A distortionless testing method for dynamic errors of fiber-optic gyroscope under linear vibration and angular vibration

Abstract

A kind of optical fiber gyro line vibration and angular vibration under dynamic error distortionless testing method, to be measured gyro is installed on vibration table surface, opens vibration table and carries out test, during the whole vibration process, using gyro test software to collect vibration data, finally with Matlab program intelligent judgment before vibration, in vibration, after vibration three stages, take the data processing method of vibration data full inclusion, can directly show vibration result, avoid the phenomenon that error appears in gyro vibration result caused by the section saving before vibration, in vibration, after vibration data, ensure the accuracy of vibration result.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of optical fiber gyro line vibration and angular vibration under dynamic error of distortionless test method, belong to the field. BACKGROUND

[0002] In recent years, optical fiber gyro gradually becomes one of the mainstream instruments in the field of inertial navigation technology with its unique advantages, with the development of various technologies, high-precision optical fiber gyro gradually towards practical, into the market.For high-precision optical fiber gyro, its environmental adaptability is one of the important standards for measuring gyro performance, so the test experiment and data analysis under line vibration and angular vibration are very important.

[0003] At present, most of the optical fiber gyro is stored according to the test time in the experiment process under line vibration and angular vibration, and the data before vibration, the data after vibration and the data in vibration after reaching magnitude are stored, and the data in vibration after n minutes are tested, and the data in three stages are spliced and processed using Matlab, but this data processing method is more subjective, and the data quantity cannot fully reflect the data deviation in the whole vibration process, especially for high-precision optical fiber gyro, if vibration is one minute, 2000*60 data are output, and a 3 ° / s instantaneous value in vibration affects the average value of 0.09 ° / h, which affects the accuracy of vibration result.

[0004] Therefore, a general, simple and intuitive dynamic test and data processing method of high-precision optical fiber gyro under line vibration and angular vibration is needed to improve the accuracy and working efficiency of vibration. SUMMARY

[0005] The technical problem solved by the present application is that the vibration result is out of tolerance due to the artificial error caused by the splicing and processing method of three groups of data before vibration, after vibration and after n minutes of test after reaching magnitude in the dynamic test process under line vibration and angular vibration in the prior art, and a distortionless test method of dynamic error of optical fiber gyro under line vibration and angular vibration is proposed.

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] A distortionless test method of dynamic error of optical fiber gyro under line vibration and angular vibration, the steps are as follows:

[0008] (1) install the to-be-tested gyro on the vibration table, preset the corresponding vibration condition, and collect the whole process data through the to-be-tested gyro during vibration;

[0009] (2) in the whole process data, the data in each stage before vibration, during vibration and after vibration are intelligently judged by Matlab program, and the vibration result is calculated and obtained according to the obtained data.

[0010] The to-be-tested gyroscope is installed on the vibration table, and full-process data is continuously collected by the designated test system before, during and after vibration to ensure continuous and complete data before, during and after vibration.

[0011] The specific method of intelligent judgment by the Matlab program is as follows:

[0012] (1) In the collected full-process data of the to-be-tested gyroscope, it is judged whether any data is vibration-in-process data, and the vibration-in-process data and the vibration-before data have a difference in value, if the difference in value of the selected data before and after the vibration-in-process data and the vibration-before data is the same as the difference in value of the vibration-in-process data and the vibration-before data, the selected data is the vibration-in-process data.

[0013] (2) After the vibration-before, vibration-in-process and vibration-after data are judged, the linear vibration and angular vibration results of the gyroscope are obtained through vibration formula calculation.

[0014] The difference in value between the vibration-in-process data and the vibration-before data is as follows:

[0015] The output value of the gyroscope at the start of vibration is greater than the average value of the output value of the to-be-tested gyroscope in the previous specified time period.

[0016] If the to-be-tested gyroscope data changes from a static state to a vibration state, if the change in value of the output data of the to-be-tested gyroscope exists, the current time to-be-tested gyroscope data is vibration-in-process data.

[0017] In the process of calculating the linear vibration or angular vibration results of the gyroscope, the start data in the first time period during vibration and the start data in the first time period after vibration are marked, and one more time period of data should be collected during marking to avoid repeated use of the same data for calculation.

[0018] During the vibration process, the time range of each time period is determined according to the vibration test requirements, and the data in each time period is the current time period collected data.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] (1) The present application provides a non-distortion testing method for dynamic error of fiber-optic gyroscope linear vibration and angular vibration, which does not require manual segmentation to save data before, during and after vibration during the online vibration and angular vibration test process, and if vibration data of multiple gyroscopes are collected simultaneously, the human error risk of data confusion caused by storing too much data can be avoided.

[0021] (2) The application only needs to open the gyro test software a few minutes before vibration during the whole linear vibration or angular vibration process, continuously collects data during the whole vibration process, finally intelligently judges the pre-vibration, vibration and post-vibration three stages by Matlab, and the whole process does not need manual operation, only needs to save the calculation data after vibration, can intuitively display the vibration result in 10s, can avoid the distortion of experimental results caused by mixed storage data, ensures the accuracy of the gyro vibration result, and improves the work efficiency;

[0022] (3) The application is suitable for gyroscopes with different software protocols and has universality because the test method and data processing method are realized by cooperation of the vibration table and the computer. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A distortionless test method flowchart of dynamic error of an optical fiber gyroscope under linear vibration and angular vibration is provided for the application;

[0024] Figure 2 A comparison diagram of a full-process optical fiber gyroscope data file and a segmented storage gyroscope data file is provided for the application;

[0025] Figure 3 An intelligent interpretation output data diagram of a high-precision optical fiber gyroscope in online vibration and angular vibration test is provided for the application;

[0026] Figure 4 A comparison diagram of a Matlab calculation result after intelligent interpretation of data and a segmented storage calculation result is provided for the application; DETAILED DESCRIPTION

[0027] A distortionless test method of dynamic error of an optical fiber gyroscope under linear vibration and angular vibration can realize the distortionless test method of dynamic error of an optical fiber gyroscope under linear vibration and angular vibration, and the specific steps are as follows:

[0028] (1) The to-be-tested gyroscope is installed on the vibration table, the corresponding vibration condition is preset, and the full-process data is collected by the to-be-tested gyroscope during the vibration process;

[0029] (2) In the full-process data, the data of the pre-vibration, vibration and post-vibration stages are intelligently judged by the Matlab program, and the vibration result is calculated and obtained according to the obtained data.

[0030] After the to-be-tested gyroscope is installed on the vibration table, the pre-vibration, vibration and post-vibration stages are continuously collected by the designated test system to ensure the continuity and integrity of the pre-vibration, vibration and post-vibration data;

[0031] The specific method for intelligently judging by the Matlab program is as follows:

[0032] (1) In the collected data of the gyroscope under test, determine whether any data is data in vibration. The data in vibration is different from the data before vibration. If the difference between the selected data and the data before vibration is the same as the difference between the data in vibration and the data before vibration, then the selected data is data in vibration.

[0033] (2) After determining the data before, during and after vibration, the results of linear and angular vibration of the gyroscope are obtained by calculating using the vibration formula;

[0034] The differences between the data during vibration and the data before vibration are as follows:

[0035] When oscillation starts, the gyroscope output value is greater than the average value of the output value of the gyroscope under test within the previous specified time period;

[0036] If there is a difference in the change value of the output data of the gyroscope under test when it changes from a static state to a vibrating state on the vibration table, then the data of the gyroscope under test at the current moment is the data during vibration.

[0037] During the calculation of linear or angular vibration results of a gyroscope, the initial data in the first time period during vibration and the initial data in the first time period after vibration are marked. When marking, data for one more time period should be collected to avoid the same data being used repeatedly in the calculation.

[0038] During the vibration process, the time range of each period is determined according to the requirements of the vibration test, and the data within each period is the data collected in the current period.

[0039] The following is a further explanation with reference to specific embodiments:

[0040] In this embodiment, the gyroscope under test is mounted on a vibration fixture and then placed on a vibration table. After setting the vibration conditions, linear or angular vibration experiments are conducted. Throughout the process, the gyroscope's testing software continuously collects data before, during, and after vibration. Finally, Matlab is used to intelligently determine and calculate the gyroscope's vibration experiment results.

[0041] The present invention provides a distortion-free testing and evaluation method for the dynamic error of fiber optic gyroscopes under linear and angular vibration conditions, as follows: Figure 1 As shown.

[0042] The present invention specifically includes the following steps:

[0043] (1) Install the gyroscope on the vibration fixture, and then install it on the vibration table. Set the vibration conditions and turn on the vibration table gain.

[0044] (2) Connect the gyroscope test cable, power on the gyroscope, start the test software, and collect the pre-vibration data.

[0045] (3) Turn on the vibration table and at the same time, the gyroscope test software continuously collects vibration data.

[0046] (4) After the vibration ends, the gyro test software continues to collect post-vibration data, and saves the data collected during the entire vibration process after power-off, as shown in the full-process test gyro data storage file. Figure 2

[0047] (5) The saved gyro vibration data is intelligently interpreted and calculated by using the custom processing program of the Matlab software, which includes four function modules: gyro data reading, gyro data interpretation, distinguishing and marking pre-vibration, mid-vibration and post-vibration data of the gyro, and calculating pre-vibration, mid-vibration and post-vibration data of the gyro.

[0048] (6) After the vibration table starts to vibrate, the gyro output data characteristics are obvious, and the gyro data interpretation module is used to distinguish whether it is start-vibration data, if yes, the previous data is marked as pre-vibration data.

[0049] (7) After the vibration ends, the gyro output data characteristics are also obvious, and the gyro data interpretation module is used to distinguish whether it is vibration end data, if yes, the following data is marked as post-vibration data.

[0050] (8) At this time, the middle section data marked as pre-vibration and post-vibration data is the gyro mid-vibration output, and it should be noted that when taking the mid-vibration data, the pre-vibration and post-vibration data marked should be taken by one more digit, to avoid repeated calculation of pre-vibration, mid-vibration and post-vibration data, and this part is marked by the module of distinguishing and marking pre-vibration, mid-vibration and post-vibration data of the gyro. Figure 3

[0051] (9) By calculating the distinguished pre-vibration, mid-vibration and post-vibration data of the gyro, the experimental results of linear vibration or angular vibration are obtained, as shown in the full-process collected gyro test result. Figure 4

[0052] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application, therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not deviate from the technical solutions of the present application, all belong to the protection scope of the technical solutions of the present application.

[0053] The contents not described in detail in the specification of the present application are the known technology of the person skilled in the art.​​​

Claims

1. A distortionless testing method for dynamic errors of fiber-optic gyroscope under linear vibration and angular vibration, characterized in that The steps are as follows: (1) the to-be-tested gyroscope is installed on the vibration table, the corresponding vibration condition is preset, and the full-process data is collected by the to-be-tested gyroscope during the vibration process; (2) in the full-process data, the data of each stage before, during and after vibration is intelligently judged by a Matlab program, and the vibration result is calculated and obtained according to the obtained data; After the to-be-tested gyroscope is installed on the vibration table, before, during and after vibration, the full-process data is continuously collected by the designated test system, so as to ensure that the data before, during and after vibration is continuous and complete; The specific method of intelligent judgment by the Matlab program is as follows: (1) in the collected full-process data of the to-be-tested gyroscope, it is judged whether any data is the data during vibration, the data during vibration and the data before vibration have different values, if the difference between the values of the selected data before and after and the difference between the values of the data during vibration and the data before vibration are the same, the selected data is the data during vibration; (2) after the data before, during and after vibration is judged, the linear vibration and angular vibration results of the gyroscope are obtained by calculation according to the vibration formula; The difference between the data during vibration and the data before vibration is as follows: When the gyroscope output value is greater than the average value of the to-be-tested gyroscope output value in the specified time before, the data during vibration is obtained; If the to-be-tested gyroscope data changes when the vibration table is from static to vibration state, the to-be-tested gyroscope data at the current time is the data during vibration; During the calculation of the linear vibration or angular vibration result of the gyroscope, the starting data in the first period during vibration and the starting data in the first period after vibration are marked, and one more period of data should be collected after marking to avoid the same data being repeatedly used for calculation; During the vibration process, the time range of each period is determined according to the vibration test requirement, and the data in each period is the data collected in the current period; The gyroscope output data after the vibration table starts is distinguished by the gyroscope data judgment module to determine whether it is the start data, if yes, the data before is marked as the data before vibration; The gyroscope output data after the vibration is over is distinguished by the gyroscope data judgment module to determine whether it is the end of vibration, if yes, the data after is marked as the data after vibration.

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