Fiber-optic gyroscope temperature self-checking redundancy method

Abstract

The invention relates to a fiber-optic gyroscope temperature self-checking method, in particular to a fiber-optic gyroscope temperature self-checking redundancy method, and solves the problems that the temperature compensation information of the existing fiber-optic gyroscope completely depends on the output of a temperature sensor, and the output information of the temperature sensor is difficult to monitor and judge in the use process. And the output of the fiber-optic gyroscope is abnormal due to the abnormity of the temperature sensor. The method comprises the following steps: S1, modeling is carried out on Y waveguide half-wave voltage and temperature; s2, judging; 2.1, setting a threshold value delta T; 2.2, the temperature value Ti is monitored in real time; (2.3) comparison: when TYij-Ti is smaller than a threshold value delta T, executing the step (S3); when TYij-Ti is greater than or equal to a threshold value delta T, the output of an axial temperature sensor of the detected fiber-optic gyroscope is abnormal, if the fiber-optic gyroscope is in a ground test stage, executing a step 2.4 ', and if the fiber-optic gyroscope is in a flight stage, executing a step 2.5', and S3, compensating the angular velocity of the detected fiber-optic gyroscope by adopting the temperature value Ti, and outputting the compensated angular velocity to complete the temperature self-detection of the fiber-optic gyroscope.

Description

Technical Field

[0001] The invention relates to a fiber optic gyroscope temperature self-detection method, in particular to a fiber optic gyroscope temperature self-detection redundancy method. Background Art

[0002] 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. In the process of engineering application, in order to improve the temperature characteristics of the fiber optic gyroscope, it is usually necessary to perform temperature compensation on the angular velocity information output by the fiber optic gyroscope. Specifically, the temperature sensor is attached to the fiber ring module of the fiber optic gyroscope, and the temperature data and the angular velocity data output by the fiber optic gyroscope are used to perform multivariate linear regression fitting to achieve temperature compensation of the fiber optic gyroscope. However, there is a certain risk of failure of the temperature sensor. When the output of the temperature sensor is abnormal, the introduction of the temperature compensation method indirectly leads to the failure of the flight mission when the output data of the fiber optic gyroscope is seriously abnormal.

[0003] In the prior art, the temperature compensation information of the fiber optic gyroscope is completely dependent on the output of the temperature sensor, and the output information of the temperature sensor is not monitored and judged during use. When the temperature sensor output is abnormal, it indirectly causes the angular velocity output of the fiber optic gyroscope to be abnormal. If the fiber optic gyroscope is in the ground stage, the abnormal temperature sensor can be replaced; if the fiber optic gyroscope is in the flight stage, the temperature sensor cannot be replaced, and the abnormal temperature sensor output will directly cause the fiber optic gyroscope output to be abnormal, causing the failure of the flight mission. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problems that the temperature compensation information of the existing fiber optic gyroscope is completely dependent on the output of the temperature sensor, and it is difficult to monitor and judge the output information of the temperature sensor during use, and the abnormality of the temperature sensor will lead to abnormal output of the fiber optic gyroscope, and provide a fiber optic gyroscope temperature self-checking redundancy method.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A fiber optic gyroscope temperature self-checking redundancy method is characterized in that it comprises the following steps:

[0007] S1, build the Y waveguide half-wave voltage and temperature model of the fiber optic gyroscope under test, and calculate the temperature data TY represented by the Y waveguide half-wave voltage value V in real time ij ; Where i represents the axial direction of the fiber optic gyroscope under test: X-axis, Y-axis or Z-axis; j represents the time, j = 0, 1, 2, ...;

[0008] S2, determining whether the fiber optic gyroscope under test is temperature compensated;

[0009] 2.1】Set the threshold value ΔT;

[0010] 2.2] Real-time monitoring of the temperature value T of the temperature sensor in the fiber optic gyroscope under test i ;

[0011] 2.3] Temperature data TY represented by the Y waveguide half-wave voltage ij The corresponding temperature sensor temperature value T i The difference of |TY ij -T i |Compare with the threshold value ΔT:

[0012] When|TY ij -T i | is less than the threshold value ΔT, executing step S3;

[0013] When|TY ij -T i | When it is greater than or equal to the threshold value ΔT, the output of the axial temperature sensor of the fiber optic gyroscope under test is abnormal. At this time, if the fiber optic gyroscope under test is in the ground test stage, execute step 2.4]; if the fiber optic gyroscope under test is in the flight stage, execute step 2.5];

[0014] 2.4] Replace the temperature sensor with abnormal axial output of the fiber optic gyroscope under test, and return to step 2.2] until |TY ij -T i | is less than the threshold value ΔT, executing step S3;

[0015] 2.5] If the output of one of the axial temperature sensors of the fiber optic gyroscope under test is abnormal, the temperature values ​​T of the other two axial temperature sensors are used. i The average value of the angular velocity of one of the axes of the tested fiber optic gyroscope is used to compensate, and the angular velocity of the tested fiber optic gyroscope after compensation is output to complete the temperature self-test of the fiber optic gyroscope; if the output of two axial temperature sensors of the tested fiber optic gyroscope is abnormal, the temperature value T of the other axial temperature sensor is used. i Compensate the angular velocity of two axes of the fiber optic gyroscope under test, and output the angular velocity of the fiber optic gyroscope under test after compensation, and complete the temperature self-test of the fiber optic gyroscope; if the outputs of the axial temperature sensors of the fiber optic gyroscope under test are all abnormal, the angular velocity of the fiber optic gyroscope under test is directly output without temperature compensation, and complete the temperature self-test of the fiber optic gyroscope;

[0016] S3 uses the temperature value T of the temperature sensor i The angular velocity of the fiber optic gyroscope under test is compensated, and the angular velocity of the fiber optic gyroscope under test after compensation is output, thereby completing the temperature self-test of the fiber optic gyroscope.

[0017] Furthermore, step 1 is specifically as follows:

[0018] 1.1] According to the working environment requirements of the fiber optic gyroscope under test, a modeling temperature point is selected; the range of the modeling temperature point covers the working environment temperature of the fiber optic gyroscope under test;

[0019] 1.2] Put the fiber optic gyroscope under test into an incubator for heat preservation, and obtain the Y waveguide half-wave voltage value V corresponding to each modeling temperature point and the temperature value T of the temperature sensor in the fiber optic gyroscope under test; the temperature of the incubator covers the working environment temperature of the fiber optic gyroscope under test;

[0020] 1.3] Substitute the Y waveguide half-wave voltage value V and the temperature value T of the temperature sensor into the formula V=aT+b, and fit the fitting values ​​of coefficients a and b;

[0021] 1.4] Load the fitted values ​​of coefficients a and b as parameters into the core processing unit of the digital modulation and demodulation and closed-loop control circuit of the fiber optic gyroscope under test;

[0022] 1.5] The core processing unit calculates the temperature data TY represented by the half-wave voltage value V of the Y waveguide in real time according to the fitting values ​​of coefficients a and b. ij ; Wherein i represents the axial direction of the fiber optic gyroscope under test: X-axis, Y-axis or Z-axis; j represents the time, j = 0, 1, 2, ...

[0023] Further, in step 2.3], the temperature data TY represented by the Y waveguide half-wave voltage is ij The corresponding temperature sensor temperature value T i The difference of |TY ij -T i |Compare with the threshold value ΔT:

[0024] When|TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, it is determined that the outputs of the temperature sensors of the X-axis, Y-axis and Z-axis are all normal, and step S3 is executed;

[0025] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, it is determined that the output of the temperature sensor of the X axis is abnormal, and the output of the temperature sensors of the Y axis and the Z axis is normal. If the fiber optic gyroscope under test is in the ground test stage, step 2.4] is executed; if the fiber optic gyroscope under test is in the flight stage, step 2.5] is executed;

[0026] When|TYXj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, it is determined that the temperature sensor output of the Y axis is abnormal, and the temperature sensor outputs of the X axis and the Z axis are normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0027] When|TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensor output of the Z axis is abnormal, and the temperature sensor outputs of the X axis and the Y axis are normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0028] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, it is determined that the outputs of the temperature sensors of the X-axis and Y-axis are abnormal, and the output of the temperature sensor of the Z-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, step 2.4] is executed; if the fiber optic gyroscope under test is in the flight phase, step 2.5] is executed;

[0029] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, it is determined that the outputs of the temperature sensors of the X-axis and Z-axis are abnormal, and the output of the temperature sensor of the Y-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0030] When|TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z|≥ΔT, it is determined that the temperature sensor outputs of the Y-axis and Z-axis are abnormal, and the temperature sensor output of the X-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0031] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensors of the X-axis, Y-axis, and Z-axis all have abnormal outputs. If the fiber optic gyroscope being tested is in the ground test phase, step 2.4] is executed; if the fiber optic gyroscope being tested is in the flight phase, step 2.5] is executed.

[0032] Furthermore, in step 2.5], if the output of one of the axial temperature sensors of the inspected fiber optic gyroscope is abnormal, the temperature values ​​T of the other two axial temperature sensors are used. i The average value of compensates the angular velocity of one axis of the tested fiber optic gyroscope, specifically:

[0033] A1) If the temperature sensor output of the X-axis is abnormal, and the temperature sensors of the Y-axis and Z-axis are normal, the temperature value T of the temperature sensor of the Y-axis is used. Y and the temperature sensor temperature value T of the Z axis Z The average value of compensates the angular velocity of the X-axis of the tested fiber optic gyroscope;

[0034] A2) If the temperature sensor output of the Y axis is abnormal, and the temperature sensor outputs of the X axis and Z axis are normal, the temperature value T of the temperature sensor of the X axis is used. X and the temperature sensor temperature value T of the Z axis Z The average value of compensates the angular velocity of the Y-axis of the tested fiber optic gyroscope;

[0035] A3) If the temperature sensor output of the Z axis is abnormal, and the temperature sensor outputs of the X axis and Y axis are normal, the temperature value T of the temperature sensor of the X axis is used. X and the temperature sensor temperature value T on the Y axis Y The average value of compensates the angular velocity of the Z-axis of the tested fiber optic gyroscope.

[0036] Furthermore, in step 2.5], if the outputs of two axial temperature sensors of the inspected fiber optic gyroscope are abnormal, the temperature value T of the other axial temperature sensor is used. i Compensate for the angular velocity of two axes of the tested fiber optic gyroscope, specifically:

[0037] B1) If the temperature sensor outputs of the X-axis and Y-axis are abnormal, and the temperature sensor output of the Z-axis is normal, then the temperature value T of the temperature sensor of the Z-axis is used. Z Compensate the angular velocity of the X-axis and Y-axis of the fiber optic gyroscope under test;

[0038] B2) If the temperature sensor outputs of the X-axis and Z-axis are abnormal, and the temperature sensor output of the Y-axis is normal, the temperature value T of the temperature sensor of the Y-axis is used. Y Compensate the angular velocity of the X-axis and Z-axis of the fiber optic gyroscope under test;

[0039] B3) If the temperature sensor outputs of the Y-axis and Z-axis are abnormal, and the temperature sensor output of the X-axis is normal, the temperature value T of the temperature sensor of the X-axis is used. X Compensate the angular velocity of the Y-axis and Z-axis of the fiber optic gyroscope under test.

[0040] Furthermore, in step 1.1], the modeling temperature points are -40°C, -20°C, 0°C, 20°C, 40°C, and 60°C.

[0041] Furthermore, in step 1.2], the insulation time is 1-3 hours.

[0042] Furthermore, in step 1.3], the fitting is performed using the least squares method.

[0043] Furthermore, in step 2.1], the threshold value ΔT is 5°C.

[0044] Furthermore, in step 2.2], the temperature value T of the temperature sensor i Real-time monitoring is performed using the core processing unit of the digital modulation and demodulation and closed-loop control circuit of the fiber optic gyroscope under test.

[0045] Beneficial effects of the present invention:

[0046] 1. The present invention provides a temperature self-checking redundant method for a fiber optic gyroscope. Through the linear relationship between the Y-waveguide half-wave voltage and the temperature of the fiber optic gyroscope under test, the Y-waveguide half-wave voltage is used to characterize the working temperature of the fiber ring module of the fiber optic gyroscope under test, so as to realize real-time monitoring of the output of the temperature sensor and improve the reliability of the fiber optic gyroscope.

[0047] 2. The fiber optic gyroscope temperature self-test redundancy method of the present invention does not change the structural composition of the fiber optic gyroscope being tested, so there is no need to add additional hardware circuits and does not increase the cost burden.

[0048] 3. The present invention provides a temperature self-checking redundant method for a fiber optic gyroscope, which is applicable to the temperature self-checking of a single-axis fiber optic gyroscope, a dual-axis fiber optic gyroscope, a three-axis fiber optic gyroscope, and a multi-axis fiber optic gyroscope. DETAILED DESCRIPTION

[0049] A fiber optic gyroscope temperature self-checking redundancy method comprises the following steps:

[0050] S1, build the Y waveguide half-wave voltage and temperature model of the fiber optic gyroscope under test, and calculate the temperature data TY represented by the Y waveguide half-wave voltage value V in real time ij ; Where i represents the axial direction of the fiber optic gyroscope under test: X-axis, Y-axis or Z-axis; j represents the time, j = 0, 1, 2, ...;

[0051] 1.1] According to the working environment requirements of the fiber optic gyroscope under test, select the modeling temperature points; the range of the modeling temperature points covers the working environment temperature of the fiber optic gyroscope under test; in this embodiment, the fiber optic gyroscope under test is a three-axis fiber optic gyroscope, and the three temperature sensors are respectively used to detect the temperature values ​​of the three axes of the fiber optic gyroscope, and the modeling temperature points are specifically -40°C, -20°C, 0°C, 20°C, 40°C, and 60°C, which have covered the working environment temperature of the fiber optic gyroscope under test;

[0052] 1.2] Determine the holding time according to the size of the fiber optic gyroscope under test, put the fiber optic gyroscope under test into an incubator for 2 hours, and obtain the Y waveguide half-wave voltage value V corresponding to each modeling temperature point and the temperature value T of the temperature sensor in the fiber optic gyroscope under test; the temperature of the incubator covers the working environment temperature of the fiber optic gyroscope under test;

[0053] 1.3] Substitute the Y waveguide half-wave voltage value V and the temperature value T of the temperature sensor into the formula V=aT+b, and use the least squares method to fit to obtain the fitting values ​​of coefficients a and b;

[0054] 1.4] Load the fitted values ​​of coefficients a and b as parameters into the core processing unit of the digital modulation and demodulation and closed-loop control circuit of the fiber optic gyroscope under test;

[0055] 1.5] The core processing unit calculates the temperature data TY represented by the half-wave voltage value V of the Y waveguide in real time according to the fitting values ​​of coefficients a and b. ij ; Where i represents the axial direction of the fiber optic gyroscope under test: X-axis, Y-axis or Z-axis; j represents the time, j = 0, 1, 2, ...;

[0056] S2, determining whether the fiber optic gyroscope under test is temperature compensated;

[0057] 2.1] According to the accuracy of the temperature sensor and the temperature accuracy represented by the Y-waveguide half-wave voltage, the threshold value ΔT is set to 5°C;

[0058] 2.2] The core processing unit of the digital modulation and demodulation and closed-loop control circuit of the fiber optic gyroscope under test is used for real-time monitoring. The temperature value T of the temperature sensor in the fiber optic gyroscope under test is i ;

[0059] 2.3】When|TY Xj -TX |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, it is determined that the outputs of the temperature sensors of the X-axis, Y-axis and Z-axis are all normal, and step S3 is executed;

[0060] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, it is determined that the output of the temperature sensor of the X axis is abnormal, and the output of the temperature sensors of the Y axis and the Z axis is normal. If the fiber optic gyroscope under test is in the ground test stage, step 2.4] is executed; if the fiber optic gyroscope under test is in the flight stage, step 2.5] is executed;

[0061] When|TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, it is determined that the temperature sensor output of the Y axis is abnormal, and the temperature sensor outputs of the X axis and the Z axis are normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0062] When|TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensor output of the Z axis is abnormal, and the temperature sensor outputs of the X axis and the Y axis are normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0063] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, it is determined that the outputs of the temperature sensors of the X-axis and Y-axis are abnormal, and the output of the temperature sensor of the Z-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, step 2.4] is executed; if the fiber optic gyroscope under test is in the flight phase, step 2.5] is executed;

[0064] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, it is determined that the outputs of the temperature sensors of the X-axis and Z-axis are abnormal, and the output of the temperature sensor of the Y-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0065] When|TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensor outputs of the Y-axis and Z-axis are abnormal, and the temperature sensor output of the X-axis is normal. If the fiber optic gyroscope under test is in the ground test phase, then execute step 2.4]; if the fiber optic gyroscope under test is in the flight phase, then execute step 2.5];

[0066] When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensors of the X-axis, Y-axis and Z-axis all have abnormal outputs. If the fiber optic gyroscope under test is in the ground test phase, step 2.4] is executed; if the fiber optic gyroscope under test is in the flight phase, step 2.5] is executed;

[0067] 2.4] Replace the temperature sensor with abnormal axial output of the fiber optic gyroscope under test, and return to step 2.2] until |TY ij -T i | is less than the threshold value ΔT, executing step S3;

[0068] 2.5] If the output of one of the axial temperature sensors of the fiber optic gyroscope under test is abnormal, the temperature values ​​T of the other two axial temperature sensors are used. i The average value of compensates the angular velocity of one of the axes of the tested fiber optic gyroscope, and outputs the angular velocity of the tested fiber optic gyroscope after compensation, completing the temperature self-test of the fiber optic gyroscope; specifically:

[0069] A1) If the temperature sensor output of the X axis is abnormal, the temperature sensor output of the Y axis and Z axis is normal, that is, |TY Xj -T X |≥ΔT and |TYYj -T Y |<ΔT and |TY Zj -T Z |<ΔT, then the temperature value T of the temperature sensor on the Y axis is used Y and the temperature sensor temperature value T of the Z axis Z The average value of compensates the angular velocity of the X-axis of the tested fiber optic gyroscope;

[0070] A2) If the temperature sensor output of the Y axis is abnormal, the temperature sensor outputs of the X axis and Z axis are normal, that is, |TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, then use the temperature value T of the temperature sensor on the X axis X and the temperature sensor temperature value T of the Z axis Z The average value of compensates the angular velocity of the Y-axis of the tested fiber optic gyroscope;

[0071] A3) If the temperature sensor output of the Z axis is abnormal, the temperature sensor outputs of the X axis and Y axis are normal, that is, |TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, then the temperature value T of the temperature sensor on the X axis is used X and the temperature sensor temperature value T on the Y axis Y The average value of compensates the angular velocity of the Z axis of the fiber optic gyroscope under test;

[0072] If the output of two axial temperature sensors of the tested fiber optic gyroscope is abnormal, the temperature value T of the other axial temperature sensor is used. i Compensate the angular velocity of two axes of the tested fiber optic gyroscope, and output the angular velocity of the tested fiber optic gyroscope after compensation, so as to complete the temperature self-test of the fiber optic gyroscope; specifically:

[0073] B1) If the temperature sensor outputs of the X-axis and Y-axis are abnormal, and the temperature sensor output of the Z-axis is normal, that is, |TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, then the temperature value T of the temperature sensor on the Z axis is used Z Compensate the angular velocity of the X-axis and Y-axis of the fiber optic gyroscope under test;

[0074] B2) If the temperature sensor outputs of the X-axis and Z-axis are abnormal, and the temperature sensor output of the Y-axis is normal, that is, |TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, then the temperature value T of the temperature sensor on the Y axis is used Y Compensate the angular velocity of the X-axis and Z-axis of the fiber optic gyroscope under test;

[0075] B3) If the temperature sensor outputs of the X-axis and Z-axis are abnormal, the temperature sensor output of the X-axis is normal, that is, |TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, then the temperature value T of the temperature sensor on the X axis is used X Compensate the angular velocity of the X-axis and Z-axis of the fiber optic gyroscope under test;

[0076] If the axial temperature sensor outputs of the fiber optic gyroscope under test are all abnormal, that is, |TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, if the temperature sensors of the X-axis, Y-axis and Z-axis all output abnormalities, the angular velocity of the fiber optic gyroscope under test is directly output without temperature compensation, and the temperature self-test of the fiber optic gyroscope is completed;

[0077] S3, using the temperature value T of the temperature sensor i The angular velocity of the fiber optic gyroscope under test is compensated, and the angular velocity of the fiber optic gyroscope under test after compensation is output, thereby completing the temperature self-test of the fiber optic gyroscope.

[0078] The present invention discloses a temperature self-checking redundant method for an optical fiber gyroscope. The method utilizes the linear relationship between the half-wave voltage value and the temperature of the Y waveguide in the optical fiber gyroscope, and calculates the temperature information (i.e., the temperature data TY represented by the half-wave voltage value V of the Y waveguide) by real-time monitoring the half-wave voltage value of the Y waveguide. ij ) and compare it with the temperature information output by the temperature sensor (i.e., the temperature value T i ) is compared and a threshold value ΔT is set. When the value is greater than or equal to the threshold ΔT, it is identified that the temperature information output by the axial temperature sensor is abnormal.

[0079] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fiber optic gyroscope temperature self-test redundancy method, characterized in that: The following steps are involved: S1, model the Y waveguide half-wave voltage and temperature of the fiber optic gyroscope under test, and calculate the temperature data TY represented by the Y waveguide half-wave voltage value V in real time. ij ; Where i represents the axis of the fiber optic gyroscope being tested: X axis, Y axis or Z axis; j represents the time, j = 0, 1, 2, ...; S2, determining whether the fiber optic gyroscope under test is temperature compensated; 2.1] Set the threshold value ΔT; 2.2] Real-time monitoring of the temperature value T of the temperature sensor in the fiber optic gyroscope under test i ; 2.3] Temperature data TY represented by the Y waveguide half-wave voltage ij The corresponding temperature sensor temperature value T i The difference of |TY ij -T i |Compare with the threshold value ΔT: When|TY ij -T i When the value is less than the threshold value ΔT, step S3 is executed; When|TY ij -T i When the value is greater than or equal to the threshold value ΔT, the output of the axial temperature sensor of the fiber optic gyroscope under test is abnormal. At this time, if the fiber optic gyroscope under test is in the ground test phase, execute step 2.4; if the fiber optic gyroscope under test is in the flight phase, execute step 2.

5. 2.4] Replace the temperature sensor with abnormal axial output of the fiber optic gyroscope under test and return to step 2.2] until |TY ij -T i When the value is less than the threshold value ΔT, step S3 is executed; 2.5] If the output of one of the axial temperature sensors of the fiber optic gyroscope under test is abnormal, the temperature values ​​T of the other two axial temperature sensors are used. i The average value of the angular velocity of one axis of the tested fiber optic gyroscope is used to compensate for the angular velocity of one axis, and the angular velocity of the tested fiber optic gyroscope after compensation is output to complete the temperature self-test of the fiber optic gyroscope; if the output of two axial temperature sensors of the tested fiber optic gyroscope is abnormal, the temperature value T of the other axial temperature sensor is used. i Compensate for the angular velocity of two axes of the fiber optic gyroscope under test, and output the angular velocity of the compensated fiber optic gyroscope under test, completing the fiber optic gyroscope temperature self-test; if the outputs of the axial temperature sensors of the fiber optic gyroscope under test are all abnormal, the angular velocity of the fiber optic gyroscope under test is directly output without temperature compensation, completing the fiber optic gyroscope temperature self-test; S3 uses the temperature value T of the temperature sensor i The angular velocity of the fiber optic gyroscope under test is compensated, and the angular velocity of the fiber optic gyroscope under test after compensation is output, thereby completing the temperature self-test of the fiber optic gyroscope.

2. A fiber optic gyroscope temperature self-test redundancy method according to claim 1, characterized in that: Step 1 is as follows: 1.1] Select a modeling temperature point based on the working environment requirements of the fiber optic gyroscope under test; the range of the modeling temperature point covers the working environment temperature of the fiber optic gyroscope under test; 1.2] Place the fiber optic gyroscope under test in an incubator for heat preservation, and obtain the Y-waveguide half-wave voltage value V corresponding to each modeling temperature point and the temperature value T of the temperature sensor in the fiber optic gyroscope under test; the temperature of the incubator covers the working environment temperature of the fiber optic gyroscope under test; 1.3] Substitute the Y waveguide half-wave voltage value V and the temperature value T of the temperature sensor into the formula V = aT + b, and fit the coefficients a and b to obtain the fitting values; 1.4] Load the fitted values ​​of coefficients a and b as parameters into the core processing unit of the digital modulation, demodulation and closed-loop control circuit of the fiber optic gyroscope under test; 1.5] The core processing unit calculates the temperature data TY represented by the Y waveguide half-wave voltage value V in real time based on the fitting values ​​of coefficients a and b ij ; Where i represents the axial direction of the fiber optic gyroscope under test: X axis, Y axis or Z axis; j represents the time, j = 0, 1, 2, ....

3. A fiber optic gyroscope temperature self-test redundancy method according to claim 2, characterized in that: Step 2.3] is as follows: the temperature data TY represented by the Y waveguide half-wave voltage ij The corresponding temperature sensor temperature value T i The difference of |TY ij -T i |Compare with the threshold value ΔT: When|TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, it is determined that the outputs of the temperature sensors of the X-axis, Y-axis and Z-axis are normal, and step S3 is executed; When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |<ΔT, determine that the output of the temperature sensor of the X axis is abnormal, and the output of the temperature sensors of the Y axis and Z axis are normal. If the fiber optic gyroscope being tested is in the ground test phase, execute step 2.4]; If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z When |<ΔT, it is determined that the output of the temperature sensor of the Y axis is abnormal, and the output of the temperature sensors of the X axis and Z axis are normal. If the fiber optic gyroscope being tested is in the ground test phase, then execute step 2.

4. If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |<ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, the temperature sensor output of the Z axis is judged to be abnormal, and the temperature sensor outputs of the X axis and Y axis are normal. If the fiber optic gyroscope being tested is in the ground test phase, execute step 2.

4. If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |<ΔT, determine that the outputs of the temperature sensors of the X-axis and Y-axis are abnormal, and the output of the temperature sensor of the Z-axis is normal. If the fiber optic gyroscope being tested is in the ground test phase, execute step 2.4]; If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |≥ΔT and |TY Yj -T Y |<ΔT and |TY Zj -T Z |≥ΔT, determine that the outputs of the temperature sensors of the X-axis and Z-axis are abnormal, and the output of the temperature sensor of the Y-axis is normal. If the fiber optic gyroscope being tested is in the ground test phase, execute step 2.

4. If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |<ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, determine that the temperature sensor outputs of the Y-axis and Z-axis are abnormal, and the temperature sensor output of the X-axis is normal. If the fiber optic gyroscope being tested is in the ground test phase, proceed to step 2.

4. If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5]; When|TY Xj -T X |≥ΔT and |TY Yj -T Y |≥ΔT and |TY Zj -T Z |≥ΔT, it is determined that the temperature sensors of the X-axis, Y-axis, and Z-axis all have abnormal outputs. If the fiber optic gyroscope being tested is in the ground test phase, proceed to step 2.

4. If the fiber optic gyroscope being tested is in the flight phase, proceed to step 2.5].

4. A fiber optic gyroscope temperature self-test redundancy method according to claim 3, characterized in that: In step 2.5], if the output of one of the axial temperature sensors of the fiber optic gyroscope under test is abnormal, the temperature values ​​T of the other two axial temperature sensors are used. i The average value of compensates the angular velocity of one axis of the tested fiber optic gyroscope, specifically: A1) If the temperature sensor output of the X axis is abnormal, and the temperature sensors of the Y axis and Z axis are normal, the temperature value T of the temperature sensor of the Y axis is used. Y and the Z-axis temperature sensor temperature value T Z The average value of compensates the angular velocity of the X-axis of the tested fiber optic gyroscope; A2) If the temperature sensor output of the Y axis is abnormal, and the temperature sensor outputs of the X axis and Z axis are normal, the temperature value T of the temperature sensor of the X axis is used. X and the Z-axis temperature sensor temperature value T Z The average value of compensates the angular velocity of the Y axis of the tested fiber optic gyroscope; A3) If the temperature sensor output of the Z axis is abnormal, and the temperature sensor outputs of the X axis and Y axis are normal, the temperature value T of the temperature sensor of the X axis is used. X and the temperature sensor temperature value T on the Y axis Y The average value of compensates the angular velocity of the Z axis of the tested fiber optic gyroscope.

5. The fiber optic gyroscope temperature self-test redundancy method according to claim 3, characterized in that: In step 2.5], if the output of two axial temperature sensors of the inspected fiber optic gyroscope is abnormal, the temperature value T of the other axial temperature sensor is used. i Compensate for the angular velocity of two axes of the tested fiber optic gyroscope, specifically: B1) If the temperature sensor outputs of the X-axis and Y-axis are abnormal, and the temperature sensor output of the Z-axis is normal, then the temperature value T of the temperature sensor of the Z-axis is used. Z Compensate the angular velocity of the X-axis and Y-axis of the fiber optic gyroscope under test; B2) If the temperature sensor outputs of the X-axis and Z-axis are abnormal, and the temperature sensor output of the Y-axis is normal, then the temperature value T of the temperature sensor of the Y-axis is used. Y Compensate the angular velocity of the X-axis and Z-axis of the fiber optic gyroscope under test; B3) If the temperature sensor outputs of the Y-axis and Z-axis are abnormal, and the temperature sensor output of the X-axis is normal, the temperature value T of the temperature sensor of the X-axis is used. X Compensate the angular velocity of the Y-axis and Z-axis of the fiber optic gyroscope under test.

6. A fiber optic gyroscope temperature self-test redundancy method according to claim 4 or 5, characterized in that: In step 1.1], the modeling temperature points are -40°C, -20°C, 0°C, 20°C, 40°C, and 60°C.

7. The fiber optic gyroscope temperature self-test redundancy method according to claim 6, characterized in that: In step 1.2], the insulation time is 1-3 hours.

8. The fiber optic gyroscope temperature self-test redundancy method according to claim 7, characterized in that: In step 1.3], the fitting is performed using the least squares method.

9. The fiber optic gyroscope temperature self-test redundancy method according to claim 8, characterized in that: In step 2.1], the threshold value ΔT is 5°C.

10. The fiber optic gyroscope temperature self-test redundancy method according to claim 9, characterized in that: In step 2.2], the temperature value T of the temperature sensor i Real-time monitoring is performed using the core processing unit of the digital modulation and demodulation and closed-loop control circuit of the fiber optic gyroscope under test.