A method for identifying the position of an outer ring of a pendulous integrating gyro accelerometer

Abstract

The application discloses a kind of swing integral gyro accelerometer outer ring position identification method, this method includes: obtaining the expression of apparent acceleration;The expression of apparent acceleration is handled to obtain the matrix expression of apparent acceleration;Obtain multiple outer ring precession angular velocity, according to multiple outer ring precession angular velocity to obtain continuous record data;Obtain multiple outer ring precession angle, according to multiple outer ring precession angle to obtain continuous record data;According to continuous record data and continuous record data, parameter C 11 、C 21 、C 31 In the matrix expression of apparent acceleration, according to the apparent acceleration that swing integral gyro accelerometer sensitive axis senses, parameter C 11 、C 21 Obtain outer ring starting angular position;According to outer ring starting angular position and outer ring precession angle, swing integral gyro accelerometer real-time outer ring absolute angular position is obtained.The application solves the problem that swing integral gyro accelerometer outer ring position is unknown and cannot be controlled, with the characteristics of fast, reliable, practical.

Description

Technical Field

[0001] This invention belongs to the field of inertial technology, and particularly relates to a method for identifying the outer ring position of a pendulum-type integral gyroscope accelerometer. Background Technology

[0002] In high-precision mechanical inertial navigation systems, pendulum-type integrating gyroscope accelerometers are currently mainly used to measure the apparent acceleration of the trajectory, which has the characteristics of high-precision navigation.

[0003] The pendulum integrating gyro accelerometer is a pendulum accelerometer that uses gyro torque for feedback. Its working principle is described in [link to documentation]. Figure 1 . Figure 1 In this coordinate system, OX1Y1Z1 is a coordinate system fixed to the outer frame. OX1 is the acceleration output shaft. The angle by which the outer frame rotates around the OX1 axis is called α, which is the angle of the outer frame relative to the instrument base. Oxyz is a Lechas coordinate system fixed to the inner frame. Oz is the rotor shaft, and Oy is the inner ring shaft of the float. The inner ring angle refers to the angle by which the float rotates along the inner ring shaft, called β, which is the angle of the inner frame relative to the outer frame. These are the angular velocities of the outer frame relative to the instrument base and the inner frame relative to the outer frame, respectively. The apparent acceleration along the outer frame axis OX1 is sensitive to the pendulum integrator gyroscope accelerometer. M X1 The sum of various disturbance torques around the outer frame axis is given by _ml_, where _ml_ is the oscillation of the instrument along the inner frame axis. _H_ is the angular momentum of the instrument rotor. _M_ is the sum of the various disturbance torques around the outer frame axis. D This refers to the torque of the torque motor. The instrument also includes an angle sensor, a servo digital control circuit, a torque motor, and an output device.

[0004] When there is apparent acceleration Along the outer frame axis OX1 of the instrument, the inner frame of the instrument generates an inertial torque. Under ideal conditions where there are no interfering torques on either the inner or outer frame, according to the principle of gyro precession, the rotor will precess along the OX1 direction along with the inner and outer frames, with a precession angular velocity of... Because the angular momentum H has a precession speed This generates gyroscopic torque within the inner frame. When steady state is reached, the inertial torque Precise gyro torque The balance, that is

[0005] or

[0006] With zero as the initial condition, the ideal output is:

[0007]

[0008] During actual precession, the instrument is subjected to interference torque on the outer frame shaft. Due to the influence of [the weather system], the angular momentum H will slowly move towards [the direction of the weather system]. The vector precession causes the rotation angle β of the inner frame relative to the outer frame to gradually increase. To ensure that the inner frame rotor shaft remains perpendicular to the outer frame shaft (β≈0), it is necessary to eliminate... To mitigate the impact of interference torque, the pendulum integrating gyroscope accelerometer is designed with a servo control loop consisting of an angle sensor, a servo digital control circuit, and a torque motor. Ensuring H is perpendicular to the outer frame axis OX1 also endows the pendulum integrating gyroscope accelerometer with the necessary static and dynamic characteristics. When the instrument has... When torque causes an angle β, the angle sensor outputs an AC voltage signal proportional to the magnitude of β. After amplification, demodulation, acquisition, and correction network transformation, this signal is fed into the torque motor, causing it to generate an AC voltage signal proportional to the angle β. Equal in magnitude and opposite in direction electromagnetic torque M D to offset The interference ensures that H remains perpendicular to the outer frame axis.

[0009] Figure 1 In the middle, the output device is used to measure the angular velocity of the outer frame (also known as the outer ring) of the pendulum integrating gyroscope accelerometer relative to the instrument base. The output device of a pendulum-type integrator accelerometer consists of a variable reluctance rotary transformer (called a variable reluctance angle sensor) mounted on the outer ring and an external output circuit. The variable reluctance rotary transformer has n pole pairs, and outputs n electrical cycles for one precession. The output circuit is responsible for processing the output signal of the variable reluctance rotary transformer into positive and negative pulse signals for output. The number of pulses per unit time represents the magnitude of the angular velocity; a positive pulse represents a positive angular velocity, indicating positive rotation of the outer ring, and a negative pulse represents a negative angular velocity, indicating negative rotation of the outer ring. Because the variable reluctance rotary transformer does not provide absolute position information, the current pendulum-type integrator accelerometer output device provides the relative position of the outer ring, but cannot provide the absolute angular position of the outer ring. The absolute position of the outer ring and the float on the outer frame cannot be obtained during power-on precession or power-off shutdown.

[0010] In practical applications of pendulum-type integrator gyroscope accelerometers, the variable reluctance rotary transformer suffers from manufacturing and installation errors. These errors exhibit precession-periodicity with the outer ring position, along with other errors related to the outer ring position. Because the absolute position information of the outer ring is lacking, it's impossible to establish a relationship to compensate for these errors in the output pulses. This results in output errors in the pendulum-type integrator gyroscope accelerometer, affecting the instrument's accuracy. Compensating for errors related to the outer ring position could improve the instrument's accuracy. Furthermore, in practical applications, users are concerned with the horizontal outer ring position of the pendulum-type integrator gyroscope accelerometer at both power-on and power-off times. Especially crucial is the ability to control the horizontally oriented outer ring to stop at the target position at power-off times; however, current technology is incapable of achieving this. Summary of the Invention

[0011] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for identifying the outer ring position of a pendulum integral gyroscope accelerometer. This method solves the problems of unknown and uncontrollable outer ring position of the pendulum integral gyroscope accelerometer, and has the characteristics of being fast, reliable, and practical. It also improves the accuracy of pendulum integral gyroscope accelerometers in engineering applications.

[0012] The objective of this invention is achieved through the following technical solution: a method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer, comprising: obtaining an expression for the apparent acceleration sensed by the sensitive axis of the pendulum-type integrator gyroscope accelerometer; processing the expression for the apparent acceleration sensed by the sensitive axis of the pendulum-type integrator gyroscope accelerometer to obtain a matrix expression for the apparent acceleration; and based on the timing counting result V... N The number of pulses Q in a full revolution of the pendulum integrator gyroscope accelerometer is used to obtain multiple outer ring precession angular velocities. Continuously recorded data A is obtained based on multiple outer ring precession angular velocities. N*1 Based on the cumulative value P of the total number of pulses N The number of pulses Q in a full revolution of the pendulum integrator gyroscope accelerometer is used to obtain multiple outer ring precession angles α. N Continuous recording data B is obtained based on multiple outer ring precession angles. N*3 Based on continuously recorded data A N*1 and continuously recorded data B N*3 The parameter C in the matrix expression of apparent acceleration is obtained by fitting using the least squares method. 11 C 21 C 31 Based on the apparent acceleration a and parameter C sensed by the sensitive axis of the pendulum integrator gyroscope accelerometer 11 C 21 Obtain the starting angle position of the outer ring Based on the starting angle position of the outer ring and outer ring precession angle α N Obtain the real-time absolute angular position of the outer ring of the pendulum integrator gyroscope accelerometer.

[0013] In the above method for identifying the outer ring position of a pendulum integrator accelerometer, the expression for the apparent acceleration sensed by the sensitive axis of the pendulum integrator accelerometer is:

[0014]

[0015] Where 'a' is the apparent acceleration sensed by the pendulum integrator accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal, and 'g0' is the gravitational acceleration. The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on.

[0016] In the above method for identifying the outer ring position of a pendulum-type integrator accelerometer, the matrix expression for the apparent acceleration is:

[0017] A = C 11 sin(α)+C 21 cos(α)+C 31 =B*C;

[0018] A = a;

[0019] B = [sin(α)cos(α)1];

[0020] C = [C 11 C 21 C 31 ] T ;

[0021]

[0022] C 31 = sin(θ)*cos(β)*g0;

[0023] Where 'a' is the apparent acceleration sensed by the pendulum integrator accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal, and 'g0' is the gravitational acceleration. α is the angle between the rotor shaft and the OX1Z1 plane at the moment of power-on; A is the apparent acceleration sensed by the pendulum integrating gyroscope accelerometer, which is another symbol for α; B is the coordinate transformation matrix for rotation α around the outer ring axis of the outer frame; C is the coordinate transformation matrix for rotation α around the outer ring axis of the outer frame. 11 C 21 C 31 The resulting 3×1 matrix, C 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component, C, is the component of gravitational acceleration g0 at OZ1 caused by the angle β.31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

[0024] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, the outer ring precession angular velocity... It can be obtained through the following formula:

[0025]

[0026] in, V is the precession angular velocity of the outer ring. N For the timing count result, Q is the number of pulses in a full revolution of the pendulum integrating gyroscope accelerometer, and N is the time series.

[0027] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, data A is continuously recorded. N*1 It can be obtained through the following formula:

[0028]

[0029] Among them, A N*1 To continuously record data, The outer ring precession angular velocity, N represents the outer loop precession angular velocity recorded when the time series is 1, and N is the time series.

[0030] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, the outer ring precession angle α N It can be obtained through the following formula:

[0031]

[0032] Where, α N For the outer ring precession angle, P N Q represents the cumulative total number of pulses, where Q is the total number of pulses in a full rotation of the pendulum integrating gyroscope accelerometer, and N is the time series.

[0033] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, data B is continuously recorded. N*3 It can be obtained through the following formula:

[0034]

[0035] Among them, B N*3 To record data continuously, α N Let α1 be the outer ring precession angle, α1 be the outer ring precession angle recorded when the time series is 1, and N be the time series.

[0036] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, parameter C 11 C 21 C31 It can be obtained through the following formula:

[0037] C = (B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 ;

[0038] C = [C 11 C 21 C 31 ] T ;

[0039] Among them, A N*1 To continuously record data, B N*3 To record data continuously, C is a subset of C. 11 C 21 C 31 The resulting 3×1 matrix, C 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component, C, is the component of gravitational acceleration g0 at OZ1 caused by the angle β. 31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

[0040] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, the starting angle position of the outer ring... It can be obtained through the following formula:

[0041]

[0042] in, C is the starting angle position of the outer ring. 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component is the component of gravitational acceleration g0 in OZ1 caused by the angle β.

[0043] In the above-mentioned method for identifying the outer ring position of a pendulum-type integrator accelerometer, the real-time absolute angular position of the outer ring of the pendulum-type integrator accelerometer is... It can be obtained through the following formula:

[0044]

[0045] in, This is the real-time absolute angular position of the outer ring of the pendulum-type integrating gyroscope accelerometer. α is the starting angle position of the outer ring. N The outer ring precession angle.

[0046] Compared with the prior art, the present invention has the following advantages:

[0047] This invention considers the machining and installation errors related to the outer ring precession period (α angle) in the output pulses of the gyro accelerometer's outer ring output device, as well as the requirement to control the outer ring angular position when the instrument is in a horizontal orientation. It presents a method for identifying the absolute angular position of the outer ring of a pendulum-type integral gyro accelerometer, identifying the outer ring angular position α angle, and further provides a method for controlling the outer ring to stop at a target position when the pendulum-type integral gyro accelerometer is powered off. Compared to existing technologies where the outer ring position α angle is unknown and the outer ring position cannot be controlled in engineering applications, and where there is no basis for establishing an error model and compensation related to the α angle, this invention proposes for the first time a method for identifying and controlling the outer ring angular position of a pendulum-type integral gyro accelerometer. The outer ring angular position α angle can be known during the power-on test of the pendulum-type integral gyro accelerometer, and the outer ring can be controlled to stop at a target position when the power is off. This lays the foundation for establishing an error model and error compensation related to the α angle, and is beneficial for improving the accuracy and performance of pendulum-type integral gyro accelerometers in engineering applications. Attached Figure Description

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0049] Figure 1 This is a schematic diagram of a pendulum-type integrating gyroscope accelerometer in existing technology;

[0050] Figure 2 This is a schematic diagram of the closed-loop control scheme for the outer ring angular position of the pendulum-type integrator gyroscope accelerometer provided in this embodiment of the invention;

[0051] Figure 3 This is a schematic diagram of the rotor shaft of the pendulum integrator gyroscope accelerometer provided in an embodiment of the present invention pointing upwards at a small angle;

[0052] Figure 4 This is a schematic diagram of the rotor shaft of the pendulum integral gyroscope accelerometer provided in an embodiment of the present invention pointing towards the ground at a small angle. Detailed Implementation

[0053] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0054] This embodiment provides a method for identifying the outer ring position of a pendulum-type integrating gyroscope accelerometer, the method comprising:

[0055] Step S1: Obtain the expression for the apparent acceleration sensed by the sensitive axis of the pendulum integral gyroscope accelerometer.

[0056] The expression for the apparent acceleration sensed by the sensitive axis of the pendulum integrator accelerometer is:

[0057]

[0058] Where 'a' is the apparent acceleration sensed by the pendulum integrator accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal, and 'g0' is the gravitational acceleration. The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on, i.e., the starting angle position of the outer ring.

[0059] Step S2: Process the expression of the apparent acceleration sensed by the sensitive axis of the pendulum integral gyroscope to obtain the matrix expression of the apparent acceleration.

[0060] The matrix expression for apparent acceleration is:

[0061] A = C 11 sin(α)+C 21 cos(α)+C 31 =B*C;

[0062] A = a;

[0063] B = [sin(α)cos(α)1];

[0064] C = [C 11 C 21 C 31 ] T ;

[0065]

[0066] C 31= sin(θ)*cos(β)*g0;

[0067] Where 'a' is the apparent acceleration sensed by the pendulum integrator accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal, and 'g0' is the gravitational acceleration. A is the angle between the rotor shaft and the OXZ plane at the moment of power-on; B is the apparent acceleration sensed by the pendulum integrating gyroscope accelerometer, which is another symbol for 'a'; C is the coordinate transformation matrix of rotation α around the outer ring axis of the outer frame; D is the coordinate transformation matrix of rotation α around the outer ring axis of the outer frame. 11 C 21 C 31 A 3×1 matrix composed of C 11 The first acceleration input component caused by angle β, which is the component of gravitational acceleration g0 at OX1, is related to the starting angle position of the outer ring. Forming a sinusoidal relationship; C 21 The second acceleration input component, caused by the angle β, is the component of gravitational acceleration g0 at OZ1, relative to the initial angular position of the outer ring. Form a cosine relationship; C 31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

[0068] Step S3: Based on the timing count result V N The number of pulses Q in a full revolution of the pendulum integrator gyroscope accelerometer is used to obtain multiple outer ring precession angular velocities. Continuously recorded data A is obtained based on multiple outer ring precession angular velocities. N*1 Based on the cumulative value P of the total number of pulses N The number of pulses Q in a full revolution of the pendulum integrator gyroscope accelerometer is used to obtain multiple outer ring precession angles α. N Continuous recording data B is obtained based on multiple outer ring precession angles. N*3 .

[0069] outer ring precession angular velocity It can be obtained through the following formula:

[0070]

[0071] in, V is the precession angular velocity of the outer ring. N For the timing count result, Q is the number of pulses in a full revolution of the pendulum integrating gyroscope accelerometer, and N is the time series, N = 1, 2, 3...

[0072] Continuous recording data A N*1 It can be obtained through the following formula:

[0073]

[0074] Among them, AN*1 To continuously record data, The outer ring precession angular velocity, N represents the outer loop precession angular velocity recorded when the time series is 1, and N is the time series.

[0075] outer ring precession angle α N It can be obtained through the following formula:

[0076]

[0077] Where, α N For the outer ring precession angle, P N Q represents the cumulative total number of pulses, where Q is the total number of pulses in a full rotation of the pendulum integrating gyroscope accelerometer, and N is the time series.

[0078] Continuous recording data B N*3 It can be obtained through the following formula:

[0079]

[0080] Among them, B N*3 To record data continuously, α N Let α1 be the outer ring precession angle, α1 be the outer ring precession velocity recorded when the time series is 1, and N be the time series.

[0081] Step S4: Based on continuously recorded data A N*1 and continuously recorded data B N*3 The parameter C in the matrix expression of apparent acceleration is obtained by fitting using the least squares method. 11 C 21 C 31 Based on the apparent acceleration a and parameter C sensed by the sensitive axis of the pendulum integrator gyroscope accelerometer 11 C 21 Obtain the starting angle position of the outer ring

[0082] Parameter C 11 C 21 C 31 It can be obtained through the following formula:

[0083] C = (B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 ;

[0084] C = [C 11 C 21 C 31 ] T ;

[0085] Among them, AN*1 To continuously record data, B N*3 For continuous data recording; C is composed of C 11 C 21 C 31 A 3×1 matrix composed of C 11 The first acceleration input component caused by angle β, which is the component of gravitational acceleration g0 at OX1, is related to the starting angle position of the outer ring. Forming a sinusoidal relationship; C 21 The second acceleration input component 2, caused by the angle β, is the component of gravitational acceleration g0 at OZ1, and is related to the initial angular position of the outer ring. Form a cosine relationship; C 31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

[0086] Outer ring starting angle position It can be obtained through the following formula:

[0087]

[0088] in, C is the starting angle position of the outer ring; 11 The first acceleration input component caused by angle β, which is the component of gravitational acceleration g0 at OX1, is related to the starting angle position of the outer ring. Forming a sinusoidal relationship; C 21 The second acceleration input component, caused by the angle β, is the component of gravitational acceleration g0 at OZ1, relative to the initial angular position of the outer ring. It forms a cosine relationship.

[0089] Step S5: Based on the starting angle position of the outer ring and outer ring precession angle α N Obtain the real-time absolute angular position of the outer ring of the pendulum integrator gyroscope accelerometer.

[0090] Real-time absolute angular position of the outer ring of the pendulum integrator gyroscope accelerometer It can be obtained through the following formula:

[0091]

[0092] in, This is the real-time absolute angular position of the outer ring of the pendulum-type integrating gyroscope accelerometer. α is the starting angle position of the outer ring. N The outer ring precession angle.

[0093] Specifically, step one: Under the gravitational field, after powering on the pendulum integrator accelerometer, adjust its attitude to a small-angle tilted state (the angle θ between the outer ring axis of the outer frame and the horizontal is 0.5°~10°). After coordinate transformation using the direction cosine matrix, the apparent acceleration sensed by the sensitive axis of the pendulum integrator accelerometer is:

[0094]

[0095] in,

[0096] α is the precession angle of the outer ring axis of the outer frame, with the inner ring axis in the OXY plane as the starting position (α=0);

[0097] β is the inner ring angle, which is a fixed value;

[0098] θ is the angle between the outer ring axis of the outer frame and the horizontal, and it is a fixed value;

[0099] g0 is the acceleration due to gravity;

[0100] The angle between the rotor shaft and the OXZ plane at the moment of power-on.

[0101] Step Two: Based on Equation 1 from Step One, expand Equation 1 using trigonometric sum and difference formulas to obtain a new expression:

[0102]

[0103] in:

[0104]

[0105] C 31 =sin(θ)*cos(β)*g0. Equation 5

[0106] Transform Equation 2 into matrix form:

[0107] A = C 11 sin(α)+C 21 cos(α)+C 31 =B*C Equation 6

[0108] in,

[0109] A = a, where a is the sensitive apparent acceleration;

[0110] B = [sin(α)cos(α)1];

[0111] C = [C 11 C 21 C 31 ] T .

[0112] Step 3: Based on the inner loop angle β from Step 2, use a servo digital control circuit to achieve closed-loop control up to 10 arcminutes. Let the cumulative total pulse count be P, initialized to 0, and the total pulse count of the pendulum integrating gyroscope accelerometer be Q. Start synchronous timing and counting from the beginning of the outer loop precession, with a timing interval of 1 second. Record the timing and counting result as V. N The outer ring precession angular velocity per second was recorded as follows: Simultaneously, calculate the pulse increment:

[0113] P N =P N-1 +V N Formula 7

[0114] Among them, P N P represents the cumulative number of pulses recorded over time series N; N-1 This represents the cumulative number of pulses recorded at time N-1 of the time series, where N is the time series.

[0115] Calculate the precession angular velocity of the outer ring:

[0116]

[0117] Calculate the outer ring precession angle:

[0118]

[0119] Continuous data recording:

[0120]

[0121] Where N is a time series.

[0122] Step 4: Based on the cumulative value P of the total number of pulses in Step 3. N When P N When ≥Q, N is a value greater than 60, and the following calculation can be performed. Based on the data A in step three... N*1 and B N*3 The parameter C in step two is obtained by fitting using the least squares method. 11 C 21 C 31 That is, according to C = (B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 Calculate the coefficient C = [C 11 C 21 C 31 ] T The starting angle position of the outer ring is obtained.

[0123] Step 5: Based on the starting angle position of the outer ring in Step 4 And the outer ring precession angle α in step three N ,pass The real-time absolute angular position of the outer ring of the pendulum integrator gyroscope accelerometer was calculated. (Range 0°~360°). The above achieves the identification of the absolute angular position of the outer ring of the pendulum integrator accelerometer.

[0124] Step Six: When the pendulum integrating gyroscope accelerometer is powered off, first adjust its attitude to a small-angle tilted state (the angle θ between the outer ring axis of the outer frame and the horizontal is 0.5°~10°), based on the real-time absolute angle position of the outer ring in Step Five. When approaching the designated angular position (within 0.05° to 1°), the attitude of the pendulum integral gyroscope accelerometer is adjusted to be horizontal, the outer ring of the pendulum integral gyroscope accelerometer stops precessing and stops at the designated angular position, thus realizing the control of the absolute angular position of the outer ring of the pendulum integral gyroscope accelerometer.

[0125] After the pendulum integral gyroscope accelerometer is powered on, it identifies the absolute angular position of the outer ring and controls the outer ring to rotate to the target absolute angular position when the power is off.

[0126] The method for identifying the absolute angular position of the outer ring of a pendulum-type integrating gyroscope accelerometer, based on a variable reluctance rotary transformer as the outer ring angular position sensor, cannot provide zero-position information. Furthermore, the outer ring output device formed by the output circuit also cannot provide absolute position information. In this case, this identification method can obtain the initial angular position of the pendulum-type integrating gyroscope accelerometer relative to the outer ring at the moment of power-on (with the rotor axis upward as the reference). Therefore, the outer ring angular position can be obtained in real time throughout the entire power-on test process. Figure 2 As shown.

[0127] Define the initial angular position of the outer ring of the gyro accelerometer as being axially aligned with the rotor, and define the angle of clockwise precession around the outer ring axis as positive. For a pendulum-type integral gyro accelerometer mounted at a small angle θ under a gravitational field, after coordinate transformation using a direction cosine matrix, the apparent acceleration sensed by the sensitive axis of the pendulum-type integral gyro accelerometer is:

[0128] a=g0*(sin(α)*cos(θ)*sin(β)+sin(θ)*cos(β))

[0129] in:

[0130] α is the precession angle of the outer ring axis of the outer frame, with the inner ring axis in the OXY plane as the starting position (α=0);

[0131] β is the inner ring angle, which is a fixed value;

[0132] θ is the angle between the outer ring axis of the outer frame and the horizontal, and it is a fixed value;

[0133] g0 is the acceleration due to gravity.

[0134] Due to the initial position of the outer ring of the pendulum integrator accelerometer at the moment of power-on. If it is unknown, then it becomes:

[0135]

[0136] in, The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on.

[0137] Unfold, get

[0138]

[0139] in:

[0140]

[0141] C 31 =sin(θ)*cos(β)*g0

[0142] By obtaining angular velocity data at equal time intervals for one full revolution of the outer ring of a pendulum-type integrating gyroscope accelerometer (timed counting), and fitting the data using the least squares method, C in the above equation is obtained. 11 C 21 C 31 When the pendulum integrating gyroscope accelerometer is set to a horizontal, tilted orientation towards the sky, the initial position of the outer ring of the pendulum integrating gyroscope accelerometer is calculated using the following formula, according to the axis system of the pendulum integrating gyroscope accelerometer.

[0143]

[0144] Taking all factors into consideration, C 11 C 21 The symbols can identify the starting position of the entire quantity within a range of ±180°.

[0145] After powering on the pendulum integrating gyroscope accelerometer in any posture, adjust it to a small-angle tilt position, i.e., the angle between the outer ring axis and the horizontal is between 0° and 10°. Use a servo digital control circuit to achieve closed-loop control of the inner ring axis angle β to the target position. Ideally, the larger the angle, the better; generally, angles range from several tens of arcminutes. Let the cumulative pulse count be P, initialized to 0, and the total number of pulses per revolution of the pendulum integrating gyroscope accelerometer be Q. Begin closing the servo control loop to allow the outer ring to precess and perform synchronous timing counting tests. The timing interval is 1 second, and the timing counting result is recorded as V. NThe outer ring precession angular velocity per second was recorded as follows:

[0146] Simultaneously, calculate the pulse increment:

[0147] P N =P N-1 +V N

[0148] Among them, P N P represents the cumulative number of pulses recorded over time series N; N-1 This represents the cumulative number of pulses recorded at time N-1 of the time series, where N is the time series.

[0149] Calculate the precession angular velocity of the outer ring:

[0150]

[0151] Calculate the outer ring precession angle:

[0152]

[0153] Continuous data recording:

[0154]

[0155] Where N is a time series 1, 2, 3...

[0156] When P N When Q is greater than or equal to 0, the starting angle position of the outer loop is calculated. The total pulse P continues to accumulate throughout the entire energizing process.

[0157] According to C = (B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 Calculate the coefficient C = [C 11 C 21 C 31 ] T The starting angle position of the outer ring is obtained. Further, the real-time angular position of the outer ring is obtained. (Range 0°~360°).

[0158] Based on the real-time absolute position of the outer ring, a closed-loop drive method is used to control the precession of the outer ring of the pendulum integrating gyroscope accelerometer to a specified angular position. During the test, the variable P, which records the total number of pulses, is simply the remainder after taking the remainder of the entire revolution, P = P%Q, and then the count is accumulated.

[0159] After the test is completed and before power is cut off, the pendulum integrating gyroscope accelerometer is rotated to a near-horizontal position using an indexing head or other mechanism. The angle θ can be 1° to 5°; the smaller the angle θ, the more accurate the stopping position. The position is then determined based on the real-time absolute position of the outer ring. When the accelerometer has precessed to a position close to the specified angle (within 0.05° to 1°), the pendulum gyroscope accelerometer is rotated to a horizontal position. The outer ring of the pendulum gyroscope accelerometer stops precessing and stops at the specified angle position.

[0160] Starting position Once known, the real-time precession angle α of the outer ring of the pendulum integrating gyroscope accelerometer is obtained by dividing the total number of pulses P (total number of positive pulses - total number of negative pulses) output in real time by the number of pulses in a full revolution N. The absolute position of the outer ring of the pendulum integral gyroscope accelerometer is obtained.

[0161] Based on the identification of the real-time absolute position of the outer ring, a closed-loop drive method is used to control the precession of the outer ring of the pendulum integral gyroscope accelerometer to a specified angular position.

[0162] First, rotate the pendulum integrator accelerometer to a near-horizontal position. Based on the real-time absolute position of the outer ring, wait for it to precess to a position close to the specified angle. Then, rotate the pendulum integrator accelerometer to a horizontal position. The outer ring of the pendulum integrator accelerometer will no longer precess and will stop at the specified angle position.

[0163] When a pendulum-type integrator accelerometer is used on a moving platform, it senses the apparent acceleration along the outer ring axis X1. When there is an angle β on the inner ring axis, the direction X2 of the float's sensing axis does not coincide with the direction X1 of the outer ring axis of the pendulum-type integrator accelerometer. This results in a certain difference in the apparent acceleration sensed by the pendulum-type integrator accelerometer when the outer ring precesses to different angles. The pendulum-type integrator accelerometer is installed at a small angle θ under a gravitational field to simulate the oblique input of acceleration in engineering applications. Figure 3 As shown, when the rotor shaft Z2 is upward, the apparent acceleration detected by the pendulum integrating gyroscope accelerometer is a = g0 * sin(θ + β); Figure 4 As shown, when the rotor axis Z2 is pointing downwards after rotating 180° around the X1 axis, the apparent acceleration detected by the pendulum integral gyroscope accelerometer is a = g0 * sin(θ - β).

[0164] Define the initial angular position of the outer ring of the pendulum integrator accelerometer as being axially aligned with the rotor, with the clockwise precession angle around the outer ring axis defined as positive. For a pendulum integrator accelerometer mounted at a small angle θ under a gravitational field, after coordinate transformation using a direction cosine matrix, the apparent acceleration sensed by the sensitive axis of the pendulum integrator accelerometer is:

[0165] a=g0*(sin(α)*cos(θ)*sin(β)+sin(θ)*cos(β)) Equation 12

[0166] in:

[0167] α is the precession angle of the outer ring axis of the outer frame, with the inner ring axis in the OXY plane as the starting position (α=0);

[0168] β is the inner ring angle, which is a fixed value;

[0169] θ is the angle between the outer ring axis of the outer frame and the horizontal, and it is a fixed value;

[0170] g0 is the acceleration due to gravity.

[0171] Due to the initial position of the outer ring of the pendulum integrator accelerometer at the moment of power-on. If the answer is unknown, then equation 12 becomes:

[0172]

[0173] in, The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on.

[0174] Expanding Equation 13, we get

[0175]

[0176] in:

[0177]

[0178] C 31 =sin(θ)*cos(β)*g0. Equation 17

[0179] Transform Equation 14 into matrix form:

[0180] A = C 11 sin(α)+C 21 cos(α)+C 31 =B*C Equation 18

[0181] in,

[0182] A = a, where a is the sensitive apparent acceleration;

[0183] B = [sin(α)cos(α)1];

[0184] C = [C 11 C 21 C 31 ] T .

[0185] By obtaining angular velocity data at equal time intervals for one full revolution of the outer ring of a pendulum-type integrating gyroscope accelerometer (timed counting), and fitting the data using the least squares method, C in the above equation is obtained. 11 C 21 C 31 When the pendulum integrating gyroscope accelerometer is set to a horizontal tilt towards the sky, the starting position of the outer ring of the pendulum integrating gyroscope accelerometer is calculated by dividing Equations 15 and 16 according to the axis of the pendulum integrating gyroscope accelerometer, and then using the following formula.

[0186]

[0187] Taking all factors into consideration, C 11 C 21 The symbols can identify the starting position of the entire quantity within a range of ±180°.

[0188] After powering on the pendulum integrating gyroscope accelerometer in any posture, adjust it to a small-angle tilt position, i.e., the angle between the outer ring axis and the horizontal is between 0° and 10°. Use a servo digital control circuit to achieve closed-loop control of the inner ring axis angle β to the target position. Ideally, the larger the angle, the better; generally, angles range from several tens of arcminutes. Let the cumulative pulse count be P, initialized to 0, and the total number of pulses per revolution of the pendulum integrating gyroscope accelerometer be Q. Begin closing the servo control loop to allow the outer ring to precess and perform synchronous timing counting tests. The timing interval is 1 second, and the timing counting result is recorded as V. N The outer ring precession angular velocity per second was recorded as follows:

[0189] Simultaneously, calculate the pulse increment:

[0190] P N =P N-1 +V N

[0191] Among them, P N P represents the cumulative number of pulses recorded over time series N; N-1 This represents the cumulative number of pulses recorded at time N-1, where N represents time series 1, 2, 3… Calculate the outer loop precession angular velocity:

[0192]

[0193] Calculate the outer ring precession angle:

[0194]

[0195] Continuous data recording:

[0196]

[0197] Where N is a time series 1, 2, 3...

[0198] When P N When Q is greater than or equal to 0, the starting angle position of the outer loop is calculated. The total pulse P continues to accumulate throughout the entire energizing process.

[0199] According to C = (B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 Calculate the coefficient C = [C 11 C 21 C 31 ] T The starting angle position of the outer ring is obtained. Further, the real-time angular position of the outer ring is obtained. (Range 0°~360°).

[0200] Based on the real-time absolute position of the outer ring, a closed-loop drive method is used to control the precession of the outer ring of the pendulum integrating gyroscope accelerometer to a specified angular position. During the test, the variable P, which records the total number of pulses, is simply the remainder after taking the remainder of the entire revolution, P = P%Q, and then the count is accumulated.

[0201] After the test is completed and before power is cut off, the pendulum integrating gyroscope accelerometer is rotated to a near-horizontal position using an indexing head or other mechanism. The angle θ can be 1° to 5°; the smaller the angle θ, the more accurate the stopping position. The position is then determined based on the real-time absolute position of the outer ring. When the accelerometer has precessed to a position close to the specified angle (within 0.05° to 1°), the pendulum gyroscope accelerometer is rotated to a horizontal position. The outer ring of the pendulum gyroscope accelerometer stops precessing and stops at the specified angle position.

[0202] This embodiment considers the machining and installation errors related to the outer ring precession period (α angle) in the output pulses of the gyro accelerometer's outer ring output device, as well as the requirement to control the outer ring angular position when the instrument is in a horizontal orientation. It presents a method for identifying the absolute angular position of the outer ring of a pendulum-type integrating gyro accelerometer, identifying the outer ring angular position α angle, and further provides a method for controlling the outer ring to stop at the target position when the pendulum-type integrating gyro accelerometer is powered off. Compared to existing technologies where the outer ring position α angle is unknown and the outer ring position cannot be controlled in engineering applications, and where there is no basis for establishing an error model and compensation related to the α angle, this embodiment proposes for the first time a method for identifying and controlling the outer ring angular position of a pendulum-type integrating gyro accelerometer. The outer ring angular position α angle can be known during the power-on test of the pendulum-type integrating gyro accelerometer, and the outer ring can be controlled to stop at the target position when the power is off. This lays the foundation for establishing an error model and error compensation related to the α angle, and is beneficial for improving the accuracy and performance of pendulum-type integrating gyro accelerometers in engineering applications.

[0203] Although the present invention has been disclosed above with reference to 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 utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations 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 shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer, characterized in that... include: The expression for the apparent acceleration sensed by the sensitive axis of the pendulum integral gyroscope accelerometer is obtained; The expression for the apparent acceleration sensed by the sensitive axis of the pendulum integrator accelerometer is processed to obtain the matrix expression for the apparent acceleration; Multiple outer ring precession angular velocities are obtained based on the timing count results and the number of pulses in a full revolution of the pendulum integrating gyroscope accelerometer; and continuous recording data is obtained based on the multiple outer ring precession angular velocities. Multiple outer ring precession angles are obtained based on the cumulative value of the total number of pulses and the number of pulses in a full revolution of the pendulum integrating gyroscope accelerometer, and continuous recording data is obtained based on the multiple outer ring precession angles; Based on continuously recorded data, the parameter C in the matrix expression of apparent acceleration is obtained by fitting using the least squares method. 11 C 21 C 31 Based on the apparent acceleration and parameter C sensed by the sensitive axis of the pendulum integrator gyroscope accelerometer 11 C 21 Obtain the starting angle position of the outer ring; The real-time absolute angular position of the outer ring of the pendulum integral gyroscope accelerometer is obtained based on the starting angular position and the precession angle of the outer ring. The expression for the apparent acceleration sensed by the sensitive axis of the pendulum integrator gyroscope accelerometer is: Where 'a' is the apparent acceleration sensed by the pendulum integrator gyroscope accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal direction, and 'g0' is the gravitational acceleration. The angle between the rotor shaft and the OX1Z1 plane at the moment of power-on.

2. The method for identifying the outer ring position of a pendulum-type integrating gyroscope accelerometer according to claim 1, characterized in that: The matrix expression for apparent acceleration is: A=C 11 sin(a)+C 21 cos(α)+C 31 =B*C; A = a; B = [sin(α)cos(α)1]; C=[C 11 C 21 C 31 ] T ; C 31 =sin(θ)*cos(β)*g0; Where 'a' is the apparent acceleration sensed by the pendulum integrator gyroscope accelerometer's sensing axis, 'α' is the precession angle of the outer ring axis of the outer frame, 'β' is the inner ring angle, 'θ' is the angle between the outer ring axis of the outer frame and the horizontal direction, and 'g0' is the gravitational acceleration. α is the angle between the rotor shaft and the OX1Z1 plane at the moment of power-on; A is the apparent acceleration sensed by the pendulum integrating gyroscope accelerometer, which is another symbol for α; B is the coordinate transformation matrix for rotation α around the outer ring axis of the outer frame; C is the coordinate transformation matrix for rotation α around the outer ring axis of the outer frame. 11 C 21 C 31 The resulting 3×1 matrix, C 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component, C, is the component of gravitational acceleration g0 at OZ1 caused by the angle β. 31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

3. The method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer according to claim 1, characterized in that: outer ring precession angular velocity It can be obtained through the following formula: in, V is the precession angular velocity of the outer ring. N For the timing count result, Q is the number of pulses in a full revolution of the pendulum integrating gyroscope accelerometer, and N is the time series.

4. The method for identifying the outer ring position of a pendulum-type integrator accelerometer according to claim 1, characterized in that: Continuous recording data A N*1 It can be obtained through the following formula: Among them, A N*1 To continuously record data, The outer ring precession angular velocity, N represents the outer loop precession angular velocity recorded when the time series is 1, and N is the time series.

5. The method for identifying the outer ring position of a pendulum-type integrating gyroscope accelerometer according to claim 1, characterized in that: outer ring precession angle α N It can be obtained through the following formula: Where, α N For the outer ring precession angle, P N Q represents the cumulative total number of pulses, where Q is the total number of pulses in a full rotation of the pendulum integrating gyroscope accelerometer, and N is the time series.

6. The method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer according to claim 1, characterized in that: Continuous recording data B N*3 It can be obtained through the following formula: Among them, B N*3 To record data continuously, α N Let α1 be the outer ring precession angle, α1 be the outer ring precession angle recorded when the time series is 1, and N be the time series.

7. The method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer according to claim 1, characterized in that: Parameter C 11 C 21 C 31 It can be obtained through the following formula: C=(B N*3 '*B N*3 ) -1 *B N*3 '*A N*1 ; C=[C 11 C 21 C 31 ] T ; Among them, A N*1 To continuously record data, B N*3 To record data continuously, C is a subset of C. 11 C 21 C 31 The resulting 3×1 matrix, C 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component, C, is the component of gravitational acceleration g0 at OZ1 caused by the angle β. 31 The component of gravitational acceleration g0 at OX1 is the acceleration input caused by angle β.

8. The method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer according to claim 1, characterized in that: Outer ring starting angle position It can be obtained through the following formula: in, C is the starting angle position of the outer ring. 11 The first acceleration input component, C, is the component of gravitational acceleration g0 at OX1 caused by angle β. 21 The second acceleration input component is the component of gravitational acceleration g0 in OZ1 caused by the angle β.

9. The method for identifying the outer ring position of a pendulum-type integrator gyroscope accelerometer according to claim 1, characterized in that: Real-time absolute angular position of the outer ring of the pendulum integrator gyroscope accelerometer It can be obtained through the following formula: in, This is the real-time absolute angular position of the outer ring of the pendulum-type integrating gyroscope accelerometer. α is the starting angle position of the outer ring. N The outer ring precession angle.

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