Method for improving temperature compensation reliability of fiber-optic gyroscope

Abstract

The invention relates to a temperature compensation optimization method, in particular to a method for improving the temperature compensation reliability of a fiber-optic gyroscope, and aims to solve the problems that the precision is reduced and automatic correction cannot be realized when the conventional fiber-optic gyroscope breaks down. The method comprises the following steps: 1) starting a fiber-optic gyroscope; 2) acquiring a temperature T; 3) verifying the legality of the temperature T; 4) judging whether the temperature T exceeds the limit or not; 5) updating the temperature data, and skipping updating if the temperature T is wrong; if the sensor fails, the current temperature data of the other shaft temperature sensor is used for updating the temperature data; 6) calculating the temperature compensation amount; 7) judging whether the temperature compensation quantity exceeds the limit or not; 8) if the temperature exceeds the limit, carrying out amplitude limiting on the temperature compensation amount, and then outputting the temperature compensation amount to finish one-time temperature compensation on the fiber-optic gyroscope; and returning to the step (2) to obtain the next temperature T until the fiber-optic gyroscope stops working.

Description

Technical Field

[0001] The invention relates to a temperature compensation optimization method, and in particular to a method for improving the reliability of temperature compensation of a fiber optic gyroscope. Background Art

[0002] A fiber optic gyroscope (also called a fiber optic gyroscope) is a sensor that uses the Sagnac effect to measure angular velocity. Fiber optic gyroscopes have the advantages of impact resistance, high sensitivity, long life, large dynamic range, and short startup time, and have been widely used in inertial navigation systems. Figure 2 , including a base 2 and an X-axis module 11, a Y-axis module 12 and a Z-axis module 13 arranged in different directions of the base 2, wherein the X-axis module 11 is provided with an X-axis temperature sensor 101, the Y-axis module is provided with a Y-axis temperature sensor 102, and the Z-axis module 13 is provided with a Z-axis temperature sensor 103, and the X-axis temperature sensor 101, the Y-axis temperature sensor 102 and the Z-axis temperature sensor 103 are all electrically connected to the signal processing circuit 3.

[0003] Fiber optic gyroscopes are usually extremely sensitive to temperature. The non-reciprocal phase shift caused by the uneven change of the surrounding temperature field will cause the zero bias of the fiber optic gyroscope to drift, which is called the Shupe effect. In order to improve the full temperature accuracy of the fiber optic gyroscope, in practical applications, the fiber optic gyroscope is temperature compensated after measuring the real-time temperature of the fiber optic gyroscope using a temperature sensor. During the compensation process, if the measurement data of the temperature sensor is abnormal or the temperature sensor fails, an abnormal compensation result will appear, which will affect the accuracy of the fiber optic gyroscope and cannot be automatically corrected. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the accuracy of the existing fiber optic gyroscope is reduced and cannot be automatically corrected when the temperature compensation fails, and to provide a method for improving the reliability of the temperature compensation of the fiber optic gyroscope.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A method for improving the reliability of temperature compensation of a fiber optic gyroscope is characterized in that it comprises the following steps:

[0007] Step 1, set the upper limit N1 of the temperature failure times, define the temperature failure times N, where N and N1 are both positive integers, and let N=0; start the fiber optic gyroscope;

[0008] Step 2, using the temperature sensor of the fiber optic gyroscope to obtain the temperature T, wherein the temperature sensor is an X-axis temperature sensor, a Y-axis temperature sensor or a Z-axis temperature sensor;

[0009] Step 3, check whether the data transmission of temperature T is correct; if the data transmission is correct, execute step 4; if the data transmission is incorrect, set N+1 and discard the temperature data T; then if N<N1, execute step 5b, if N≥N1, execute step 5c;

[0010] Step 4, determine whether the temperature T exceeds the limit; if the temperature T does not exceed the limit, execute step 5a and set N=0; if the temperature T exceeds the limit, set N+1 and discard the temperature data T, and then if N<N1, execute step 5b, if N≥N1, execute step 5c;

[0011] Step 5a, use the temperature T measured this time to update the temperature data in the register, and then execute step 6;

[0012] Step 5b: If the temperature data already exists in the register, the temperature data is not updated, and then step 6 is executed; if the temperature data does not exist in the register, return to step 2 and re-acquire the temperature T;

[0013] Step 5c, according to the rotation relationship, use the current temperature data T1 of another shaft temperature sensor to update the temperature data in the register, and at the same time determine that this shaft temperature sensor is invalid, and then execute step 6;

[0014] Step 6: Calculate the temperature compensation T c ;

[0015] Step 7: Determine the temperature compensation value T c Is it over the limit? If the temperature compensation value T c If the temperature compensation value T exceeds the limit, execute step 8a; c If the limit is not exceeded, execute step 8b;

[0016] Step 8a: Temperature compensation T c Limit, then execute step 8b;

[0017] Step 8b: Output temperature compensation value T c , complete the temperature compensation of the fiber optic gyroscope, and then return to step 2 to obtain the next temperature T until the fiber optic gyroscope stops working.

[0018] Further, in step 1, N1=3.

[0019] Furthermore, step 4 is specifically as follows:

[0020] Subtract the temperature T obtained this time from the temperature T obtained last time, and let the difference be d; if |d|≤1°C, execute step 5a and set N=0; if |d|>1°C, set N+1 and discard the temperature data T, and then if N<N1, execute step 5b, if N≥N1, execute step 5c.

[0021] Furthermore, the rotation relationship described in step 5c is:

[0022] If the current temperature sensor is the X-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the Y-axis temperature sensor;

[0023] If the current temperature sensor is the Y-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the Z-axis temperature sensor;

[0024] If the current temperature sensor is the Z-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the X-axis temperature sensor.

[0025] Furthermore, step 7 is specifically as follows: if the temperature compensation amount |T c |>T c1 , then execute step 8a; if the temperature compensation amount |T c |≤T c1 , then execute step 8b; where T c1 =0.02℃ / h;

[0026] Step 8a is as follows: let the temperature compensation value T c =0.02°C / h, then proceed to step 8b.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The method for improving the reliability of temperature compensation of a fiber optic gyroscope provided by the present invention adds the over-limit judgment of temperature T and the counting of the number of temperature failures N. When a certain axis sensor fails, the temperature data of the failed axis can be temporarily replaced by the temperature data of the corresponding another axis sensor, thereby increasing the reliability and accuracy of the gyroscope temperature compensation process.

[0029] 2. The method for improving the reliability of temperature compensation of a fiber optic gyroscope provided by the present invention increases the compensation reliability without adding additional sensors and has no impact on product costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a flow chart of an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of an existing fiber optic gyroscope;

[0032] Description of reference numerals:

[0033] 11-X-axis module, 12-Y-axis module, 13-Z-axis module; 101-X-axis temperature sensor, 102-Y-axis temperature sensor, 103-Z-axis temperature sensor; 2-base; 3-signal processing circuit. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] The principle of this embodiment is: Figure 2 For example, the preset program running in the signal processing circuit 3 of the fiber optic gyroscope receives the operating data and corresponding temperature sensor data of the X-axis module 11, the Y-axis module 12 and the Z-axis module 13 of the fiber optic gyroscope in real time. During normal operation, the program verifies and determines the over-limit of the temperature sensor data of each axis, and then updates the temperature data and performs temperature compensation; if the temperature sensor data is abnormal and the number of abnormalities is less than 3 times, the temperature data at the previous moment is used for temperature compensation; if the number of abnormalities is greater than 3 times, the temperature sensor is determined to be abnormal, and the temperature sensor data of the adjacent axial direction is used for temperature compensation; the principle of using adjacent axial temperature sensors is: if the data of the X-axis temperature sensor 101 is abnormal, it is replaced by the data of the Y-axis temperature sensor 102; if the data of the Y-axis temperature sensor 102 is abnormal, it is replaced by the data of the Z-axis temperature sensor 103; if the data of the Z-axis temperature sensor 103 is abnormal, it is replaced by the data of the X-axis temperature sensor 101.

[0036] A method for improving the reliability of temperature compensation of fiber optic gyroscope, the flow chart of which is shown in Figure 1 , see the schematic diagram of the fiber optic gyroscope Figure 2 , including the following steps:

[0037] Step 1, set the upper limit N1 of the temperature failure times, define the temperature failure times N, where N and N1 are both positive integers, and let N=0; start the fiber optic gyroscope;

[0038] Step 2: The temperature sensor of the fiber optic gyroscope acquires the temperature T, wherein the temperature sensor is an X-axis temperature sensor, a Y-axis temperature sensor or a Z-axis temperature sensor;

[0039] Step 3, check the legality of temperature T; if temperature T is legal, execute step 4; if temperature T is illegal, set N+1 and discard temperature data T; then if N<N1, execute step 5b, if N≥N1, execute step 5c;

[0040] Step 4: Subtract the temperature T obtained this time from the temperature T obtained last time, and let the difference be d; if |d|≤1°C, execute step 5a and set N=0 (i.e., set the number of temperature failures N to zero); if |d|>1°C, set N+1 and discard the temperature data T, and then if N<N1, execute step 5b, and if N≥N1, execute step 5c;

[0041] Step 5a, use the temperature T measured this time to update the temperature data in the register, and then execute step 6;

[0042] Step 5b, if the temperature data already exists in the register, skip updating the temperature data and then execute step 6; if the temperature data does not exist in the register, return to step 2 and re-acquire the temperature T;

[0043] Step 5c, according to the rotation relationship, use the current temperature data T1 of another axis temperature sensor to update the temperature data in the register, and determine that this axis temperature sensor is invalid, and then execute step 6; wherein the rotation relationship is: if the current temperature sensor is the X-axis temperature sensor, use the current temperature data T1 of the Y-axis temperature sensor to update the temperature data; if the current temperature sensor is the Y-axis temperature sensor, use the current temperature data T1 of the Z-axis temperature sensor to update the temperature data; if the current temperature sensor is the Z-axis temperature sensor, use the current temperature data T1 of the X-axis temperature sensor to update the temperature data;

[0044] Step 6: Calculate the temperature compensation T c ;

[0045] Step 7: If the temperature compensation value |T c |>T c1 , then execute step 8a; if the temperature compensation amount |T c |≤T c1 , then execute step 8b; where T c1 =0.02℃ / h;

[0046] Step 8a: Set the temperature compensation value T c =0.02°C / h, then proceed to step 8b;

[0047] Step 8b: Output temperature compensation value T c , complete the temperature compensation of the fiber optic gyroscope, and then return to step 2 to obtain the next temperature T until the fiber optic gyroscope stops working.

[0048] The above is only an embodiment of the present invention. In actual application scenarios, the value of N1 may be changed.

Claims

1. A method for improving the reliability of temperature compensation of a fiber optic gyroscope, characterized in that: The following steps are involved: Step 1, set the upper limit N1 of the temperature failure times, define the temperature failure times N, where N and N1 are both positive integers, and let N = 0; Start the fiber optic gyroscope; Step 2, using the temperature sensor of the fiber optic gyroscope to obtain the temperature T, wherein the temperature sensor is an X-axis temperature sensor, a Y-axis temperature sensor or a Z-axis temperature sensor; Step 3, check whether the data transmission of temperature T is correct; if the data transmission is correct, execute step 4; if the data transmission is incorrect, set N+1 and discard the temperature data T; then if N<N1, execute step 5b, if N≥N1, execute step 5c; Step 4, determine whether the temperature T exceeds the limit; if the temperature T does not exceed the limit, execute step 5a and set N=0; if the temperature T exceeds the limit, set N+1 and discard the temperature data T, and then if N<N1, execute step 5b, if N≥N1, execute step 5c; Step 5a, use the temperature T measured this time to update the temperature data in the register, and then execute step 6; Step 5b: If the temperature data already exists in the register, the temperature data is not updated, and then step 6 is executed; if the temperature data does not exist in the register, return to step 2 and re-acquire the temperature T; Step 5c, according to the rotation relationship, use the current temperature data T1 of another shaft temperature sensor to update the temperature data in the register, and at the same time determine that this shaft temperature sensor is invalid, and then execute step 6; Step 6: Calculate the temperature compensation T c ; Step 7: Determine the temperature compensation value T c Is it over the limit? If the temperature compensation value T c If the temperature compensation value T exceeds the limit, execute step 8a; c If the limit is not exceeded, execute step 8b; Step 8a: Temperature compensation T c Limit, then execute step 8b; Step 8b: Output temperature compensation value T c , complete the temperature compensation of the fiber optic gyroscope, and then return to step 2 to obtain the next temperature T until the fiber optic gyroscope stops working.

2. A method for improving the reliability of temperature compensation of an optical fiber gyroscope according to claim 1, characterized in that: In step 1, N1=3.

3. A method for improving the reliability of temperature compensation of an optical fiber gyroscope according to claim 2, characterized in that: Step 4 is as follows: Subtract the temperature T obtained this time from the temperature T obtained last time, and let the difference be d; if |d|≤1°C, execute step 5a and set N=0; if |d|>1°C, set N+1 and discard the temperature data T, and then if N<N1, execute step 5b, if N≥N1, execute step 5c.

4. A method for improving the reliability of temperature compensation of an optical fiber gyroscope according to claim 3, characterized in that: The rotation relationship described in step 5c is: If the current temperature sensor is the X-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the Y-axis temperature sensor; If the current temperature sensor is the Y-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the Z-axis temperature sensor; If the current temperature sensor is the Z-axis temperature sensor, the temperature data is updated using the current temperature data T1 of the X-axis temperature sensor.

5. A method for improving the reliability of temperature compensation of an optical fiber gyroscope according to claim 4, characterized in that: Step 7 is as follows: If the temperature compensation value |T c |>T c1 , then execute step 8a; if the temperature compensation amount |T c |≤T c1 , then execute step 8b; where T c1 =0.02℃ / h; Step 8a is as follows: let the temperature compensation value T c =0.02°C / h, then proceed to step 8b.

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