A double-float gyroscope measurement precision detection tool and detection method

Abstract

The present application relates to the detection of two floating gyroscopes, and particularly relates to a two floating gyroscope measurement precision detection tool and a detection method, which is used to solve the problems of the difference between the single table temperature environment and the inertial combination of the two floating gyroscope, the temperature sensitivity of the two floating gyroscope, the measurement precision error of the rate turntable under the small rate input, and the change of the suspended center under the temperature stress excitation, which leads to the measurement precision of the inclined direction being out of tolerance. The two floating gyroscope measurement precision detection tool comprises a mounting base plate and a mounting base; the mounting base plate is used to fix the two floating gyroscope to be detected to form a gyroscope assembly, and the mounting base is used to set the gyroscope assembly to detect the measurement precision of the two floating gyroscope to be detected; the present application has the advantages of light structure, convenient installation, easy disassembly and fastening of the two floating gyroscope, and easy processing and low manufacturing cost.

Description

Technical Field

[0001] This invention relates to the detection of dual-float gyroscopes, specifically to a tooling and method for measuring the accuracy of dual-float gyroscopes. Background Technology

[0002] Due to their vibration resistance, shock resistance, high reliability, and long lifespan, dual-float gyroscopes are widely used in navigation and attitude control systems of spacecraft, satellites, space stations, and ships. As attitude-sensing elements, they are crucial inertial sensors used to measure the angular motion of the carrier. The measurement accuracy of dual-float gyroscopes significantly impacts the accuracy of navigation and attitude control systems. To achieve high reliability and 100% success in launch and operational missions, multiple redundant technical solutions and multi-meter redundancy for individual technical solutions are employed to reduce the risk of failure of a single meter or technical solution. The inertial assembly's structural design utilizes a redundant design of three dual-float gyroscopes, such as... Figure 1 As shown, the two floating gyroscopes are in an inclined position on the inertial assembly platform. The parameters detected by the three two floating gyroscopes have components in all three axes of the inertial assembly platform, thus achieving multi-table redundancy in a single design scheme.

[0003] The dual-float gyroscope uses a dynamic pressure air bearing motor to achieve frictionless operation of the motor bearing during operation, thereby eliminating the float jitter problem during motor operation. The new problem is that the dual-float gyroscope is particularly sensitive to temperature.

[0004] Reference Figure 2 In the diagram, axes OA, IA, and SA represent the output, input, and motor axes of the dual-float gyroscope, respectively. When the dual-float gyroscope is vertically upward along the positive OA axis, the float is fully buoyant at operating temperature, with no contact between the axis tip and the jewel bearing. When the OA axis is obliquely upward at a 45° angle to the horizontal, the float's axis tip deflects upward due to buoyancy, causing contact with the bearing. If a high-speed input occurs at this time, the torque coil will continuously heat up, increasing the volume of the moving coil assembly and altering the float's levitation attitude. This increases the pressure between the axis tip and the bearing, further increasing friction and causing abnormally large drift in the dual-float gyroscope, leading to out-of-tolerance measurement accuracy.

[0005] Currently, each dual-float gyroscope undergoes orthogonal attitude (vertical upward in the positive direction of the IA axis) measurement accuracy test before delivery. Under high angular velocity input, the heating degree of the torque coil is of the same magnitude as that in the oblique direction (oblique upward in the positive direction of the OA axis, with an angle of 45° to the horizontal direction). However, due to the different contact positions between the shaft tip and the bearing in the oblique direction and the orthogonal attitude, the volume of the moving coil assembly increases after the torque coil heats up, resulting in different changes in the float's suspension attitude. This leads to increased pressure between the shaft tip and the bearing, resulting in increased friction and increased drift of the dual-float gyroscope. Influenced by the consistency of the moving coil assembly processing, the coaxiality of the moving coil installed on the float, the axial balance of the float, and the differences in torque coil resistance, when the moving coil assembly size, the coaxiality of the moving coil assembly installed on the float, the axial balance of the float, the torque coil resistance, or the operating temperature of the dual-float gyroscope are all below the upper limit, the orthogonal attitude measurement accuracy of the dual-float gyroscope will be acceptable, but the oblique direction measurement accuracy will be out of tolerance.

[0006] During the energization of the dual-float gyroscope, the motor, torque generator, and heating element generate heat, forming a ring-shaped distribution along the output shaft. When the gyroscope is in an orthogonal orientation, this temperature field distribution only causes a laminar flow effect in the floating liquid. However, when the dual-float gyroscope is in an inclined orientation, the floating liquid will generate a turbulent flow effect due to gravity.

[0007] During the single-meter testing phase, to avoid temperature fluctuations in the dual-float gyroscope caused by heat conduction, which would affect its accuracy, the mounting plate was made of heat-insulating material, ensuring a stable temperature environment for the dual-float gyroscope. However, the inertial assembly uses a titanium alloy plate, which has fast heat conduction and a large thermal fusion volume, making the dual-float gyroscope more susceptible to the influence of ambient temperature.

[0008] The dual-float gyroscope has a wide operating temperature range. If the selected operating temperature is the upper limit, after repeated alternating temperature tests on a single product, due to the large differences in float materials and the different coefficients of linear expansion of different materials, the deformation of the moving coil assembly, which is made of epoxy resin, is greater than that of the 2A12 aluminum frame and float. This exacerbates the impact of torque coil heating on float suspension attitude under high angular velocity input, leading to increased pressure between the shaft tip and bearing, resulting in increased friction between the shaft tip and bearing, and increased drift of the dual-float gyroscope. Consequently, the inertial combination exhibits measurement accuracy errors after temperature testing.

[0009] In summary, the existing single-dial stage test for dual-float gyroscopes has the following problems:

[0010] (1) The temperature environment of a single-tablet gyroscope is better than that of an inertial combination, which exacerbates the influence of ambient temperature on the dual-float gyroscope.

[0011] (2) The two-float gyroscope is sensitive to temperature. Due to the temperature field effect of the two-float gyroscope and the effect of gravity, the motion characteristics of the floating liquid change, revealing the difference between the accuracy of oblique direction measurement and orthogonal attitude.

[0012] (3) Continuous high angular velocity input increases the degree of coil heating, causing the measurement accuracy of the oblique direction to exceed the tolerance;

[0013] (4) Under the coupling effects of coil winding, processing and assembly of moving coil assembly, axial balance factors of float, and selection of working temperature point of two float gyroscopes, the parameters of each stage are qualified, but the accuracy of oblique direction measurement of delivered inertial assembly is out of tolerance.

[0014] (5) The inertial combined temperature test repeatedly changed the temperature. Under the excitation of temperature stress, the float underwent micro-creep, which caused the center of suspension to change.

[0015] (6) With a fixed data sample size, the measurement accuracy error of the speed turntable causes the measurement accuracy of the low-speed point to exceed the tolerance problem under low-speed input. Summary of the Invention

[0016] The purpose of this invention is to address the shortcomings of single-meter temperature environment and inertial combination in dual-float gyroscopes, temperature sensitivity of dual-float gyroscopes, measurement accuracy error of rate turntable under low-rate input, and measurement accuracy deviation in the oblique direction caused by changes in the suspension center under temperature stress. Therefore, this invention provides a tooling and method for measuring the accuracy of dual-float gyroscopes.

[0017] To address the shortcomings of the existing technology, the present invention provides the following technical solution:

[0018] A fixture for measuring the accuracy of a dual-float gyroscope is characterized by comprising a mounting base and a mounting plate.

[0019] The mounting base has two mutually perpendicular sides that form a first vertical reference plane and a second vertical reference plane, both of which are perpendicular to the upper and lower surfaces of the mounting base, for mounting and positioning the dual floating gyroscope to be tested in the SA and IA axis directions. The mounting base has a first through hole at its center with a diameter larger than the outer diameter of the dual floating gyroscope to be tested and smaller than the outer diameter of the flange ring of the dual floating gyroscope to be tested. Multiple circumferentially distributed waist-shaped holes are provided around the first through hole for fixing the dual floating gyroscope to be tested to the flange ring. Multiple mounting holes are provided around the outer periphery of the mounting base.

[0020] The mounting base includes a top plate, a positioning structure at the bottom of the top plate, and horizontal reference bosses at the four corners of the bottom surface of the positioning structure. The top plate has an angle of 125° with the vertical direction. The center of the top plate has a second through hole with a diameter larger than the outer diameter of the flange ring of the two-floating gyroscope to be tested. Multiple top surface bosses located on the upper surface of the top plate and evenly distributed around the circumference of the second through hole are provided for cooperating with multiple mounting holes to fix the mounting base plate.

[0021] The two vertically arranged sides of the positioning structure form a third vertical reference plane and a fourth vertical reference plane, respectively, for positioning and to cooperate with the positioning block on the speed turntable to prevent the mounting base from being thrown out during high-speed operation.

[0022] Furthermore, each of the multiple top surface protrusions is equipped with a wire thread sleeve to prevent repeated disassembly and thread stripping.

[0023] Furthermore, the mounting substrate is made of heat-insulating material and its surface is treated with bakelite; the mounting base is made of 2A12 and its surface is treated with insulation.

[0024] Furthermore, the diameter of the first through hole is 2 mm larger than the outer diameter of the two floating gyroscopes to be tested, and the diameter of the second through hole is 3 mm larger than the outer diameter of the flange ring of the two floating gyroscopes to be tested.

[0025] Meanwhile, this invention provides a method for detecting the measurement accuracy of a dual-float gyroscope, which is characterized by employing the aforementioned dual-float gyroscope measurement accuracy detection fixture and includes the following steps:

[0026] Step 1: Place the two floating gyroscopes to be tested into the first through hole. The upper surface of the flange ring of the two floating gyroscopes to be tested is in close contact with the lower surface of the mounting base plate, so that the SA axis direction and the IA axis direction are perpendicular to the first vertical reference plane and the second vertical reference plane, respectively. Place screws in multiple waist-shaped holes, but do not tighten the screws. The two floating gyroscopes to be tested and the mounting base plate form a gyroscope assembly.

[0027] Step 2: After calibrating the sensitive axis of the dual-float gyroscope, fix the flange ring of the dual-float gyroscope to be tested to the mounting base plate by tightening the screws in the waist-shaped hole to complete the fixation of the gyroscope assembly;

[0028] Step 3: Install the gyroscope assembly obtained in Step 2 onto the mounting base to form the assembly to be tested; install the assembly to be tested onto the speed turntable, so that the third vertical reference surface and the fourth vertical reference surface mate with the corresponding positioning blocks on the speed turntable; set pressure blocks on the support structure to ensure that the four horizontal reference bosses fit against the surface of the speed turntable.

[0029] Step 4: Turn on the rate turntable to perform accuracy testing of the oblique direction dual-float gyroscope measurement;

[0030] Select either the positive or negative direction, and test and sample sequentially according to the absolute value of the angular velocity from smallest to largest. Then select the opposite direction and test and sample sequentially according to the absolute value of the angular velocity from smallest to largest. This aims to reduce coil heating, reduce the impact of temperature changes on the float's levitation attitude, reduce the friction between the shaft tip and the bearing, and ensure that the accuracy of the oblique direction measurement is qualified. The sampling frequency is 1 gyroscope output value per second.

[0031] Step 5: Perform linear regression on angular velocities ranging from -20° / s to -1° / s and from 1° / s to 20° / s, and calculate the speed scaling factor K according to Formula 1 and Formula 2 respectively. t 1. Regression coefficient b, and then calculate the measurement accuracy E under each angular velocity in step 4 according to formula 3, and judge whether the measurement accuracy test of the oblique direction dual floating gyroscope is qualified.

[0032]

[0033]

[0034]

[0035] Where i is the i-th measurement point in the measurement process, and n is the total number of measurement points; X i Y represents the input rate at the i-th measurement point, in ° / s. i ω is the gyroscope output value measured at the i-th measurement point, in mV; ω is the gyroscope input limit rate, in ° / s.

[0036] Determine whether the measurement accuracy under all angular velocities in step 4 is not greater than 0.001. If so, it means that the measurement accuracy of the oblique direction dual-float gyroscope is qualified, and the maximum value of the measurement accuracy under all angular velocities is taken as the measurement accuracy of the oblique direction dual-float gyroscope. Otherwise, it means that the measurement accuracy of the oblique direction dual-float gyroscope is unqualified. After adjusting the working temperature point of the dual-float gyroscope to a smaller value, the adjustment range is 1.5Ω, and return to step 4.

[0037] Furthermore, step 4 specifically includes:

[0038] Step 4.1: Turn on the rate turntable and rotate it at an angular velocity of a1° / s for at least 72 seconds before sampling to ensure a stable and consistent rate.

[0039] Step 4.2: Rotate at an angular velocity a1° / s, with a sampling time of...

[0040] Rotating at an angular velocity of a2° / s, with a sampling time of

[0041] Rotating at an angular velocity of a3° / s, with a sampling time of

[0042] Rotating at an angular velocity of a4° / s, with a sampling time of

[0043] Rotating at an angular velocity of a5° / s, with a sampling time of

[0044] wherein, 1≤a1<a2<a3<a4<a5≤20, and n1, n2, n3, n4, n5 are all positive integers; step 4.3: rotating at an angular velocity of -a1° / s, and the sampling time is

[0045] rotating at an angular velocity of -a2° / s, and the sampling time is

[0046] rotating at an angular velocity of -a3° / s, and the sampling time is

[0047] rotating at an angular velocity of -a4° / s, and the sampling time is

[0048] rotating at an angular velocity of -a5° / s, and the sampling time is

[0049] the order of step 4.2 and step 4.3 can be swapped.

[0050] further, in step 4.1, starting the rate turntable, and performing sampling after rotating at an angular velocity of a1° / s for 72 s.

[0051] compared with the prior art, the beneficial effects of the present invention are:

[0052] (1) The present invention discloses a double-floated gyro measurement accuracy detection tool, which comprises a mounting base plate and a mounting base; the mounting base plate is configured to be fixed with a double-floated gyro to be detected to form a gyro assembly, and the mounting base is configured to arrange the gyro assembly and perform measurement accuracy detection on the double-floated gyro to be detected; the present invention is light in structure, convenient in installation, easy for disassembly, assembly and fastening of the double-floated gyro, and furthermore, is easy to process and low in manufacturing cost.

[0053] (2) The present invention provides a double-floated gyro measurement accuracy detection method, which performs oblique-direction measurement accuracy detection on a double-floated gyro through the double-floated gyro measurement accuracy detection tool described above; the present invention effectively reduces the problem of measurement accuracy out-of-tolerance caused by coil heating by controlling the input order of angular velocities; and by controlling the sample size of angular velocity data, the influence of the measurement accuracy of the rate turntable at low rates is guaranteed, and the problem of oblique-direction measurement accuracy out-of-tolerance at low rates is avoided.

[0054] (3) The present invention provides a double-floated gyro measurement accuracy detection method, which realizes early screening of gyros through the margin control of the working temperature point of the double-floated gyro and the quantification of oblique-direction accuracy test indicators, avoids the influence of the temperature environment test of the inertial combination, can effectively avoid the problem of oblique-direction measurement accuracy out-of-tolerance, and further guarantees the measurement accuracy of the inertial combination during flight use.

[0055] (4) The present invention provides a method for measuring the accuracy of a dual-float gyroscope. By adjusting the working temperature of the dual-float gyroscope, the problem of excessive measurement accuracy in the oblique direction of the dual-float gyroscope is solved. This is an important measure to support the mass production of gyroscopes and is applicable to similar gyroscope products. Attached Figure Description

[0056] Figure 1 A schematic diagram of the installation of a dual-floating gyroscope inertial assembly;

[0057] Figure 2 This is a schematic diagram of a coordinate system for a dual-floating gyroscope.

[0058] Figure 3 This is a schematic diagram of the mounting base plate in an embodiment of a dual-float gyroscope accuracy measurement fixture of the present invention;

[0059] Figure 4 This is a schematic diagram of the mounting base in an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the structure of the gyroscope assembly obtained in step 2 of an embodiment of the method for measuring the accuracy of a dual-float gyroscope according to the present invention;

[0061] Figure 6 This is a schematic diagram of installing the gyroscope assembly onto the mounting base in step 3 of an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of installing the component to be tested on the turntable in step 3 of an embodiment of the present invention.

[0063] The annotations in the attached figures are explained as follows:

[0064] 01-Dual-float gyroscope; 02-Rate turntable; 03-Positioning block; 04-Pressure block;

[0065] 1-Mounting substrate, 11-First through hole, 12-Oval hole, 13-Mounting hole;

[0066] 2-Mounting base; 21-Top plate; 22-Positioning structure; 23-Horizontal reference boss; 24-Second through hole; 25-Top surface boss; 261-Third vertical reference surface; 262-Fourth vertical reference surface. Detailed Implementation

[0067] The present invention will be further described below with reference to the accompanying drawings and exemplary embodiments.

[0068] Reference Figure 2 The double-floating gyroscope 01 has a flange ring in the middle, and multiple waist-shaped mounting through holes are evenly distributed around the circumference of the flange ring for mounting and fixing the double-floating gyroscope 01.

[0069] Reference Figure 3A fixture for measuring the accuracy of a dual-float gyroscope includes a mounting base 1 and a mounting base 2.

[0070] The mounting base 1 has two mutually perpendicular sides that form a first vertical reference plane and a second vertical reference plane, both of which are perpendicular to the upper and lower surfaces of the mounting base 1. A first through hole 11 with a diameter 2mm larger than the outer diameter of the dual-float gyroscope 01 to be tested is provided at the center of the mounting base 1. Six evenly distributed waist-shaped holes 12 are provided around the outer periphery of the first through hole 11 for fixing to the flange ring of the dual-float gyroscope 01 to be tested. Four mounting holes 13 are provided around the outer periphery of the mounting base 1. The mounting base 1 is made of phenolic laminated glass cloth to avoid slow heating of the dual-float gyroscope 01 due to heat conduction and the influence of environmental heat deposition. Furthermore, to ensure the dimensional and positional tolerances of the mounting base 1, the surface of the mounting base 1 is treated with bakelite. The mounting base 1 is suitable for various types of gyroscopes mounted with intermediate flanges or end faces, and has a simple structure and is easy to process.

[0071] The mounting base 2 includes a top plate 21, a positioning structure 22 disposed at the bottom of the top plate 21, and horizontal reference bosses 23 disposed at the four corners of the bottom surface of the positioning structure 22.

[0072] The top plate 21 has an angle of 125° with the vertical direction. The top plate 21 has a second through hole 24 at its center with a diameter 3 mm larger than the outer diameter of the flange ring of the two-float gyroscope 01 to be tested. Four top surface bosses 25 are located on the upper surface of the top plate 21 and are evenly distributed around the second through hole 24. These bosses are used to cooperate with the four mounting holes 13 to fix the mounting base plate 1. Each of the four top surface bosses 25 is equipped with a wire thread sleeve to avoid repeated disassembly and thread stripping.

[0073] The two sides of the positioning structure 22 arranged in the vertical direction respectively form the third vertical reference surface 261 and the fourth vertical reference surface 262, which are used for positioning and cooperate with the positioning block 03 on the speed turntable 02 and the pressure block 04 to prevent the mounting base 2 from being thrown out during high-speed operation.

[0074] The mounting base 2 is made of 2A12 and its surface is treated with insulation to form a dense protective film, which avoids surface oxidation and helps maintain shape stability.

[0075] A method for measuring the accuracy of a dual-float gyroscope, using the aforementioned fixture for measuring the accuracy of a dual-float gyroscope, includes the following steps:

[0076] Step 1: Place the dual-float gyroscope 01 to be tested in the first through hole 11. The upper surface of the flange ring of the dual-float gyroscope 01 to be tested is in close contact with the lower surface of the mounting base plate 1, so that the SA axis direction and the IA axis direction are perpendicular to the first vertical reference plane and the second vertical reference plane respectively. Place screws in the six waist-shaped holes 12, but do not tighten the screws. The dual-float gyroscope 01 to be tested and the mounting base plate 1 form a gyroscope assembly.

[0077] Step 2: After calibrating the sensitive axis of the dual-float gyroscope 01 (see CN114166244A), fix the flange ring of the dual-float gyroscope 01 to be tested to the mounting base plate 1 by tightening the screw in the waist-shaped hole 12 to complete the fixing of the gyroscope assembly.

[0078] Step 3: Install the gyroscope assembly obtained in Step 2 onto the mounting base 2 to form the component to be tested; install the component to be tested onto the rate turntable 02, so that the third vertical reference surface 261, the fourth vertical reference surface 262, the fifth vertical reference surface and the sixth vertical reference surface respectively cooperate with the corresponding positioning blocks 03 on the rate turntable 02; set the pressure block 04 on the support structure to ensure that the four horizontal reference bosses 23 are in contact with the surface of the rate turntable 02;

[0079] Step 4: Turn on the rate turntable 02 to perform accuracy testing of the oblique direction dual-float gyroscope measurement;

[0080] Step 4.1: Turn on the rate turntable 02, rotate it at an angular velocity of 1° / s for 72s and then sample it. The sampling frequency is 1 gyroscope output value per second.

[0081] Step 4.2: Rotate at an angular velocity of 1° / s, with a sampling time of 360s;

[0082] Rotate at an angular velocity of 3° / s, with a sampling time of 120s;

[0083] Rotate at an angular velocity of 5° / s, with a sampling time of 72s;

[0084] The rotation is performed at an angular velocity of 10° / s, and the sampling time is 36s.

[0085] The rotation was performed at an angular velocity of 20° / s, and the sampling time was 36s.

[0086] Step 4.3: Rotate at an angular velocity of -1° / s, with a sampling time of 360s;

[0087] Rotation was performed at an angular velocity of -3° / s, with a sampling time of 120s.

[0088] The rotation is performed at an angular velocity of -5° / s, and the sampling time is 72s.

[0089] The rotation is performed at an angular velocity of -10° / s, and the sampling time is 36s.

[0090] The rotation is performed at an angular velocity of -20° / s, and the sampling time is 36s.

[0091] Step 5: Perform linear regression on angular velocities ranging from -20° / s to -1° / s and from 1° / s to 20° / s, and calculate the speed scaling factor K according to Formula 1 and Formula 2 respectively. t 1. Regression coefficient b, and then calculate the measurement accuracy E under each angular velocity in step 4 according to formula 3, and judge whether the measurement accuracy test of the oblique direction dual floating gyroscope is qualified.

[0092]

[0093]

[0094]

[0095] Where i is the i-th measurement point in the measurement process, and n is the total number of measurement points, which is 10; X i Y represents the input rate at the i-th measurement point, in ° / s. i ω is the gyroscope output value measured at the i-th measurement point, in mV; ω is the gyroscope input limit rate, in ° / s.

[0096] Determine whether the measurement accuracy under all angular velocities in step 4 is not greater than 0.001. If so, it means that the measurement accuracy of the oblique direction dual-float gyroscope is qualified, and the maximum value of the measurement accuracy under all angular velocities is taken as the measurement accuracy of the oblique direction dual-float gyroscope. Otherwise, it means that the measurement accuracy of the oblique direction dual-float gyroscope is unqualified. After adjusting the working temperature point of the dual-float gyroscope, that is, reduce the working temperature point of the dual-float gyroscope by 1.5Ω, return to step 4.

[0097] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. For those skilled in the art, modifications can be made to the specific technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions protected by the present invention.

Claims

1. A method for measuring the accuracy of a dual-float gyroscope, characterized in that, A dual-float gyroscope accuracy measurement and testing fixture is adopted, which includes a mounting base (1) and a mounting base (2); The mounting base (1) has two mutually perpendicular sides that form a first vertical reference plane and a second vertical reference plane, both of which are perpendicular to the upper and lower surfaces of the mounting base (1) for mounting and positioning the dual floating gyroscope (01) to be tested in the SA and IA axis directions. The mounting base (1) has a first through hole (11) at its center with a diameter larger than the outer diameter of the dual floating gyroscope (01) to be tested and smaller than the outer diameter of the flange ring of the dual floating gyroscope (01) to be tested. The outer periphery of the first through hole (11) has a plurality of circumferentially distributed waist-shaped holes (12) for fixing to the flange ring of the dual floating gyroscope (01) to be tested. The outer periphery of the mounting base (1) has a plurality of mounting holes (13). The mounting base (2) includes a top plate (21), a positioning structure (22) located at the bottom of the top plate (21), and horizontal reference bosses (23) located at the four corners of the bottom surface of the positioning structure (22). The angle between the top plate (21) and the vertical direction is 125°. The top plate (21) has a second through hole (24) with a diameter larger than the outer diameter of the flange ring of the two-float gyroscope (01) to be tested at its center. The second through hole (24) has multiple top surface bosses (25) located on the upper surface of the top plate (21) and evenly distributed around its circumference, which are used to cooperate with multiple mounting holes (13) to fix the mounting base plate (1). The two sides of the positioning structure (22) arranged in the vertical direction respectively form the third vertical reference surface (261) and the fourth vertical reference surface (262), which are used for positioning and cooperate with the positioning block (03) on the speed turntable (02) to prevent the mounting base (2) from being thrown out during high-speed operation. The method for measuring the accuracy of a dual-float gyroscope includes the following steps: Step 1: Place the dual floating gyroscope (01) to be tested in the first through hole (11). The upper surface of the flange ring of the dual floating gyroscope (01) to be tested is in close contact with the lower surface of the mounting base plate (1), so that the SA axis direction and the IA axis direction are perpendicular to the first vertical reference plane and the second vertical reference plane respectively. Screws are placed in multiple waist-shaped holes (12), but the screws are not tightened. The dual floating gyroscope (01) to be tested and the mounting base plate (1) form a gyroscope assembly. Step 2: After calibrating the sensitive axis of the dual-float gyroscope (01), fix the flange ring of the dual-float gyroscope (01) to be tested and the mounting base plate (1) by tightening the screw in the waist-shaped hole (12) to complete the fixing of the gyroscope assembly; Step 3: Install the gyroscope assembly obtained in Step 2 onto the mounting base (2) to form the component to be tested; install the component to be tested onto the rate turntable (02) so that the third vertical reference surface (261) and the fourth vertical reference surface (262) respectively cooperate with the corresponding positioning blocks (03) on the rate turntable (02); set pressure blocks (04) on the support structure to ensure that the four horizontal reference bosses (23) are in contact with the surface of the rate turntable (02); Step 4: Turn on the rate turntable (02) to perform accuracy testing of the oblique direction dual-float gyroscope measurement; Select either the positive or negative direction, and test and sample sequentially according to the absolute value of the angular velocity from smallest to largest. Then select the opposite direction and test and sample sequentially according to the absolute value of the angular velocity from smallest to largest. The sampling frequency is 1 gyroscope output value per second. Step 4.1: Turn on the rate turntable (02) and set the angular velocity... Sampling should be performed after rotating at ° / s for at least 72 s; Step 4.2, with angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; in, , , , , , All are positive integers; Step 4.3, with angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; With angular velocity The rotation is performed at ° / s, and the sampling time is... s; The execution order of steps 4.2 and 4.3 is not important; Step 5: Perform linear regression on angular velocities ranging from -20° / s to -1° / s and from 1° / s to 20° / s, and calculate the rate scaling factor according to Formula 1 and Formula 2 respectively. Regression coefficient Then, calculate the measurement accuracy for each angular velocity in step 4 according to formula 3. Determine whether the accuracy test of the oblique direction dual-float gyroscope measurement is qualified; Formula 1; Formula 2; Formula 3; in, For the first step in the measurement process One measurement point, This represents the total number of measurement points. For the first The input rate at each measurement point, in ° / s; For the first The gyroscope output value corresponding to each measurement point is expressed in mV. The gyroscope input limit rate, in ° / s; Determine whether the measurement accuracy under all angular velocities in step 4 is not greater than 0.

001. If so, it means that the measurement accuracy of the oblique direction dual-float gyroscope is qualified, and the maximum value of the measurement accuracy under all angular velocities is taken as the measurement accuracy of the oblique direction dual-float gyroscope. Otherwise, it means that the measurement accuracy of the oblique direction dual-float gyroscope is unqualified. After adjusting the working temperature point of the dual-float gyroscope to a smaller value, the adjustment range is 1.5Ω, and return to step 4.

2. The method for measuring the accuracy of a dual-float gyroscope according to claim 1, characterized in that: Each of the multiple top surface bosses (25) is equipped with a wire thread sleeve.

3. The method for measuring the accuracy of a dual-float gyroscope according to claim 2, characterized in that: The mounting base (1) is made of heat-insulating material and its surface is treated with bakelite; the mounting base (2) is made of 2A12 and its surface is treated with insulation.

4. A method for measuring the accuracy of a dual-float gyroscope according to any one of claims 1 to 3, characterized in that: The diameter of the first through hole (11) is 2 mm larger than the outer diameter of the two-float gyroscope (01) to be tested, and the diameter of the second through hole (24) is 3 mm larger than the outer diameter of the flange ring of the two-float gyroscope (01) to be tested.

5. The method for measuring the accuracy of a dual-float gyroscope according to claim 1, characterized in that: In step 4.1, the rate turntable (02) is turned on, and the angular velocity is... After rotating at ° / s for 72 s, sampling is performed.

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