North-seeking full-temperature calibration compensation method for flexible gyro inclinometer

Abstract

The invention discloses a north-seeking full-temperature calibration compensation method for a flexible gyro inclinometer. The method includes the steps that the flexible gyro inclinometer provided with a temperate control tool is installed on a three-axis calibration device; in the process that temperature is raised or reduced to preset temperature, at least one turn of 52 rotation positions of the three-axis calibration device is finished, the flexible gyro inclinometer conducts north-seeking once and outputs a group of corresponding north-seeking data after each position is rotated; a voltage signal output by the X axis of an accelerometer, a voltage signal output by the Y axis of the accelerometer, a voltage signal output by the Z axis of the accelerometer and temperature of a gyroscope in at least 52 groups of north-seeking data are substituted into an accelerometer error compensation module, and accelerometer error coefficients of the X axis, the Y axis and the Z axis are obtained through the least square method; a voltage signal output by the X axis of the gyroscope, a voltage signal output by the Y axis of the gyroscope, temperature of the gyroscope and a specific force signal without errors on the X axis, the Y axis and the Z axis of the accelerometer in at least 52 groups of north-seeking data are substituted into a gyroscope error compensation module, and error coefficients of the X axis and the Y axis of the gyroscope are obtained through the least square method.

Description

technical field [0001] The invention relates to the technical field of flexible gyro inclinometers, in particular to a north-seeking full-temperature calibration compensation method for flexible gyro inclinometers. Background technique [0002] When the inclinometer seeks north, the gyro and accelerometer signals will vary with the temperature in the full temperature range, and north seeking at the same position will result in a difference of several degrees to tens of degrees in the attitude angle of the north seeking result. At present, there is no better solution for full-temperature calibration method for spot measurement of inclinometers for drilling, which has poor accuracy, long calibration time, and cannot perform full-temperature calibration compensation in the field. The working temperature range of the gyro inclinometer is -20°C-85°C. To work at a temperature exceeding 85°C, an insulation tube must be added, and the flexible gyroscope is an electromechanical struc...

AI Technical Summary

Problems solved by technology

[0002] When the inclinometer seeks north, the gyro and accelerometer signals will change with the temperature in the full temperature range, and north seeking at the same position will result in a difference of several degrees to tens of degrees in the attitude angle of the north seeking results

At present, there is no better full-temperature calibration method solution for spot measurement of inclinometers for drilling, which has poor accuracy, long calibration time, and cannot perform full-temperature calibration compensation in the field

The working temperature range of the gyro inclinometer is -20°C-85°C. To work at a temperature exceeding 85°C, an insulation tube must be added, and the flexible gyroscope is an electromechanical structure, and the material is greatly affected by temperature changes, which has a considerable impact on the gyroscope parameters. , the difference between the north-finding accuracy and the true value can reach tens of degrees. At present, there are two methods to solve this problem: 1. Screening gyroscopes: select gyroscopes with superior temperature performance. The disadvantage is that the cost of this method is relatively high.

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