Method for testing and compensating gyroscope installation error angle of fiber-optic gyroscope inertial platform

Abstract

The invention relates to a method for testing and compensating a gyroscope installation error angle of a fiber-optic gyroscope inertial platform, which is used for testing the installation error angle of a fiber-optic gyroscope platform relative to a hexahedral coordinate system after the fiber-optic gyroscope is installed on a platform body. The gyroscope installation error and the ground velocity are coupled in gyroscope output during error coefficient calibration, so that the true value of the calibration result of the instrument error coefficient is influenced, calibration is carried out in different orientations, the ground velocities coupled with the gyroscope installation error are different, and therefore, the calibration results of four orthogonal orientations are combined, and the gyroscope installation error angle calculation is realized in an analytic mode. And compensating the obtained gyroscope installation error angle into the error model, thereby solving the problem of testing the precision of the gyroscope of the high-precision fiber-optic gyroscope platform.

Description

Technical Field

[0001] The invention relates to a method for testing and compensating a gyro installation error angle of an optical fiber gyro inertial platform, and belongs to the technical field of inertial platform installation error angle testing. Background Art

[0002] The fiber optic gyro inertial platform is an inertial navigation measurement device that uses inertial sensitive sensors to measure the linear motion and angular motion parameters of the carrier relative to the inertial space. The fiber optic gyro inertial platform consists of a fiber optic gyro, an accelerometer, a platform, a support frame, and a stable control loop. The platform is stabilized in the inertial space through the stable control loop, the carrier angular velocity is measured by the fiber optic gyro, the carrier linear acceleration is measured by the accelerometer, and the carrier velocity and position are solved using Newton's second law.

[0003] The current analytical method does not have the ability to automatically calibrate the gyroscope installation error, which results in the gyroscope zero bias being slightly affected when the platform swings to different directions for self-calibration. The fiber optic gyroscope zero bias has no trend term characteristics, so it is judged to be the error of the non-inertial instrument itself. By analyzing the error of the calibration method, its error mechanism is obtained, so research on compensation methods is carried out.

[0004] There are always errors in the manufacturing process and installation of the inertial system, so errors such as instrument installation errors will affect the platform accuracy. The six-position analytical calibration method uses 6 orthogonal rotations to obtain the calibration results using the instrument's positive and negative inverted data. Due to installation errors, the gyroscope installation error is coupled with the ground speed in the gyroscope output, resulting in large differences in calibration results at different orientations, which is one of the factors for the low accuracy of the gyroscope. Summary of the invention

[0005] The technical problem solved by the present invention is: in view of the problem that the traditional inertial calibration analysis method in the current prior art is difficult to avoid the error and easily causes the gyroscope to have a low precision level, a method for testing and compensating the gyroscope installation error angle of a fiber optic gyro inertial platform is proposed.

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

[0007] A method for testing and compensating a gyro installation error angle of an optical fiber gyro inertial platform, comprising:

[0008] The fiber optic gyro inertial platform is set at a preset position, and four azimuth angles are set for the fiber optic gyro inertial platform in the plane of the preset position for calibrating the fiber optic gyro;

[0009] Perform self-aiming and self-calibration of the fiber optic gyro inertial platform at four azimuth angles to obtain calibration results at each azimuth angle;

[0010] Establish a fiber optic gyroscope installation error model, use the calibration results of various orientation angles as model input, and solve the installation error angles of each fiber optic gyroscope;

[0011] The calculated gyro installation error angle is compensated to the output of each fiber optic gyro.

[0012] The azimuth angles are four orthogonal angles at the geographic level. At the four orthogonal angles, a self-aiming command of the fiber optic gyro inertial platform is sent through an external control system. After the self-aiming is completed, a self-calibration command is sent to obtain the calibration results at each orthogonal angle, which are used as the model input of the fiber optic gyro installation error model; the number of gyroscopes of the fiber optic gyro inertial platform is 3.

[0013] The fiber optic gyro inertial platform is arranged on a marble slab as an isolation foundation, and the horizontality of the marble slab is determined according to the calibration task requirements of the fiber optic gyro inertial platform action.

[0014] The angle setting method of the fiber optic gyro inertial platform at the preset position is:

[0015] The angle between the X-axis direction of the fiber optic gyro inertial platform and the north direction is set to α, the north-west direction is taken as the positive direction, and the X-axis direction of the fiber optic gyro inertial platform is pointed to four orthogonal angles through manual operation or an external turntable, including azimuth angles α1, α2=α1+90, α3=α1+180, and α3=α1+270, and the positive and negative deviations of each orthogonal angle do not exceed 2°.

[0016] After the external control system sends the self-aiming command of the fiber optic gyro inertial platform, the measured values ​​of the four orthogonal angles α1, α2, α3, and α4 of the fiber optic gyro inertial platform are α0, α1, and α2. 90 , α 180 , α 270 , the gyro bias corresponding to each measured value is recorded as:

[0017] When the measured value is α0, the self-calibrated gyro bias is recorded as K0GX α ,K0GY α ,K0GZ α ;

[0018] When the measured value is α 90 When the self-calibrated gyro zero bias is recorded as K0GX α+90 ,K0GY α+90 ,K0GZ α+90 ;

[0019] When the measured value is α 180 When the self-calibrated gyro zero bias is recorded as K0GX α+180 ,K0GY α+180 ,K0GZ α+180 ;

[0020] When the measured value is α 270 When the self-calibrated gyro zero bias is recorded as K0GX α+270 ,K0GY α+270 ,K0GZ α+270 .

[0021] The fiber optic gyro installation error model is:

[0022] KX α =K0GX' α -(w n ×cos(α-π / 2))×sin(E xy )

[0023] Kj α =K0GY' α +(w n ×cos(α-π / 2))×sin(E yx )

[0024] KZN α =K0GZ' α -(w n ×cos(α))×sin(E zy )

[0025] In the formula, K0Gi α (i=x,y,z) is the measured value of the X, Y, and Z gyroscope zero bias, in degrees / h;

[0026] K0Gi'(i=x,y,z) is the real gyroscope zero bias, unit is ° / h;

[0027] w n is the local northward ground speed, ω U is the local celestial ground speed, in ° / h;

[0028] α Platform self-aiming X-axis azimuth (north-west is positive), unit is rad;

[0029] E xy , E yx , E zy is the gyroscope installation error, in rad.

[0030] According to the FOG installation error model, the calibration results of each orientation angle are used as the model input to solve the installation error angle of each FOG (E xy , E yx , E zy ) is:

[0031]

[0032]

[0033] E zy =arcsin((K0GZ α -K0GZ α+180 ) / (cos(α0)-cos(α 180 ))×w n ).

[0034] The calculated gyro installation error angle (E xy , E yx , E zy ) is compensated to each fiber optic gyroscope output through the gyroscope output error compensation model, and the gyroscope output error compensation model is:

[0035] K0GX α =K0GX α +(w n ×cos(α-π / 2))×sin(E xy )

[0036] K0GY α =K0GY α -(w n ×cos(α-π / 2))×sin(E yx )

[0037] K0GZ α =K0GZ α -(w n ×cos(α))×sin(E zy )

[0038] In the formula, Input angular velocity for the gyroscope in ° / h;

[0039] k g0i is the zero-order error coefficient, unit is ° / h;

[0040] E ij is the gyroscope installation error, in rad.

[0041] The FOG inertial platform is set on a marble slab as an isolated foundation or directly on a position turntable; the initial position of the FOG inertial platform is used for self-calibration, and the X-axis and Y-axis gyro installation errors (E xy , E yx ), the Z-axis gyro installation error of each fiber optic gyro installation error angle (E zy ) is calibrated and determined at different initial positions.

[0042] After the compensation output of each fiber optic gyro installation error angle is calculated, it is bound to the external main control system through parameter binding, and the gyro zero bias is continuously updated and compensated during the subsequent fiber optic gyro inertial platform self-calibration process.

[0043] The advantages of the present invention compared with the prior art are:

[0044] (1) The present invention provides a method for testing and compensating the gyro installation error angle of an optical fiber gyro inertial platform, which overcomes the deficiency of the existing platform discrete analytical calibration technology that cannot compensate for the gyro installation error. It utilizes the coupling amount of the ground speed component and the gyro installation angle, adopts the traditional calibration method under orthogonal orientation, and brings the calibration results with coupled gyro installation error angles in different orientations into the gyro installation error model to finally obtain the installation error angle value of the gyro relative to the platform. Subsequently, the gyro installation error is eliminated by mathematical methods in the form of compensation. It overcomes the influence of the coupling between the gyro installation error and the ground speed, solves the problem of testing the gyro accuracy out-of-tolerance in different orientations of the 6-position analytical calibration method, and achieves the purpose of making the system value of the gyro calibration closer to the true value;

[0045] (2) The present invention adopts the original calibration method and error model. On the basis of the unmodified scheme, it uses the ground speed component information and adds a scalable gyroscope installation error angle parameter by adding a calibration process for a special position. At the same time, it solves the problem that the calibration result is related to the platform placement angle. By compensating for the gyroscope installation error angle, the accuracy of the calibration result is improved. In addition, there is no need to use a special high-precision turntable to test the gyroscope installation error angle, thereby reducing the test cost and labor cost. It has been successfully applied to the installation error angle test of the fiber optic gyro platform calibration instrument, and provides technical practice for the high-precision test of the new fiber optic gyro inertial platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of testing and compensating the gyro installation error angle of the fiber optic gyro inertial platform provided by the present invention;

[0047] Figure 2 A schematic diagram of the installation error of the fiber optic gyroscope platform angle gyroscope provided by the present invention. DETAILED DESCRIPTION

[0048] A method for testing and compensating the gyro installation error angle of a fiber optic gyro inertial platform is disclosed. The method uses a preset orthogonal angle to replace a position turntable to provide the fiber optic gyro inertial platform with four self-aiming and self-calibration instructions with four levels being the geographic level and four azimuths being the orthogonal angles, so as to realize the calibration compensation of the output error of each fiber optic gyro. The calibration results obtained at the four orthogonal angles are used as input. According to a gyro installation error mathematical model, a discrete analytical solution is used to realize the test of the installation error angles of three gyroscopes. The obtained gyroscope installation error angles are compensated to the gyroscope output, so as to realize the compensation of the gyroscope installation error coefficient.

[0049] The test and compensation method of the Fiber Optic Gyro Inertial Platform Gyro Installation Error Angle, the specific steps are:

[0050] The fiber optic gyro inertial platform is set at a preset position, and four azimuth angles are set for the fiber optic gyro inertial platform in the plane of the preset position for calibrating the fiber optic gyro;

[0051] Perform self-aiming and self-calibration of the fiber optic gyro inertial platform at four azimuth angles to obtain calibration results at each azimuth angle;

[0052] Establish a fiber optic gyroscope installation error model, use the calibration results of various orientation angles as model input, and solve the installation error angles of each fiber optic gyroscope;

[0053] The calculated gyro installation error angle is compensated to the output of each fiber optic gyro.

[0054] The azimuth angles are four orthogonal angles at the geographic level. At the four orthogonal angles, the FOG inertial platform self-aiming commands are sent through the external control system. After completing the self-aiming, the self-calibration commands are sent to obtain the calibration results at each orthogonal angle, which are used as the model input of the FOG installation error model. The number of gyroscopes of the FOG inertial platform is 3.

[0055] The FOG inertial platform is set on a marble slab as an isolated foundation, and the horizontality of the marble slab is determined according to the calibration task requirements of the FOG inertial platform action.

[0056] The angle setting method of the fiber optic gyro inertial platform at the preset position is:

[0057] The angle between the X-axis direction of the fiber optic gyro inertial platform and the north direction is set to α, the north-west direction is taken as the positive direction, and the X-axis direction of the fiber optic gyro inertial platform is pointed to four orthogonal angles through manual operation or an external turntable, including azimuth angles α1, α2=α1+90, α3=α1+180, and α3=α1+270, and the positive and negative deviations of each orthogonal angle do not exceed 2°.

[0058] After the external control system sends the FOG inertial platform self-aiming command, the measured values ​​of the four orthogonal angles α1, α2, α3, and α4 of the FOG inertial platform are α0, α 90 , α 180 , α 270 , the gyro bias corresponding to each measured value is recorded as:

[0059] When the measured value is α0, the self-calibrated gyro bias is recorded as K0GX α ,K0GY α ,K0GZ α ;

[0060] When the measured value is α 90 When the self-calibrated gyro zero bias is recorded as K0GX α+90 ,K0GY α+90 ,K0GZ α+90 ;

[0061] When the measured value is α 180 When the self-calibrated gyro zero bias is recorded as K0GX α+180 ,K0GY α+180 ,K0GZ α+180 ;

[0062] When the measured value is α 270 When the self-calibrated gyro zero bias is recorded as K0GX α+270 ,K0GY α+270 ,K0GZ α+270 .

[0063] The fiber optic gyro installation error model is:

[0064] KX α =K0GX' α -(w n ×cos(α-π / 2))×sin(E xy )

[0065] Kj α =K0GY' α +(w n ×cos(α-π / 2))×sin(E yx )

[0066] KZN α =K0GZ' α -(w n ×cos(α))×sin(E zy )

[0067] In the formula, K0Gi α (i=x,y,z) is the measured value of the X, Y, and Z gyroscope zero bias, in degrees / h;

[0068] K0Gi'(i=x,y,z) is the real gyroscope zero bias, unit is ° / h;

[0069] w n is the local northward ground speed, ω U is the local celestial ground speed, in ° / h;

[0070] α Platform self-aiming X-axis azimuth (north-west is positive), unit is rad;

[0071] E xy , E yx , E zy is the gyroscope installation error, in rad.

[0072] According to the FOG installation error model, the calibration results of each orientation angle are used as the model input to solve the installation error angle of each FOG (E xy , E yx , E zy ) is:

[0073]

[0074]

[0075] E zy =arcsin((K0GZ α -K0GZ α+180 ) / (cos(α0)-cos(α 180 ))×w n ).

[0076] The calculated gyro installation error angle (E xy , E yx , E zy ) is compensated to each fiber optic gyroscope output through the gyroscope output error compensation model, and the gyroscope output error compensation model is:

[0077] K0GX α =K0GX α +(w n ×cos(α-π / 2))×sin(E xy )

[0078] K0GY α =K0GY α -(w n ×cos(α-π / 2))×sin(E yx )

[0079] K0GZ α =K0GZ α -(wn ×cos(α))×sin(E zy )

[0080] In the formula, Input angular velocity for the gyroscope in ° / h;

[0081] k g0i is the zero-order error coefficient, unit is ° / h;

[0082] E ij is the gyroscope installation error, in rad.

[0083] The FOG inertial platform is set on a marble slab as an isolated foundation or directly on a position turntable; the initial position of the FOG inertial platform is used for self-calibration, and the X-axis and Y-axis gyro installation errors (E xy , E yx ), the Z-axis gyro installation error of each fiber optic gyro installation error angle (E zy ) is calibrated and determined at different initial positions.

[0084] After the compensation output of each FOG installation error angle is calculated, it is bound to the external main control system through parameter binding, and the gyroscope zero bias is continuously updated and compensated during the subsequent FOG inertial platform self-calibration process.

[0085] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0086] In the current embodiment, if Figure 1 As shown, it is a schematic diagram of the hardware for testing and compensating the gyro installation error angle of the fiber optic gyro inertial platform, and the platform is placed on a marble slab on an isolated foundation (with a horizontality better than 1′) or the platform is installed on a turntable;

[0087] The angle between the platform's X-axis and the north is specified as α, with north-west as positive. The platform's X-axis is pointed to four orthogonal directions manually or by a turntable, with α1 being 0°±5°. The other three azimuth angles are α2=α1+90, α3=α1+180, and α3=α1+270. The positive and negative deviations of the four angles do not exceed 2°.

[0088] The measured value of the self-aiming angle when the platform points to α1 is α0, and the calibrated gyro zero bias is recorded as K0GX α ,K0GY α ,K0GZ α The platform is oriented to α2, α3, and α4, which are 90 degrees above α1 (right-hand rule). The measured values ​​of the self-aiming angles of the platform pointing to the three positions of α2, α3, and α4 are α 90 , α 180 , α270 The platform points to α2 and its gyro bias is recorded as K0GX α+90 ,K0GY α+90 ,K0GZ α+90 The platform points to α3 and its gyro bias is recorded as K0GX α+180 ,K0GY α+180 ,K0GZ α+180 The platform points to α4 and its gyro bias is recorded as K0GX α+270 ,K0GY α+270 ,K0GZ α+270 .

[0089] According to the mathematical model of gyroscope installation error, the gyroscope installation error value is obtained. The calibrated gyroscope zero bias value includes the angular velocity projection component caused by the installation error.

[0090] The discrete analytical solution is used to test the installation error angles of the three gyroscopes. The self-aiming angle and the gyroscope zero bias values ​​in four directions are obtained by calculation. The obtained gyroscope installation error angle is compensated to the gyroscope output to realize the compensation of the gyroscope installation error coefficient.

[0091] In this embodiment, in order to maximize the observed value of the installation error of the excitation gyroscope, the rotation axis is close to the north direction (the ground speed component in the north direction is large) during calibration, and the calibration scheme is designed accordingly:

[0092] (1) Calibrate the platform at the initial position of 5°185° to calculate the Z gyroscope installation error Ezy

[0093] (2) Calibrate the platform at the initial position of 95°275° to calculate the installation errors Exy and Eyx of the X and Y gyroscopes.

[0094] The gyroscope installation error is calculated using the self-calibration results at self-aiming angles of 5°, 95°, 185°, and 275°, and the calculated installation error is used to compensate for the calibration results in other directions. The results are shown in the following table.

[0095] During the platform debugging process, self-aiming and self-calibration were performed at the initial position of 5°, 185°, 95°, and 275°, and the installation error E was calculated offline. xy 、E yx 、E zy , the installation error is bound to the main control computer through parameter binding (the gyroscope installation error position is reserved in the original parameter binding function of the platform), and the gyroscope zero bias is compensated in the subsequent platform calibration process.

[0096] During the platform ground calibration process, the earth's rotation angular velocity is used to stimulate the gyroscope output. During the gyroscope calibration process, the instrument input axis is in the celestial and terrestrial directions, and the celestial ground velocity component is mainly used to stimulate the instrument output.

[0097] During the calibration process, the platform works in the locked mode and is in a non-isolated angular motion state. At this time, the north ground speed combined with the gyroscope installation error will affect the output of the calibrated gyroscope. Figure 2 shown.

[0098] The angular velocity component caused by the gyroscope installation error in the traditional six-position analytical method for calibrating the gyroscope zero bias is related to the installation error and the initial orientation of the platform. The installation error is a constant, and the initial orientation can be adjusted by changing the orientation of the platform base.

[0099] The calibration results of the platform at the initial position of 5°, 185°, 95°, and 275° are respectively averaged to obtain the gyro bias statistics.

[0100]

[0101]

[0102] E zy =arcsin((K0GZ α -K0GZ α+180 ) / (cos(α0)-cos(α 180 ))×w n )

[0103] Among them K0GX α+90 ,K0GX α+270 is the result of two calibrations, w n Northward ground speed, α 90 , α 270 The platform self-aiming azimuth is a known quantity, and the gyroscope installation error E can be calculated. xy Similarly, we can get E yx 、E zy Substitute the gyro zero bias values ​​in the four directions to obtain the gyro installation error angle value as follows:

[0104] E xy =-43.08″, E yx =0.69″, E zy =-265.51″

[0105] In order to verify the correctness of the gyroscope installation error calibration, place the platform on the marble, start it normally, and perform self-calibration at different initial azimuths of 5°, 10°, 30°, 60°, 80°, 95°, 120°, 145°, 150°, 170°, 185°, and 275°. Calibrate two groups at each position to obtain the average value of the gyroscope zero bias. The verification result should reach the actual accuracy level of the instrument.

[0106] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0107] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for testing and compensating the installation error angle of a fiber optic gyro inertial platform gyro, characterized in that include: The fiber optic gyro inertial platform is set at a preset position, four azimuth angles are preset in the preset position plane, and each fiber optic gyro on the fiber optic gyro inertial platform is self-aimed and calibrated according to the preset azimuth angles to obtain the calibration results of each fiber optic gyro at each azimuth angle; Establish a fiber optic gyroscope installation error model, use the calibration results of various orientation angles as model input, and solve the installation error angles of each fiber optic gyroscope; The calculated gyro installation error angle is compensated to the output of the fiber optic gyro inertial platform.

2. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 1, characterized in that: The azimuth angles are four orthogonal angles at the geographic level; The self-aiming and calibration method of the fiber optic gyro inertial platform is: At four orthogonal angles, a self-aiming command is sent to the fiber optic gyro inertial platform through an external control system. After the fiber optic gyro inertial platform completes self-aiming, a self-calibration command is sent through the external control system to obtain the calibration result of any fiber optic gyro at each orthogonal angle; the number of fiber optic gyroscopes of the fiber optic gyro inertial platform is 3, and self-aiming and calibration are performed in any order.

3. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 1, characterized in that: The fiber optic gyro inertial platform is arranged on a marble slab as an isolation foundation, and the horizontality of the marble slab is determined according to the calibration task requirements of the fiber optic gyro inertial platform.

4. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 3, characterized in that: The angle setting method of the fiber optic gyro inertial platform at the preset position is: The angle between the X-axis direction of the fiber optic gyro inertial platform and the north direction is set to α, the north-west direction is taken as the positive direction, and the X-axis direction of the fiber optic gyro inertial platform is pointed to four orthogonal angles through manual operation or an external turntable, including azimuth angles α1, α2=α1+90, α3=α1+180, and α3=α1+270, and the positive and negative deviations of each orthogonal angle do not exceed 2°.

5. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 2, characterized in that: After the external control system sends the self-aiming command of the fiber optic gyro inertial platform, the measured values ​​of the four orthogonal angles α1, α2, α3, and α4 of the fiber optic gyro inertial platform are measured to obtain the measured values ​​α0, α 90 , α 180 , α 270 Finally, determine the gyro bias corresponding to the measured value: When the measured value is α0, the self-calibrated gyro bias is recorded as K0GX α ,K0GY α ,K0GZ α ; When the measured value is α 90 When the self-calibrated gyro zero bias is recorded as K0GX α+90 ,K0GY α+90 ,K0GZ α+90 ; When the measured value is α 180 When the self-calibrated gyro zero bias is recorded as K0GX α+180 ,K0GY α+180 ,K0GZ α+180 ; When the measured value is α 270 When the self-calibrated gyro zero bias is recorded as K0GX α+270 ,K0GY α+270 ,K0GZ α+270 .

6. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 5, characterized in that: The fiber optic gyro installation error model is: K0GX α =K0GX' α -(w n ×cos(α-π / 2))×sin(E xy ) K0GY α =K0GY α '+(w n ×cos(α-π / 2))×sin(E yx ) K0GZ α =K0GZ' α -(w n ×cos(α))×sin(E zy ) In the formula, K0Gi α (i=x,y,z) is the measured value of the X, Y, and Z gyroscope zero bias, in degrees / h; K0Gi'(i=x,y,z) is the real gyroscope zero bias, unit is ° / h; w n is the local northward ground speed, ω U is the local celestial ground speed, in ° / h; α Platform self-aiming X-axis azimuth (north-west is positive), unit is rad; E xy , E yx , E zy is the gyroscope installation error, in rad.

7. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 6, characterized in that: According to the FOG installation error model, the calibration results of each orientation angle are used as the model input to solve the installation error angle of each FOG (E xy , E yx , E zy ) is: E zy =arcsin((K0GZ α -K0GZ α+180 ) / (cos(α0)-cos(α 180 ))×w n )。 8. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 7, characterized in that: The calculated gyro installation error angle (E xy , E yx , E zy ) is compensated to the output of each fiber optic gyroscope as follows: This is achieved through the gyroscope output error compensation model, which is: K0GX' α =K0GX α +(w n ×cos(α-π / 2))×sin(E xy ) K0GY α '=K0GY α -(w n ×cos(α-π / 2))×sin(E yx ) K0GZ' α =K0GZ α -(w n ×cos(α))×sin(E zy ) In the formula, Input angular velocity for the gyroscope in ° / h; k g0i is the zero-order error coefficient, unit is ° / h; E ij is the gyroscope installation error, in rad.

9. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 7, characterized in that: The X-axis and Y-axis gyroscope installation errors (E xy , E yx ), the Z-axis gyro installation error of each fiber optic gyro installation error angle (E zy ) is calibrated and determined at different initial positions.

10. The method for testing and compensating the gyro installation error angle of an FOG inertial platform according to claim 1, characterized in that: After the compensation output of each fiber optic gyro installation error angle is calculated, it is bound to the external main control system through parameter binding, and the gyro zero bias is continuously updated and compensated during the subsequent fiber optic gyro inertial platform self-calibration process.

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