A rapid test method for the angular acceleration response capability of fiber optic gyroscopes

Abstract

The present invention discloses a method for quickly testing the angular acceleration response capability of a fiber optic gyroscope. The method mounts the gyroscope to be tested on a hexahedron fixture and places it on an antistatic rubber mat. A fast sampling cable is connected between the gyroscope, an industrial computer, and a power supply box. The power supply box is used to power the gyroscope. The gyroscope test software on the industrial computer is then opened to conduct an angular acceleration response capability experiment. The present invention does not require large-scale measuring equipment such as an angular vibration table or a sudden stop table, does not require software to be written for fiber optic gyros with different interfaces and protocols, and does not require a complex data processing process. By using the universal high-precision fiber optic gyroscope angular acceleration response capability test and data processing method of the present invention, the angular acceleration response capability level of the gyroscope to be tested can be quickly and easily obtained using only an ordinary hexahedron fixture, relying on different angular acceleration generation technologies and rapid sampling and data updating technologies at a rate of more than 1000 Hz.

Description

Technical Field

[0001] The present invention relates to a low-cost rapid testing method for the angular acceleration response capability of a high-precision fiber optic gyroscope's rate-sensitive axis, which does not rely on large-scale precision angular acceleration measurement equipment but only relies on ordinary hexahedral tooling, and belongs to the technical field of fiber optic gyroscope testing. Background Art

[0002] In recent years, fiber optic gyroscopes (FOGs), with their unique advantages, have gradually become a mainstream instrument in the field of inertial navigation technology. With the development of various technologies, high-precision FOGs are gradually becoming practical and entering the market. For FOGs, angular acceleration response is one of their most important design specifications, directly affecting their application in large dynamic ranges and high-precision applications. High-precision FOGs typically increase demodulation time and integration times to suppress noise, which reduces the gyro circuit's response bandwidth and increases latency, further affecting its angular acceleration response capability. Therefore, accurate and necessary measurements of the FOG's angular acceleration response level are necessary to evaluate the dynamic response design specifications of high-precision FOGs.

[0003] However, the current measurement of the angular acceleration response capability of the fiber optic gyroscope generally uses the swing of large-scale measurement equipment such as a large number of multi-stage angular vibration tables and sudden stop tables to generate angular acceleration input for the fiber optic gyroscope. This requires high precision of the measurement equipment, and the test time is long, the process is complex, and the data processing volume is large.

[0004] Therefore, it is necessary to propose a method for testing and processing the angular acceleration response capability of a high-precision fiber optic gyroscope that is easy to operate, simple and fast, and does not rely on large equipment, so as to improve the economy and efficiency of the test. Summary of the Invention

[0005] The problem solved by the present invention is to change the current measurement method of angular acceleration response capability test, which requires the use of large equipment such as a three-axis test turntable to generate different angular accelerations, and to provide a simple, fast, and high-precision fiber optic gyroscope angular acceleration response capability measurement method that does not rely on large equipment.

[0006] The technical solution of the present invention is:

[0007] A method for quickly testing the angular acceleration response capability of a fiber optic gyroscope comprises the following steps:

[0008] 1) Fix the fiber optic gyroscope to be tested in a hexahedron fixture, and place the hexahedron fixture on an antistatic rubber mat;

[0009] 2) Connect sampling cables between the fiber optic gyroscope to be tested and the industrial computer, and between the fiber optic gyroscope to be tested and the power box;

[0010] 3) Powering the fiber optic gyroscope to be tested and obtaining the initial output of the fiber optic gyroscope to be tested in a stationary state;

[0011] 4) Select an edge from the hexahedron tooling as the rotation axis, place the rotation axis on the anti-static rubber mat, rotate the hexahedron tooling around the rotation axis to a certain angle, then remove the external force, allowing the hexahedron tooling to rotate freely under the action of gravity and fall back onto the anti-static rubber mat;

[0012] 5) After the hexahedral tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output data of the fiber optic gyroscope under test in the static state is consistent with the initial output of the fiber optic gyroscope under test obtained in step 3). If so, proceed to step 6); otherwise, proceed to step 7);

[0013] 6) increasing the rotation angle so that the current rotation angle is greater than the previous rotation angle, repeating steps 4) to 5) until the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3), and then proceeding to step 7);

[0014] 7) discarding the output data of the fiber optic gyroscope during this rotation process, accumulating the number of times the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3) by 1, powering off the fiber optic gyroscope under test and re-powering it, and after the gyroscope output is consistent with the initial output, reducing the rotation angle so that the current rotation angle is smaller than the previous rotation angle, repeating step 4), and then proceeding to step 8);

[0015] 8) After the hexahedral tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output of the fiber optic gyroscope to be tested is consistent with the initial output of the fiber optic gyroscope to be tested obtained in step 3). If so, proceed to step 9); otherwise, proceed to step 7);

[0016] 9) increasing the rotation angle so that the current rotation angle is greater than the previous rotation angle, repeating step 4) and then proceeding to step 8); until the output of the fiber optic gyroscope to be tested is inconsistent with the initial output of the fiber optic gyroscope to be tested obtained in step 3) for more than m times, then proceeding to step 10);

[0017] 10) obtaining the angular acceleration of the fiber optic gyroscope under test during the rotation process according to the output data of the fiber optic gyroscope under test during the rotation process, and obtaining the maximum angular acceleration of the fiber optic gyroscope under test during the rotation process when the rotation angle is maximum as a test result;

[0018] 11) Compare the test result with the design index. If the test result is greater than the design index, it is determined that the angular acceleration response capability of the fiber optic gyroscope to be tested meets the requirements. Otherwise, it is determined that the angular acceleration response capability of the fiber optic gyroscope to be tested does not meet the requirements.

[0019] Preferably, the rotating shaft is always located on the antistatic rubber pad during the rotation process.

[0020] Preferably, the initial rotation angle θ1 ranges from 15° to 35°.

[0021] Preferably, in step 6), the rotation angle is increased to θ k+1 =θ k +ε k+1 , ε k+1 =a; a is smaller than the initial rotation angle.

[0022] Preferably, the value range of a is 5° to 10°.

[0023] Preferably, in step 7), the rotation angle is reduced to Among them, ε k is the change in the last rotation angle.

[0024] Preferably, in step 9), the rotation angle is increased to

[0025] Preferably, the value of m ranges from 3 to 5.

[0026] Preferably, MATLAB software is used to obtain the angular acceleration of the fiber optic gyroscope to be measured during the rotation process.

[0027] Preferably, in step 4), an edge parallel to the sensitive axis of the fiber optic gyroscope to be measured is selected as the rotation axis.

[0028] The advantages of the present invention compared with the prior art are:

[0029] 1) The present invention does not require large-scale measuring equipment such as an angular vibration table or a sudden stop table, does not require software to be written for fiber optic gyros with different interfaces and protocols, and does not require a complicated data processing process. By adopting the universal high-precision fiber optic gyroscope angular acceleration response capability testing and data processing method of the present invention, the angular acceleration response capability level of the gyroscope to be tested can be easily and quickly obtained by only using ordinary hexahedral tooling, relying on different angular acceleration generation technology and fast sampling and data updating technology of more than 1000 Hz.

[0030] 2) The entire angular acceleration response capability test process of the present invention only requires laying anti-static rubber mats and installing and placing the gyroscope tooling a few minutes before the experiment begins. The equipment is ordinary, the operation is simple, and the process is safe. It can be successfully completed by only one person. After the experiment is completed, the angular acceleration response capability results of the gyroscope are calculated and intuitively displayed by Matlab.

[0031] 3) The test method and data processing of the present invention are implemented by gyro test software and Matlab, and are applicable to rate gyros with different software protocols and are universal. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A rapid testing method for the angular acceleration response capability of a fiber optic gyroscope of the present invention;

[0033] Figure 2 This is a schematic diagram of the placement and testing process of the fiber optic gyroscope of the present invention;

[0034] Figure 3 The output data of the high-precision fiber optic gyroscope of the present invention in the angular acceleration response capability test;

[0035] Figure 4 This is the angular acceleration response capability result calculated by Matlab in the present invention. DETAILED DESCRIPTION

[0036] The present invention installs the fiber optic gyroscope to be tested on a protective tooling, performs the test according to a prescribed method, and the gyroscope continuously collects data throughout the entire process. The angular acceleration response capability is calculated and output using MATLAB software.

[0037] The present invention provides a method for quickly testing the angular acceleration response capability of a fiber optic gyroscope. Figure 1 The specific steps include:

[0038] 1) Fix the fiber optic gyroscope to be tested in the hexahedron fixture and place the hexahedron fixture on the antistatic rubber mat, such as Figure 2 As shown (the hexahedron fixture provides a reference surface and protection for the gyroscope. When stationary, the angular rate sensitive axis of the gyroscope is parallel to the horizontal direction to ensure the safety and accuracy of the test);

[0039] 2) Connect fast sampling cables between the fiber optic gyroscope to be tested and the industrial computer, and between the fiber optic gyroscope to be tested and the power box; the fast sampling cable is a synchronous cable with a sampling frequency of more than 1000 Hz to ensure sufficient data update speed.

[0040] 3) Use a power supply box to power the fiber optic gyroscope to obtain the initial output of the fiber optic gyroscope in a static state;

[0041] 4) Select the edge of the hexahedron fixture that is parallel to the sensitive axis of the fiber optic gyroscope to be tested as the rotation axis, place the rotation axis on the anti-static rubber pad, and rotate the hexahedron fixture at a certain angle θ around the rotation axis. k After removing the external force, the hexahedron tooling rotates freely under the action of gravity and falls back onto the anti-static rubber mat. The rotation axis remains on the anti-static rubber mat during the rotation process. The initial rotation angle θ1 ranges from 15° to 35°.

[0042] 5) After the hexahedral tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output data of the fiber optic gyroscope under test in the static state is consistent with the initial output of the fiber optic gyroscope under test obtained in step 3). If so, proceed to step 6); otherwise, proceed to step 7);

[0043] 6) Increase the rotation angle so that the current rotation angle is greater than the previous rotation angle, θ k+1 =θ k +ε k+1 , ε k+1 = a, then try to increase the lifting height, repeat steps 4) to 5) until the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3) and then proceed to step 7)

[0044] (That is, the gyro output experiences closed-loop failure or mode hopping.) Wherein, the value range of a is 5° to 10°. The gyro closed-loop failure or mode hopping phenomenon is a phenomenon in which the normal gyro output is superimposed with an angular velocity value corresponding to a phase of an integer multiple of 2π. This is because the input angular acceleration reaches or exceeds the maximum angular acceleration response capability of the gyro. This phenomenon can be used to continuously increase the angular acceleration input to verify whether the gyro has achieved the designed maximum angular acceleration response capability.

[0045] 7) Eliminate the output data of the fiber optic gyroscope under test during this rotation process, add 1 to the number of times the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3), power off the fiber optic gyroscope under test and power it back on, and after the gyroscope output is consistent with the initial output, reduce the rotation angle so that the current rotation angle is smaller than the previous rotation angle. Repeat step 4) and proceed to step 8); where ε k is the change in the last rotation angle.

[0046] 8) After the hexahedral tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output of the fiber optic gyroscope to be tested is consistent with the initial output of the fiber optic gyroscope to be tested obtained in step 3). If so, proceed to step 9); otherwise, proceed to step 7);

[0047] 9) Increase the rotation angle so that the current rotation angle is greater than the previous rotation angle. Repeat step 4) and then proceed to step 8); until the output of the fiber optic gyroscope to be tested is inconsistent with the initial output of the fiber optic gyroscope to be tested obtained in step 3) for more than m times, then proceed to step 10); the value range of m is 3 to 5.

[0048] 10) Save the gyro output angular velocity collected by the gyro test software on the industrial computer. Use a custom MATLAB program to calculate the derivative of the rate gyro output angular velocity—the angular acceleration. Combined with the angular velocity output, determine the angular acceleration response capability of the fiber optic gyroscope. Obtain the output data of the fiber optic gyroscope under test during rotation. Use MATLAB software to obtain the angular acceleration during rotation. Obtain the maximum angular acceleration of the fiber optic gyroscope under test during rotation when the rotation angle is maximum as the test result.

[0049] 11) Compare the test result with the design index. If the test result is greater than the design index, it is determined that the angular acceleration response capability of the fiber optic gyroscope to be tested meets the requirements. Otherwise, it is determined that the angular acceleration response capability of the fiber optic gyroscope to be tested does not meet the requirements.

[0050] The specific working principle of the present invention will be explained below with reference to the accompanying drawings.

[0051] The principle of the generation technology of different angular accelerations in the present invention is the angular impulse principle, that is,

[0052]

[0053] Where G is the gravity acting on the gyro fixture, l is the distance from the gravity to the rotation axis, J is the moment of inertia of the gyro around the rotation axis, and α is the angular acceleration.

[0054] Without considering slip, when the hexahedron fixture is rotated through a certain angle θ and the external force is removed, the gyroscope rotates around the contact edge under the influence of gravity G. Due to the short collision time Δt, the gyroscope's sensitive axis experiences a large angular acceleration input according to the principle of angular impulse. Different angular moments of the gyroscope's rotation correspond to different angular momentums when it collides with the antistatic rubber mat, resulting in different angular acceleration inputs to the gyroscope.

[0055] This invention provides a rapid testing method for the angular acceleration response capability of a fiber-optic gyroscope. The method involves mounting the gyroscope to be tested on a fixture and placing the gyroscope on a horizontal antistatic rubber mat. After connecting cables and opening and configuring the gyroscope testing software, the angular acceleration response capability test is performed. Gyroscope output data is continuously collected throughout the process, and the experimental results of the gyroscope's angular acceleration response capability are calculated using Matlab.

[0056] The gyro output angular rate data after Matlab processing is as follows Figure 3 As shown in the figure, the numerical results of the processed gyro angular acceleration are as follows Figure 4 Combining the two figures, it can be seen that the angular acceleration corresponding to the 47th second is the largest and the gyro output can return to the normal zero position when the gyro is stationary. According to the fiber optic gyro angular acceleration response capability test method of the present invention, the angular acceleration response capability of the test gyro can be obtained within 1 minute, which is about 105 ° / s 2 , meet the design indicators (≥80000° / s 2 ).

[0057] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are within the scope of protection of the technical solutions of the present invention. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0058] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope, characterized in that: The steps include: 1) Fix the fiber optic gyroscope to be tested in a hexahedron fixture and place the hexahedron fixture on an anti-static rubber mat; 2) Connect sampling cables between the fiber optic gyroscope to be tested and the industrial computer, and between the fiber optic gyroscope to be tested and the power box; 3) Power the fiber optic gyroscope under test and obtain the initial output of the fiber optic gyroscope under test in a static state; 4) Select an edge from the hexahedron tooling as the rotation axis, place the rotation axis on the anti-static rubber pad, and rotate the hexahedron tooling at a certain angle around the rotation axis. θ k Remove the external force and allow the hexahedron tooling to rotate freely under the action of gravity and fall back onto the anti-static rubber mat; 5) After the hexahedral tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output data of the fiber optic gyroscope under test in the static state is consistent with the initial output of the fiber optic gyroscope under test obtained in step 3). If so, proceed to step 6); otherwise, proceed to step 7); 6) Increase the rotation angle so that the current rotation angle is greater than the previous rotation angle, and repeat steps 4) to 5) until the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3), and then proceed to step 7); 7) Eliminate the output data of the fiber optic gyroscope during this rotation process, add 1 to the number of times the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3), power off the fiber optic gyroscope under test and power it back on. After the gyroscope output is consistent with the initial output, reduce the rotation angle so that the current rotation angle is smaller than the previous rotation angle, repeat step 4), and then proceed to step 8); 8) After the hexahedron tooling falls back onto the antistatic rubber pad and comes to rest again, determine whether the output of the fiber optic gyroscope under test is consistent with the initial output of the fiber optic gyroscope under test obtained in step 3). If so, proceed to step 9). Otherwise, proceed to step 7). 9) increasing the rotation angle so that the current rotation angle is greater than the previous rotation angle, repeating step 4) and then proceeding to step 8); until the output of the fiber optic gyroscope under test is inconsistent with the initial output of the fiber optic gyroscope under test obtained in step 3) for more than m times, then proceeding to step 10); 10) Obtaining the angular acceleration of the fiber optic gyroscope under test during the rotation process according to the output data of the fiber optic gyroscope under test during the rotation process, and obtaining the maximum angular acceleration of the fiber optic gyroscope under test during the rotation process when the rotation angle is maximum as a test result; 11) Compare the test results with the design indicators. If the test results are greater than the design indicators, it is determined that the angular acceleration response capability of the fiber optic gyroscope under test meets the requirements. Otherwise, it is determined that the angular acceleration response capability of the fiber optic gyroscope under test does not meet the requirements.

2. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, characterized in that: During the rotation process, the rotating shaft is always on the anti-static rubber pad.

3. The method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein: Initial rotation angle The value range is 15°~35°.

4. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 3, characterized in that: In step 6), increase the rotation angle to ; Smaller than the initial rotation angle.

5. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 4, characterized in that: The value range is 5° to 10°.

6. The method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein: In step 7), reduce the rotation angle to ,in, is the change in the last rotation angle.

7. The method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein: In step 9), increase the rotation angle to , in, is the change in the last rotation angle.

8. The method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein: The value of m ranges from 3 to 5.

9. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to claim 1, characterized in that: The angular acceleration of the fiber optic gyroscope to be measured during the rotation process is obtained using MATLAB software.

10. A method for rapidly testing the angular acceleration response capability of a fiber optic gyroscope according to any one of claims 1 to 9, characterized in that: In step 4), an edge parallel to the sensitive axis of the fiber optic gyroscope to be measured is selected as the rotation axis.

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