A device and method for automatically measuring gyroscope swing period

Abstract

A device and method for automatically measuring the gyro swing period, the device includes a gyro and a power supply, a photoelectric sensor for photoelectrically converting the gyro swing position signal, and a gyro swing signal processing device, the gyro swing signal processing device filters, denoises, amplifies, calculates and converts the electrical signal after the gyro swing signal is photoelectrically converted, and finally obtains a regular gyro swing signal; a pendulum gyro controller, the pendulum gyro controller samples the output signal of the gyro swing signal processing device, and measures the gyro swing period according to the sampled data. The present invention not only overcomes the shortcomings of traditional measurement methods, realizes fully automatic one-button measurement, but also greatly improves the measurement speed and measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscope measurement, and in particular to a device and method for automatically measuring a gyroscope swing period. Background Art

[0002] The gyro swing cycle refers to the time taken by the gyro motor placed in the gyro housing, with one end of the housing suspended by a suspension belt, to swing once when the suspension belt is lowered. It is divided into a static swing cycle and a dynamic swing cycle. The static swing cycle refers to the time taken by the gyro motor to swing once when it is not started, and the dynamic swing cycle refers to the time taken by the gyro motor to swing once when it is started. The static swing cycle and the dynamic swing cycle are one of the most important parameters in the orientation measurement process of the integral gyro north finder, and their accuracy has a great influence on the orientation accuracy of the gyro north finder.

[0003] The traditional method for measuring the swing period of a gyro north finder is mainly based on counting / timer or stopwatch timing measurement. When using counting / timer measurement, the gyro swing position is reflected to the photoelectric sensor through a reflector, and the photoelectric sensor counts and times the moment when it receives the reflected light from the reflector, and then transmits the value to an external computer for solution. This measurement method uses more equipment and is complicated to operate, and does not utilize production debugging; when using a stopwatch measurement, it is completed by using a multimeter to observe the swing position analog signal and manually pressing the stopwatch. Although this method is intuitive, it has low measurement efficiency and poor accuracy. It generally requires multiple measurements, removing the maximum and minimum values, and calculating the average. Summary of the invention

[0004] The purpose of the present invention is to propose a gyro swing period automatic measurement device and method, which not only overcomes the shortcomings of traditional measurement methods and realizes fully automatic one-key measurement, but also greatly improves the measurement speed and measurement accuracy, and can make important contributions to the efficiency, reliability and measurement accuracy of gyro orientation measurement. In addition, the measurement device is directly built into the gyro device, and the measurement can be completed by using the pendulum gyro controller to perform signal sampling.

[0005] The technical solution of the present invention is:

[0006] A gyro swing period automatic measuring device includes a gyro and a power supply, and a photoelectric sensor for performing photoelectric conversion on a gyro swing position signal.

[0007] Its special features are:

[0008] Also includes

[0009] A gyro swing signal processing device, wherein the gyro swing signal processing device filters, removes noise, amplifies, calculates and converts the electrical signal after the gyro swing signal is photoelectrically converted, and finally obtains a regular gyro swing signal;

[0010] A pendulum gyro controller samples the output signal of the gyro swing signal processing device and measures the gyro swing period according to the sampled data.

[0011] The gyro swing signal processing device comprises a power supply filtering unit, a signal amplifying unit, a differential summing unit, a dividing unit and a V / F conversion unit;

[0012] The input end of the power filter unit is an external dual-circuit power supply, and the output end serves as a power supply signal for all other units;

[0013] The input end of the signal amplifying unit serves as the input end of the device and is connected to the output end of the external photoelectric sensor;

[0014] The output end of the signal amplifying unit is connected to the input end of the differential summing unit;

[0015] The output end of the differential summing unit is connected to the input end of the dividing unit;

[0016] The output end of the division unit is connected to the input end of the V / F conversion unit;

[0017] The output end of the V / F conversion unit serves as the output end of the device and is connected to the pendulum gyro controller.

[0018] The power filter unit, signal amplification unit, differential summation unit, division unit and V / F conversion unit are all integrated on a PCB; the input end of the power filter unit needs to be connected to an external dual-channel power supply, the input end of the signal amplification unit is connected to the output end of an external photoelectric sensor reflecting the gyroscope swing signal, and the output end of the V / F conversion unit is connected to an external pendulum gyroscope controller. By sampling the output signal of the device by the pendulum gyroscope controller and combining it with a period measurement method, fully automatic and accurate measurement of the gyroscope swing period can be achieved.

[0019] The above-mentioned power supply filter unit includes a first polarity capacitor C1, the positive end of C1 is connected to +15V of an external power supply, one end of a third capacitor C3 and one end of a first magnetic bead L1, the negative end of C1 is connected to GND of an external power supply, the positive end of a second polarity capacitor C2, one end of a fourth capacitor C4, one end of a sixth capacitor C6 and one end of an eighth capacitor C8, the negative end of C2 is connected to -15V of an external power supply, the other end of C4 and one end of a second magnetic bead L2, the other end of C3 is connected to GND of an external power supply, the other end of L1 is connected to one end of a fifth capacitor C5, one end of a seventh capacitor C7 and a positive electrode +Vs of a power supply, the other end of L2 is connected to the other end of a sixth capacitor C6, the other end of C8 and a negative electrode -Vs of a power supply, the other end of C5 and the other end of C7 are all connected to a power ground GND, and the positive electrode +Vs of the power supply, the negative electrode -Vs of the power supply and the power ground GND serve as the output end of the power supply filter unit.

[0020] The above-mentioned signal amplification unit includes an operational amplifier unit U1, and the operational amplifier unit U1 includes four operational amplifier units U1A, U1B, U1C, and U1D. Pin 4 of U1 is connected to the positive electrode of the power supply +Vs, pin 11 of U1 is connected to the negative electrode of the power supply -Vs, pin 13 of U1 is connected to the external input IN1, and pin 9 of U1 is connected to the external input IN2, that is, pins 13 and 9 of U1 serve as external signal input ends of the device, pin 13 of U1 is also connected to one end of the ninth capacitor C9 and one end of the first resistor R1, pin 12 of U1 is connected to the power ground GND, pin 9 of U1 is also connected to one end of the tenth capacitor C10 and one end of the second resistor R2, pin 10 of U1 is connected to the power ground GND, pin 14 of U1 is connected to the other end of C9 and the other end of R1, pin 8 of U1 is connected to the other end of C10 and the other end of R2, and pins 14 and 8 of U1 serve as output ends of the signal amplification unit.

[0021] The above-mentioned differential summing unit includes a third resistor R3, one end of which is connected to the output end of the signal amplifying unit, i.e., pin 8 of U1, and one end of the sixth resistor R6, and the other end of R3 is connected to one end of the seventh resistor R7 and pin 2 of U1, and includes a fourth resistor R4, one end of R4 is connected to the output end of the signal amplifying unit, i.e., pin 14 of U1, and one end of the fifth resistor R5, the other end of R4 is connected to one end of the eighth resistor R8 and pin 3 of U1, the other end of R5 is connected to the other end of R6, pin 6 of U1, and one end of the tenth resistor R10, the other end of R7 is connected to pin 1 of U1, the other end of R8 is connected to the power ground GND and one end of the ninth resistor R9, the other end of R9 is connected to pin 5 of U1, the other end of R10 is connected to pin 7 of U1, and pins 1 and 7 of U1 serve as the output end of the differential summing unit.

[0022] The above-mentioned division unit includes an eleventh resistor R11, one end of which is connected to pin 1 of the output end U1 of the differential summing unit, and the other end of R11 is connected to pin 1 of the first divider U2. It includes a twelfth resistor R12, one end of R12 is connected to pin 7 of the output end U1 of the differential summing unit and pin 2 of U2, the other end of R12 is connected to pin 16 of U2, pin 11 of U2 is connected to the anode of diode D1, the cathode of D1 is connected to the power ground GND, pins 7, 13 and 14 of U2 are all connected to the negative pole of the power supply -Vs, pin 6 of U2 is connected to the positive pole of the power supply +Vs, pins 3 and 12 of U2 are connected, pins 4 and 10 of U2 are connected to one end of the thirteenth resistor R13, the other end of R13 is connected to pin 9 of U2, and pin 8 of U2 serves as the output end of the division unit.

[0023] The V / F conversion unit comprises a first V / F converter U3, wherein pins 1 and 9 of U3 are connected to the positive electrode +Vs of the power supply, pin 8 of U3 is connected to the negative electrode -Vs of the power supply, pins 6, 12 and 13 of U3 are all connected to the power ground GND, pin 4 of U3 is connected to pin 14 and one end of an eleventh capacitor C11, the other end of C11 is connected to pin 5 of U3 and one end of a fourteenth resistor R14, the other end of R14 is connected to pins 15 and 16 of U3, pin 7 of U3 is connected to pin 8 of the output end U2 of the division unit, and pin 10 of U3 is connected to One end of the fifteenth resistor R15 is connected, the other end of R15 is connected to pin 3 of the first crystal oscillator U5, pin 2 of U5 is connected to one end of the thirteenth capacitor C13 and the power ground GND, the other end of C13 is connected to pins 1 and 2 of the first voltage stabilizing module U4 and pin 4 of U5, pin 4 of U4 is connected to the power ground GND, pin 8 of U4 is connected to the positive power supply +Vs and one end of the twelfth capacitor C12, the other end of C12 is connected to the power ground GND, and pin 11 of U3 serves as the output end of the V / F conversion unit, which is also the output end of the device.

[0024] The above-mentioned method for automatically measuring the gyro swing period is special in that it includes:

[0025] Step 1: Connect the input end of the power filter unit of the gyro swing signal processing device to the power supply, and connect the signal input end to the output end of the photoelectric sensor of the gyro device;

[0026] Step 2: Connect the output end of the gyro swing signal processing device to the pendulum gyro controller;

[0027] Step 3: Enter the approximate period value on the pendulum gyro controller;

[0028] Step 4: Start automatic period measurement on the pendulum gyro controller;

[0029] Step 5: After the measurement is completed, the interface displays the measurement results.

[0030] The specific automatic period measurement is as follows:

[0031] ① Based on the sampled value of the Fo signal output by the gyro swing signal processing device, perform reverse point tracking on the gyro swing signal, and determine whether the reverse point is within the measurement allowable range. If not, control the gyro north finder device to perform step tracking until the gyro swing reverse point is within the measurement allowable range. Here, this value is taken as 38000HZ to 58000HZ;

[0032] ② Based on the input approximate period value, perform approximate zero position measurement on the gyro swing signal, that is, integrate the frequency value of one period of the gyro swing, and then perform approximate swing zero position calculation for its approximate period value, and record it as the measured value f0;

[0033] ③ Use a sampling period of 0.1s to perform real-time sampling on the frequency value of the gyro swing signal, denoted as f01. Keep sampling until f01 > f0, make a record, then continue sampling until f01 < f0, start the timer; continue sampling until f01 > f0, make a record, then continue sampling until f01 < f0, and stop the timer;

[0034] ④ Calculate the period value T based on the timing value, analyze this period value. If it differs greatly from the approximate period value, return to ③ for re-measurement. Otherwise, replace the original approximate period value with the period measurement value and display it.

[0035] The beneficial effects of the present invention are:

[0036] a) Gyro swing signal processing device

[0037] After the gyro swing signal undergoes photoelectric conversion, there are certain jitters and ripples in the signal. If sampled directly, sampling inaccuracies will occur, resulting in the inability to measure the period value; if the period value is measured by amplifying the measurement resolution, the measurement result will have a large error. The present invention performs special filtering, noise reduction, amplification, operation, and conversion processing on the electrical signal after the gyro swing signal undergoes photoelectric conversion, and finally obtains a very regular gyro swing signal with fewer noise points.

[0038] b) Period measurement method

[0039] To solve the deficiencies of the traditional gyro swing amplitude period measurement method, a fully automatic period measurement method is designed: sample the swing position data through a pendulum gyro controller, and obtain the swing period value based on the sampled data and the sampling algorithm.

[0040] Compared with the traditional gyro swing period measurement, firstly, the present invention is a one-button fully automatic measurement, and the device directly has the instrument built-in, which saves space and time, brings considerable convenience to the production, debugging and maintenance of the integrating gyro north finder, and improves the test efficiency; secondly, the measurement accuracy of the present invention is significantly improved, which makes a great contribution to the directional measurement accuracy of the integrating gyro north finder. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The circuit diagram of the gyro swing signal processing device of the present invention;

[0042] Figure 2 It is a block diagram of the connection units of the gyro swing signal processing device of the present invention;

[0043] Figure 3 This is a flow chart of the period measurement method of the present invention. DETAILED DESCRIPTION

[0044] The specific contents of the present invention include a gyro swing signal processing device and a period measurement method.

[0045] a) Gyro swing signal processing device

[0046] After the gyro swing signal is photoelectrically converted, there is a certain amount of jitter and ripple in the signal. If it is directly sampled, the period measurement result will be inaccurate and the error will be large. In view of this situation, the present invention designs a gyro swing signal processing device, which can achieve accurate sampling of the gyro swing signal by filtering, amplifying, calculating and V / F converting the original electrical signal of the gyro swing.

[0047] b) Cycle measurement method

[0048] In traditional period measurement, counters are mainly used for measurement, which is time-consuming and labor-intensive. In the present invention, a fully automatic period measurement method is designed, that is, the gyro swing signal is accurately sampled through a pendulum gyro controller, and the accurate gyro swing period is measured based on the sampled data and the approximate period value.

[0049] The gyro swing position signal is first converted to the photoelectric sensor through the laser optical path, and then the photoelectric sensor converts the optical signal into two electrical signals. The gyro swing signal processing device filters, denoises, amplifies, calculates, and V / F converts the two electrical signals to obtain a frequency signal that can be digitally sampled. The signal is connected to the pendulum gyro controller, which uses a sampling frequency of 0.1s for sampling. The gyro swing period is measured based on the sampled data. When the sampled data passes the approximate center position, the measurement is started. When the sampled data passes the approximate center position again from the same direction, the measurement is stopped. The gyro swing period measurement value can be obtained by solving the solution.

[0050] Specific implementation scheme of the present invention:

[0051] a) Gyro swing signal processing device

[0052] The gyro swing position signal is first converted to the photoelectric sensor through the laser optical path, and then the photoelectric sensor converts the optical signal into two electrical signals. The swing signal processing in the present invention is to filter, denoise, amplify, calculate, and V / F convert the two electrical signals to finally obtain a frequency signal that can be digitally measured. The specific implementation scheme is as follows:

[0053] The gyro swing signal processing device includes a power filter unit, a signal amplifying unit, a differential summing unit, a dividing unit and a V / F conversion unit. The input end of the power filter unit is an external dual-circuit power supply, and the output end is used as a power supply signal for all other units; the input end of the signal amplifying unit is used as the input end of the device and is connected to the output end of the external photoelectric sensor, the output end of the signal amplifying unit is connected to the input end of the differential summing unit, the output end of the differential summing unit is connected to the input end of the dividing unit, the output end of the dividing unit is connected to the input end of the V / F conversion unit, and the output end of the V / F conversion unit is used as the output end of the device and is connected to the pendulum gyro controller. Each unit has a simple circuit structure, high integration, and good reliability, and can realize accurate detection of the swing position of the pendulum gyro north finder.

[0054] See also Figure 1 and Figure 2 The gyro swing signal processing device includes a power supply filtering unit, a signal amplifying unit, a differential summing unit, a dividing unit and a V / F conversion unit.

[0055] The power supply filter unit includes a first polarity capacitor C1, the positive end of C1 is connected to +15V of an external power supply, one end of a third capacitor C3 and one end of a first magnetic bead L1, the negative end of C1 is connected to GND of an external power supply, the positive end of a second polarity capacitor C2, one end of a fourth capacitor C4, one end of a sixth capacitor C6 and one end of an eighth capacitor C8, the negative end of C2 is connected to -15V of an external power supply, the other end of C4 and one end of a second magnetic bead L2, the other end of C3 is connected to GND of an external power supply, the other end of L1 is connected to one end of a fifth capacitor C5, one end of a seventh capacitor C7 and a positive power supply +Vs, the other end of L2 is connected to the other end of the sixth capacitor C6, the other end of C8 and a negative power supply -Vs, the other end of C5 and the other end of C7 are all connected to a power supply ground GND, and the positive power supply +Vs, the negative power supply -Vs and the power supply ground GND serve as the output end of the power supply filter unit.

[0056] The signal amplification unit includes an operational amplifier unit U1, which includes four operational amplifier units U1A, U1B, U1C, and U1D. Pin 4 of U1 is connected to the positive pole of the power supply +Vs, pin 11 of U1 is connected to the negative pole of the power supply -Vs, pin 13 of U1 is connected to the external input IN1, and pin 9 of U1 is connected to the external input IN2, that is, pin 13 and pin 9 of U1 serve as external signal input ends of the device, pin 13 of U1 is also connected to one end of the ninth capacitor C9 and one end of the first resistor R1, pin 12 of U1 is connected to the power ground GND, pin 9 of U1 is also connected to one end of the tenth capacitor C10 and one end of the second resistor R2, pin 10 of U1 is connected to the power ground GND, pin 14 of U1 is connected to the other end of C9 and the other end of R1, pin 8 of U1 is connected to the other end of C10 and the other end of R2, and pin 14 and pin 8 of U1 serve as output ends of the signal amplification unit.

[0057] The differential summing unit includes a third resistor R3, one end of which is connected to the output end of the signal amplifying unit, i.e., pin 8 of U1, and one end of the sixth resistor R6, and the other end of R3 is connected to one end of the seventh resistor R7 and pin 2 of U1. It includes a fourth resistor R4, one end of which is connected to the output end of the signal amplifying unit, i.e., pin 14 of U1, and one end of the fifth resistor R5, and the other end of R4 is connected to one end of the eighth resistor R8 and pin 3 of U1, the other end of R5 is connected to the other end of R6, pin 6 of U1, and one end of the tenth resistor R10, the other end of R7 is connected to pin 1 of U1, the other end of R8 is connected to the power ground GND and one end of the ninth resistor R9, the other end of R9 is connected to pin 5 of U1, the other end of R10 is connected to pin 7 of U1, and pins 1 and 7 of U1 serve as the output end of the differential summing unit. The division unit includes an eleventh resistor R11, one end of which is connected to pin 1 of the output end U1 of the differential summing unit, and the other end of R11 is connected to pin 1 of the first divider U2. It includes a twelfth resistor R12, one end of R12 is connected to pin 7 of the output end U1 of the differential summing unit and pin 2 of U2, the other end of R12 is connected to pin 16 of U2, pin 11 of U2 is connected to the anode of diode D1, the cathode of D1 is connected to the power ground GND, pins 7, 13 and 14 of U2 are all connected to the negative pole of the power supply -Vs, pin 6 of U2 is connected to the positive pole of the power supply +Vs, pins 3 and 12 of U2 are connected, pins 4 and 10 of U2 are connected to one end of a thirteenth resistor R13, the other end of R13 is connected to pin 9 of U2, and pin 8 of U2 serves as the output end of the division unit.

[0058] The V / F conversion unit comprises a first V / F converter U3, wherein pins 1 and 9 of U3 are connected to the positive electrode +Vs of the power supply, pin 8 of U3 is connected to the negative electrode -Vs of the power supply, pins 6, 12 and 13 of U3 are all connected to the power ground GND, pin 4 of U3 is connected to pin 14 and one end of an eleventh capacitor C11, the other end of C11 is connected to pin 5 of U3 and one end of a fourteenth resistor R14, the other end of R14 is connected to pins 15 and 16 of U3, pin 7 of U3 is connected to pin 8 of the output end U2 of the division unit, and pin 10 of U3 is connected to the output end U2 of the division unit. It is connected to one end of the fifteenth resistor R15, the other end of R15 is connected to pin 3 of the first crystal oscillator U5, pin 2 of U5 is connected to one end of the thirteenth capacitor C13 and the power ground GND, the other end of C13 is connected to pin 1 and pin 2 of the first voltage stabilizing module U4 and pin 4 of U5, pin 4 of U4 is connected to the power ground GND, pin 8 of U4 is connected to the positive power supply +Vs and one end of the twelfth capacitor C12, the other end of C12 is connected to the power ground GND, and pin 11 of U3 serves as the output end of the V / F conversion unit, which is also the output end of the device.

[0059] The chip models in the present invention are: U1 is ADOP400, U2 is AD538, U3 is AD652, U4 is AD584, and U5 is ZPB-SH 192K.

[0060] The principles and functions of each unit are as follows:

[0061] The gyro swing signal processing device includes a power filter unit, a signal amplification unit, a differential summation unit, a division unit and a V / F conversion unit, and all the units are integrated into a PCB to complete the corresponding functions. The input end of the power filter unit needs to be connected to an external dual-channel power supply, the input end of the signal amplification unit is connected to the output end of an external photoelectric sensor that reflects the gyro swing signal, and the output end of the V / F conversion unit is connected to an external pendulum gyro controller. By sampling the output signal of the device by the pendulum gyro controller and combining the period measurement method, the fully automatic and accurate measurement of the gyro swing period can be achieved.

[0062] The power supply filter unit mainly filters the power supply voltage through capacitors and magnetic beads, and uses the filtered voltage as the power supply voltage of each device in the device;

[0063] The signal amplification unit mainly filters and amplifies the gyro swing electrical signal by using resistors, capacitors and operational amplifiers to obtain an amplified signal of the gyro swing electrical signal;

[0064] The differential summing unit mainly realizes the difference and superposition of the two electrical signals of the gyroscope swing by matching the resistors and the operational amplifiers.

[0065] The division unit uses a divider to perform a division operation on the differential signal and the superimposed signal, and finally obtains an analog signal. The magnitude of this analog signal can reflect the amplitude of the gyroscope swing.

[0066] The V / F conversion unit mainly uses a V / F converter to convert the analog signal reflecting the gyroscope swing amplitude into a frequency signal, which is convenient for the pendulous gyroscope controller to sample.

[0067] b) Period measurement method

[0068] The pendulous gyroscope controller samples the output Fo signal of the above device and measures the gyroscope swing period according to the sampled data. See Figure 3 for details. The specific implementation scheme is as follows:

[0069] ① According to the Fo sampling value, track the reversal points of the gyroscope swing signal and determine whether the reversal points are within the measurement allowable range. If not, control the gyro north finder device to perform step tracking until the gyroscope swing reversal points are within the measurement allowable range. Here, this value is taken as 38000HZ - 58000HZ.

[0070] ② According to the input approximate period value, perform an approximate zero position measurement on the gyroscope swing signal, that is, integrate the frequency value of one cycle of the gyroscope swing, and then perform an approximate swing zero position calculation for its approximate period value, and record it as the measured value f0.

[0071] ③ Use a sampling period of 0.1s to perform real-time sampling on the frequency value of the gyroscope swing signal, denoted as f01. Keep sampling until f01 > f0, make a record, then continue sampling until f01 < f0, start the timer; continue sampling until f01 > f0, make a record, then continue sampling until f01 < f0, and stop the timer.

[0072] ④ Calculate the period value T according to the timing value, analyze this period value. If it differs greatly from the approximate period value, return to ③ for re-measurement. Otherwise, replace the original approximate period value with the period measurement value and display it.

[0073] The general usage steps are as follows:

[0074] Step1: Connect the input end of the power filter unit of the gyroscope swing signal processing device to the power supply, and connect the signal input end to the output end of the gyroscope device's optoelectronic sensor.

[0075] Step2: Connect the output end of the gyroscope swing signal processing device to the pendulous gyroscope controller.

[0076] Step3: Input the approximate period value on the pendulous gyroscope controller.

[0077] Step 4: Start automatic period measurement on the pendulum gyro controller;

[0078] Step 5: After the measurement is completed, the interface displays the measurement results.

[0079] The comparison of the measurement accuracy of the present invention and the traditional method is shown in Table 1.

[0080] Table 1 Comparison of measurement accuracy between this method and traditional method

[0081]

[0082] The swing period of the gyro north finder is measured using the fully automatic measurement method of the present invention and the traditional stopwatch measurement method, and the measurement results in Table 1 are obtained. It can be seen from the data that the traditional measurement method has scattered measurement data and low accuracy, and generally requires multiple measurements to take the average value. The method of the present invention not only has high measurement accuracy, but also can greatly improve the measurement efficiency.

Claims

1. A gyro swing period automatic measuring device, comprising a gyro and a power supply, a photoelectric sensor for performing photoelectric conversion on the gyro swing signal, Features: It also includes a gyro swing signal processing device, which filters, removes noise, amplifies, calculates and converts the electrical signal of the gyro swing signal after the gyro swing signal is photoelectrically converted, and finally obtains a regular gyro swing signal; A pendulum gyro controller, which samples the output signal of the gyro swing signal processing device and measures the gyro swing period according to the sampled data; The gyro swing signal processing device includes a power supply filtering unit, a signal amplifying unit, a differential summing unit, a dividing unit and a V / F conversion unit; The input end of the power filter unit is an external dual-circuit power supply, and the output end serves as a power supply signal for all other units; The input end of the signal amplifying unit is connected to the output end of the photoelectric sensor; The output end of the signal amplifying unit is connected to the input end of the differential summing unit; The output end of the differential summing unit is connected to the input end of the dividing unit; The output end of the division unit is connected to the input end of the V / F conversion unit; The output end of the V / F conversion unit is connected to the pendulum gyro controller; The power supply filtering unit, signal amplifying unit, differential summing unit, dividing unit and V / F conversion unit are all integrated into one PCB; The input end of the power filter unit needs to be connected to an external dual-channel power supply, the input end of the signal amplification unit is connected to the output end of an external photoelectric sensor that reflects the gyro swing signal, and the output end of the V / F conversion unit is connected to an external pendulum gyro controller. The pendulum gyro controller samples the output signal and combines it with a period measurement method to achieve fully automatic and accurate measurement of the gyro swing period. The differential summing unit includes a third resistor R3, one end of which is connected to the output end of the signal amplifying unit, i.e., pin 8 of U1, and one end of a sixth resistor R6, and the other end of R3 is connected to one end of a seventh resistor R7 and pin 2 of U1; it also includes a fourth resistor R4, one end of which is connected to the output end of the signal amplifying unit, i.e., pin 14 of U1, and one end of a fifth resistor R5, the other end of R4 is connected to one end of an eighth resistor R8 and pin 3 of U1, the other end of R5 is connected to the other end of R6, pin 6 of U1, and one end of a tenth resistor R10, the other end of R7 is connected to pin 1 of U1, the other end of R8 is connected to the GND of the power supply and one end of a ninth resistor R9, the other end of R9 is connected to pin 5 of U1, the other end of R10 is connected to pin 7 of U1, and pins 1 and 7 of U1 serve as the output end of the differential summing unit; The division unit includes an eleventh resistor R11, one end of which is connected to pin 1 of the output end U1 of the differential summing unit, and the other end of R11 is connected to pin 1 of the first divider U2; it also includes a twelfth resistor R12, one end of R12 is connected to pin 7 of the output end U1 of the differential summing unit and pin 2 of U2, the other end of R12 is connected to pin 16 of U2, pin 11 of U2 is connected to the anode of diode D1, the cathode of D1 is connected to GND of the power supply, pins 7, 13 and 14 of U2 are all connected to the negative pole of the power supply -Vs, pin 6 of U2 is connected to the positive pole of the power supply +Vs, pins 3 and 12 of U2 are connected, pins 4 and 10 of U2 are connected to one end of a thirteenth resistor R13, the other end of R13 is connected to pin 9 of U2, and pin 8 of U2 serves as the output end of the division unit.

2. The automatic measuring device for gyroscope swing period as claimed in claim 1, Features: The power supply filter unit includes a first polarity capacitor C1, the positive end of C1 is connected to +15V of an external power supply, one end of a third capacitor C3 and one end of a first magnetic bead L1, the negative end of C1 is connected to GND of an external power supply, the positive end of a second polarity capacitor C2, one end of a fourth capacitor C4, one end of a sixth capacitor C6 and one end of an eighth capacitor C8, the negative end of C2 is connected to -15V of an external power supply, the other end of C4 and one end of a second magnetic bead L2, the other end of C3 is connected to GND of an external power supply, the other end of L1 is connected to one end of a fifth capacitor C5, one end of a seventh capacitor C7 and a positive electrode +Vs of a power supply, the other end of L2 is connected to the other end of a sixth capacitor C6, the other end of C8 and a negative electrode -Vs of a power supply, the other end of C5 and the other end of C7 are all connected to GND of a power supply, and the positive electrode +Vs of the power supply, the negative electrode -Vs of the power supply and GND of the power supply serve as the output end of the power supply filter unit.

3. The automatic measuring device for gyroscope swing period according to claim 1 or 2, Features: The signal amplification unit includes an operational amplifier unit U1, which includes four operational amplifier units U1A, U1B, U1C, and U1D. Pin 4 of U1 is connected to the positive pole of the power supply +Vs, pin 11 of U1 is connected to the negative pole of the power supply -Vs, pin 13 of U1 is connected to the external input IN1, and pin 9 of U1 is connected to the external input IN2, that is, pin 13 and pin 9 of U1 serve as external signal input ends, pin 13 of U1 is also connected to one end of the ninth capacitor C9 and one end of the first resistor R1, pin 12 of U1 is connected to the GND of the power supply, pin 9 of U1 is also connected to one end of the tenth capacitor C10 and one end of the second resistor R2, pin 10 of U1 is connected to the GND of the power supply, pin 14 of U1 is connected to the other end of C9 and the other end of R1, pin 8 of U1 is connected to the other end of C10 and the other end of R2, and pin 14 and pin 8 of U1 serve as output ends of the signal amplification unit.

4. The automatic measuring device for gyroscope swing period according to claim 1 or 2, Features: The V / F conversion unit includes a first V / F converter U3. Pin 1 and pin 9 of U3 are connected to the positive power supply +Vs. Pin 8 of U3 is connected to the negative power supply -Vs. Pin 6, pin 12, and pin 13 of U3 are all connected to the GND of the power supply. Pin 4 and pin 14 of U3 are connected to one end of the eleventh capacitor C11. The other end of C11 is connected to pin 5 of U3 and one end of the fourteenth resistor R14. The other end of R14 is connected to pin 15 and pin 16 of U3. Pin 7 of U3 is connected to pin 8 of the output terminal U2 of the division unit. Pin 10 of U3 is connected to one end of the fifteenth resistor R15. The other end of R15 is connected to pin 3 of the first crystal oscillator U5. Pin 2 of U5 is connected to one end of the thirteenth capacitor C13 and the GND of the power supply. The other end of C13 is connected to pin 1, pin 2 of the first voltage regulator module U4, and pin 4 of U5. Pin 4 of U4 is connected to the GND of the power supply. Pin 8 of U4 is connected to the positive power supply +Vs and one end of the twelfth capacitor C12. The other end of C12 is connected to the GND of the power supply. Pin 11 of U3 serves as the output terminal of the V / F conversion unit.

5. A method for automatically measuring the gyroscopic swing period as described in claim 1, characterized in that, it includes: Step1: Connect the input end of the power supply filtering unit of the gyroscopic swing signal processing device to the power supply, and connect the signal input end to the output end of the gyroscopic device photoelectric sensor; Step2: Connect the output end of the gyroscopic swing signal processing device to the pendulum gyroscopic controller; Step3: Input the approximate period value on the pendulum gyroscopic controller; Step4: Start the automatic period measurement on the pendulum gyroscopic controller; Step5: After the measurement is completed, the measurement result is displayed on the interface.

6. The method for automatically measuring the gyroscopic swing period as described in claim 5, characterized in that, the specific automatic period measurement is: ① According to the sampling value of the Fo signal output by the gyroscopic swing signal processing device, perform reverse point tracking on the gyroscopic swing signal, and judge whether the reverse point is within the measurement allowable range. If not, control the gyroscopic north finder device to perform step tracking until the reverse point of the gyroscopic swing is within the measurement allowable range of 38000HZ - 58000HZ; ② According to the input approximate period value, perform approximate zero position measurement on the gyroscopic swing signal, that is, integrate the frequency value of one period of the gyroscopic swing, and then perform approximate swing zero position calculation for the approximate period value, and record it as the measurement value f0; ③ Use a sampling period of 0.1s to perform real-time sampling on the frequency value of the gyroscopic swing signal, denoted as f01, and keep sampling until f01 > f0, make a record, then continue sampling until f01 < f0, start the timer; continue sampling until f01 > f0, make a record, then continue sampling until f01 < f0, and turn off the timer; ④ Calculate the period value T according to the timing value, analyze this period value. If it differs greatly from the approximate period value, return to ③ for re-measurement. Otherwise, replace the original approximate period value with the period measurement value and display it.

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