caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period, and the front half period error and the rear half period error of the angular velocity, which are caused by the excitation signal, meet the boundary condition model of the compensation parameter, if yes, entering a step S44, otherwise returning to the step S41;
S44, calculating to obtain a scale factor compensation value of the fiber-optic gyroscope in a preset acquisition time period based on the acquired rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period;
S45, calculating compensation parameters of the fiber optic gyroscope based on the fiber optic gyroscope output reference value and the scale factor compensation value of the fiber optic gyroscope within a preset acquisition time length:
Wherein, K T represents the compensation parameter of the relation gyroscope, D T represents the output of the fiber-optic gyroscope at different temperatures, and D 0 represents the output reference value of the fiber-optic gyroscope;
s46, calculating an output value of the compensated fiber-optic gyroscope based on the compensation parameters of the fiber-optic gyroscope to finish the self-compensation of the scale factors of the fiber-optic gyroscope;
the calculation expression of the output value of the compensated fiber optic gyroscope in the step S46 is as follows:
DF＝KTXDCUT
Wherein D F represents an output value of the optical fiber gyro after compensation, and D OUT represents an output value of the optical fiber gyro before compensation.
Claims (6)
1. The adaptive compensation method for the scale factors of the fiber optic gyroscope is characterized by comprising the following steps of:
S1, superposing an excitation signal of a preset angular velocity to a Y waveguide modulation end to obtain a first half period angular velocity and a second half period angular velocity;
S2, calculating the angular velocity of the first half period and the angular velocity of the second half period, and respectively calculating the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
s3, acquiring an angular speed front half period error and a rear half period error which are caused by the sensitivity of the fiber-optic gyroscope and an excitation signal, and constructing a boundary condition model of compensation parameters based on the rotating speed of the fiber-optic gyroscope and the rotating speed of the excitation signal;
the calculation expression of the boundary condition model of the compensation parameter is as follows:
Wherein, Indicating the front and rear half period errors of the angular velocity caused by the sensitivity of the fiber optic gyroscope,Indicating the angular velocity front and rear half cycle errors caused by the excitation signal,Represents the average value of the output of the fiber optic gyroscope in the first half period,The average value of the output of the fiber-optic gyroscope in the second half period is shown,Represents the theoretical angular velocity value corresponding to the excitation signal,Representing rotational speed data of the Y waveguide output during the first half period when errors are taken into account,Representing rotational speed data of the Y waveguide output in the latter half period when errors are taken into account,Indicating the rotational speed of the fiber optic gyroscope when errors are taken into account,Indicating the rotational speed corresponding to the superimposed forward step when considering the error,Representing the rotating speed corresponding to the superimposed reverse step when the error is considered;
and S4, performing self-compensation on the fiber-optic gyroscope scale factor based on the boundary condition model of the compensation parameter.
2. The method of claim 1, wherein the period of the excitation signal is the same as the period of the Y waveguide output signal; the first half period of the excitation signal is a forward step wave with equal steps, the second half period of the excitation signal is a reverse step wave with equal steps, and the steps of the forward step wave and the reverse step wave are equal in size; the first half period angular velocity and the second half period angular velocity are equal in magnitude and opposite in direction.
3. The method for adaptively compensating the scale factor of a fiber optic gyroscope according to claim 2, wherein the step S2 comprises the steps of:
S21, based on the first half period angular velocity and the second half period angular velocity, obtaining the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period:
Wherein, AndRespectively represents the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period,The rotational speed of the fiber optic gyroscope is represented,Indicating the rotational speed corresponding to the superimposed forward step,Indicating the rotational speed corresponding to the superimposed reverse step,Represents the absolute value of the rotational speed of the excitation signal,Represents the absolute value of the rotational speed corresponding to the superimposed forward steps,Representing the absolute value of the rotating speed corresponding to the superimposed reverse step;
s22, based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period, respectively calculating to obtain the rotational speed of the fiber-optic gyroscope and the rotational speed of the excitation signal:
。
4. A method of adaptively compensating for the scale factor of a fiber optic gyroscope according to claim 3, wherein said step S4 comprises the steps of:
s41, setting an output reference value of the fiber-optic gyroscope, and respectively acquiring rotating speed data output by the Y waveguide in the first half period and rotating speed data output by the Y waveguide in the second half period in a preset acquisition time interval;
S42, obtaining an angular velocity front half period error and a rear half period error caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period and an angular velocity front half period error and a rear half period error caused by an excitation signal based on the rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period in the preset acquisition time period;
S43, judging whether the front half period error and the rear half period error of the angular velocity, which are caused by the sensitivity of the fiber optic gyroscope in the preset acquisition time period, and the front half period error and the rear half period error of the angular velocity, which are caused by the excitation signal, meet the boundary condition model of the compensation parameter, if yes, entering a step S44, otherwise returning to the step S41;
S44, calculating to obtain a scale factor compensation value of the fiber-optic gyroscope in a preset acquisition time period based on the acquired rotational speed data output by the Y waveguide in the first half period and the rotational speed data output by the Y waveguide in the second half period;
S45, calculating compensation parameters of the fiber optic gyroscope based on the fiber optic gyroscope output reference value and the scale factor compensation value of the fiber optic gyroscope within a preset acquisition time length:
Wherein, Representing the compensation parameters of the relationship gyroscope,The output of the fiber optic gyroscope at different temperatures is shown,Representing the output reference value of the fiber optic gyroscope;
S46, calculating the output value of the compensated fiber-optic gyroscope based on the compensation parameters of the fiber-optic gyroscope, and completing the self-compensation of the scale factors of the fiber-optic gyroscope.
5. The adaptive compensation method of scale factors of fiber optic gyroscope according to claim 4, wherein the output reference value of the fiber optic gyroscope is an output value corresponding to a normal temperature excitation signal.
6. The adaptive compensation method of scale factors of fiber optic gyroscope according to claim 4, wherein the output value of the fiber optic gyroscope after compensation in step S46 is calculated as follows:
Wherein, The output value of the optical fiber gyro after compensation is represented,The output value before the compensation of the fiber optic gyroscope is shown.
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