Full-automatic magnetic compensation method for atomic spin gyroscope based on PID algorithm
A technology of atomic spin and gyroscope, applied in instruments, electric controllers, controllers with specific characteristics, etc., can solve the problems of low precision, long compensation time, complicated operation, etc., to improve the compensation precision, reduce the volume, Accurate data collection
Active Publication Date: 2021-12-03
BEIHANG UNIV
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Problems solved by technology
[0004] The technical problem to be solved in the present invention is: to solve the manual magnetic compensation method of the traditional SERF atomic spin gyroscope, it is necessary to observe the steady-state output of the gyroscope through instruments such as signal generators and oscilloscopes, and provide the step amount based on experience to adjust the compensation axis magnetic field, resulting in Problems of low precision, cumbersome operation and long compensation time
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[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0047] figure 1 It is a schematic diagram of the system framework of the present invention, and the Z axis is defined as the direction of the pumping light of the gyroscope, the X axis is the direction of the detection light orthogonal to it, and the direction perpendicular to the detection light and the pumping light is the Y axis. Among them, 1 represents the pumping laser in the Z-axis direction, 2 represents the detection laser in the X-axis di...
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The invention relates to a full-automatic magnetic compensation method for an SERF atomic spin gyroscope based on a PID algorithm. According to the method, three-axis magnetic compensation is carried out in a full-automatic sequence, firstly, square wave scanning signals are loaded on a scanning axis coil, steady-state values, caused by high and low square wave levels of the scanning axis coil, of output signals of two gyroscopes are collected and filtered, then the two steady-state values are subtracted, a PID algorithm is applied according to the difference value, PID parameters are automatically distributed according to the difference value, the moment difference value and the previous moment difference value are substituted into a PID algorithm for calculation to obtain a stepping quantity voltage, the stepping quantity is loaded to the compensation shaft, the steps are repeated till the gyroscope output steady-state difference value approaches to zero and enters an error band, the compensation shaft coil magnetic field reaches a compensation point, single-shaft compensation is finished, and next-shaft compensation is started. According to the method, three-axis magnetic field compensation is carried out through full-automatic execution of an algorithm, each axis can be compensated to a zero magnetic compensation point, the speed is higher than that of manual magnetic compensation, the precision is superior to 0.1 nT, operation is easy, and the size is smaller.
Description
technical field [0001] The invention relates to a fully automatic magnetic compensation method for a SERF (Spin-Exchange-Relaxation-Free) atomic spin gyroscope based on a PID algorithm, which is applied to the field of active magnetic compensation for a SERF atomic spin gyroscope, and can be quickly implemented in a fully automatic manner. Compensating the magnetic field of the SERF atomic spin gyroscope to the zero magnetic state provides the necessary conditions for the normal operation of the SERF atomic spin gyroscope. Background technique [0002] There is an urgent need for high-precision inertial navigation in the fields of aviation, aerospace, and automatic driving, and the gyroscope is the core component of the inertial navigation system. The performance of the gyroscope directly determines the overall performance of the inertial navigation system. Atomic gyroscopes are considered to be an important development direction for a new generation of ultra-high-precision ...
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Login to View More IPC IPC(8): G01C25/00G05B11/42
CPCG01C25/005G05B11/42
Inventor 周新秀曹朝扬范文峰崔培玲毛琨
Owner BEIHANG UNIV