Method for correcting shafting misalignment based on fiber-optic gyroscope measurement

Abstract

The application provides a method for correcting shaft system parallelism based on fiber-optic gyroscope measurement, relates to a measurement method for shaft system parallelism of a rotary table, and is used for solving the technical problems that the output shaft of a fiber-optic gyroscope is not parallel to the rotary shaft of a rotary table in the prior art, errors are caused in closed loop operation of shaft system perpendicularity using the output value of the fiber-optic gyroscope, and real-time measurement of shaft system parallelism cannot be realized in the prior art. The application obtains the output speed of the fiber-optic gyroscope and the output angle of the photoelectric theodolite rotary table, calculates the ratio of the two output signals, calculates the parallelism between the output shaft of the fiber-optic gyroscope and the corresponding rotary shaft of the photoelectric theodolite rotary table, and measures and corrects the output value of the fiber-optic gyroscope by taking the parallelism as a reference. The application has the advantages of simplifying the measurement process, reducing the calculation complexity, and improving the measurement accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to a method for measuring the non-parallelism of a rotating platform shaft system, in particular a method for correcting the non-parallelism of a rotating platform shaft system based on fiber-optic gyroscope measurement. BACKGROUND

[0002] The azimuth axis and the elevation axis of an electro-optical theodolite rotating platform are theoretically completely perpendicular. However, due to the limitations of installation and manufacturing process, the azimuth axis and the elevation axis cannot be completely perpendicular in actual use, and the non-perpendicularity of the two axes will have a great impact on high-precision tracking of the electro-optical theodolite rotating platform. Therefore, it is necessary to measure the non-perpendicularity of the two axes. The traditional measurement method is to use external tools such as an optical autocollimator and a plane mirror for measurement. Such a method not only needs to use external high-precision measurement equipment and has complex calculation, but also cannot perform real-time measurement on the non-perpendicularity of the shaft system which may change.

[0003] With the increasing requirements for the pointing and tracking accuracy of an electro-optical theodolite rotating platform, the existing high-precision electro-optical theodolite rotating platform is generally equipped with a high-precision fiber-optic gyroscope for speed measurement and high-precision speed tracking. The high-precision fiber-optic gyroscope has small weight and high speed measurement accuracy. However, due to the limitations of manufacturing and installation, the output shaft of the fiber-optic gyroscope and the corresponding rotating shaft of the rotating platform cannot be completely parallel, and there is a deviation, which causes the output shaft of the fiber-optic gyroscope to be unable to represent the speed of the electro-optical theodolite rotating platform. Therefore, when the output value of the fiber-optic gyroscope is used for closed-loop operation on the non-perpendicularity of the shaft system, an error will be caused. Therefore, it is necessary to know the non-parallelism between the output shaft of the fiber-optic gyroscope and the corresponding rotating shaft of the rotating platform, and then correct the measurement value of the fiber-optic gyroscope. SUMMARY

[0004] The main purpose of the present application is to solve the technical problems in the prior art that the non-parallelism exists between the output shaft of the fiber-optic gyroscope and the rotating shaft of the rotating platform, which causes an error when the output value of the fiber-optic gyroscope is used for closed-loop operation on the non-perpendicularity of the shaft system, and the technical problem in the prior art that real-time measurement on the non-parallelism of the shaft system cannot be achieved, and a method for correcting the non-parallelism of the shaft system based on fiber-optic gyroscope measurement is proposed.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0006] The method for correcting the non-parallelism of the shaft system based on fiber-optic gyroscope measurement has the following steps:

[0007] 1) installing a fiber-optic gyroscope on the horizontal plane and the elevation plane of the electro-optical theodolite rotating platform, and requiring the output shaft of the fiber-optic gyroscope to coincide with the corresponding rotating shaft of the electro-optical theodolite rotating platform;

[0008] 2) make the fiber-optic gyroscope static, collect the static speed ω1 of the fiber-optic gyroscope for many times, and calculate the average value ω0 of the static speed of the fiber-optic gyroscope by using ω1;

[0009] 3) send the same PPS signal to the fiber-optic gyroscope and the photoelectric theodolite turntable respectively, and collect the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable synchronously;

[0010] 4) make the photoelectric theodolite turntable rotate n sine periods, and collect the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable in each sine period; wherein n≥9;

[0011] 5) calculate the average value of the angular speed of the photoelectric theodolite turntable according to the output angle θ of the photoelectric theodolite turntable in all periods or part of the intermediate periods collected in step 4, and calculate the average speed ω of the fiber-optic gyroscope according to the output speed ω of the fiber-optic gyroscope collected in the same period and the average value ω0 of the output speed of the fiber-optic gyroscope calculated in step 2; i ;

[0012] 6) calculate the ratio A of the average value of the angular speed of the photoelectric theodolite turntable and the average speed ω of the fiber-optic gyroscope i , and calculate the non-parallelism γ between the output shaft of the fiber-optic gyroscope and the corresponding rotating shaft of the photoelectric theodolite turntable according to the ratio A;

[0013] 7) correct the shaft non-parallelism according to the average speed ω of the fiber-optic gyroscope i in step 5 and the non-parallelism γ in step 6, so as to obtain the corrected angular rate of the fiber-optic gyroscope

[0014]

[0015] Further, the step 5 comprises the following steps:

[0016] 5.1) calculate the angular speed of the photoelectric theodolite turntable in each sine period by differentiating the output angle θ of the photoelectric theodolite turntable in each sine period;

[0017] 5.2) fit the angular speed , and select 6-7 intermediate sine periods after fitting as 6-7 calculation periods;

[0018] 5.3) the average value of the angular speed includes the maximum average value of the angular speed and the minimum average value of the angular speed ; and the angular speed The maximum value of the 6 to 7 angular velocities The maximum value of the average is obtained to obtain the maximum average value of the angular velocity Select the angular velocity in each calculation cycle The minimum value of the angular velocity The absolute value of the minimum value is averaged to obtain the minimum average angular velocity

[0019] 5.4) Average velocity ω of the fiber optic gyroscope i Including the maximum average speed ω imax and the minimum average speed ω imin , take the maximum value of the output speed ω of the fiber optic gyroscope in each calculation cycle max ,ω max Subtract the average value of the fiber optic gyroscope output speed ω0, and max -ω0 to find the average, and get the maximum average speed ω of the fiber optic gyroscope imax Take the minimum value of the output speed ω of the fiber optic gyroscope in each calculation cycle, subtract the average value of the output speed ω0 of the fiber optic gyroscope, and average the absolute value of ω-ω0 to obtain the minimum average speed ω of the fiber optic gyroscope imin .

[0020] Furthermore, step 6 includes the following steps:

[0021] 6.1) Non-parallelism γ includes the first angle γ max and the second angle γ min Calculate θ in step 5.3 max Same as in step 5.4 imax The ratio of the first ratio A is obtained. max , for the first ratio A max The first angle γ between the output axis of the fiber optic gyroscope and the corresponding rotation axis of the turntable can be obtained by calculating the inverse cosine. max ;

[0022] 6.2) Calculate the value in step 5.3 Same as in step 5.4 imin The ratio of the second ratio A is obtained. min , for the second ratio A min The second angle γ between the output axis of the fiber optic gyroscope and the corresponding rotation axis of the turntable can be obtained by calculating the inverse cosine. min .

[0023] Furthermore, the step 7 includes the following steps:

[0024] 7.1) According to the maximum average speed ω of the fiber optic gyroscope imax and the first angle γ max Calculate the maximum corrected angular rate of the corrected fiber optic gyroscope by the following formula:

[0025]

[0026] According to the minimum average speed ω of the fiber-optic gyroscope imin And the second included angle γ min The corrected minimum corrected angular rate of the fiber-optic gyroscope is calculated as follows

[0027]

[0028] 7.2) The maximum corrected angular rate of the fiber-optic gyroscope And the minimum corrected angular rate The average of the maximum corrected angular rate and the minimum corrected angular rate is obtained as the corrected angular rate of the fiber-optic gyroscope

[0029] Further, the step 2 comprises the following steps:

[0030] 2.1) The fiber-optic gyroscope is kept still for 3-5 minutes, and the static speed ω1 of the fiber-optic gyroscope is continuously collected, and the average value ω1 of the static speed ω1 of the fiber-optic gyroscope is calculated.

[0031] 2.2) The step 2.1 is repeated k times, and the average value ω1 to ω of the static speed of the fiber-optic gyroscope is calculated respectively each time k ; wherein k = 3-5;

[0032] 2.3) The average value of ω1 to ω k is obtained as the average value ω0 of the static speed of the fiber-optic gyroscope.

[0033] Further, one sine period in the step 4 is 5*sin(1*t), 1*sin(1*t), 0.5*sin(1*t) and 0.05*sin(1*t) position sine, wherein t is time.

[0034] Further, in the step 3, the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable are collected by the master control software, and the output speed ω and the output angle θ are ns-level synchronization.

[0035] Further, in the step 1, the photoelectric theodolite turntable can be replaced by a stable platform.

[0036] Compared with the prior art, the beneficial effects of the present application are:

[0037] 1. The method utilizes the existing fiber optic gyroscope on the high-precision photoelectric theodolite turntable, obtains the output speed of the fiber optic gyroscope and the output angle of the photoelectric theodolite turntable, calculates the ratio of the two output signals, calculates the non-parallelism γ between the output axis of the fiber optic gyroscope and the corresponding rotation axis of the photoelectric theodolite turntable, corrects the output value of the fiber optic gyroscope with the non-parallelism γ as a reference, and obtains the corrected angular rate of the fiber optic gyroscope, without the need for external devices such as photoelectric autocollimator and plane mirror for measurement and calculation, further avoiding errors in the measurement and correction process, simplifying the measurement process, effectively reducing the calculation complexity, and improving the measurement accuracy.

[0038] 2. The measurement and correction accuracy of the method depends on the accuracy of the fiber optic gyroscope and the accuracy of the angle measuring sensor used on the photoelectric theodolite turntable, so that the measurement and correction accuracy can be highly matched with the device accuracy.

[0039] 3. The method adopts the main control software to collect the output value of the fiber optic gyroscope and the output value of the photoelectric theodolite turntable, and can measure and correct the changing shaft system non-parallelism in real time through the main control software, improving the calculation reliability, reducing the operation difficulty and operation cost, and improving the practicability. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 The method for correcting shaft system non-parallelism based on fiber optic gyroscope measurement of the present application is shown in the flowchart. DETAILED DESCRIPTION

[0041] The technical solutions of the present application will be further described below in combination with the embodiments and drawings of the present application. The method for correcting shaft system non-parallelism based on fiber optic gyroscope measurement, as shown in the flowchart, comprises the following steps: Figure 1

[0042] 1) A high-precision fiber optic gyroscope is installed on the horizontal plane and the pitch plane of the photoelectric theodolite turntable, respectively, and the output axis of the fiber optic gyroscope on the horizontal plane is theoretically completely coincident with the azimuth axis of the photoelectric theodolite turntable, and the output axis of the fiber optic gyroscope on the pitch plane is theoretically completely coincident with the pitch axis of the photoelectric theodolite turntable.

[0043] 2) The fiber optic gyroscope itself has a zero offset, in order to obtain the accurate value of the output speed of the fiber optic gyroscope, the fiber optic gyroscope needs to be stationary before measuring the output speed of the photoelectric theodolite turntable in rotation, and the stationary speed ω1 of the fiber optic gyroscope is collected multiple times, and the average value of the stationary speed of the fiber optic gyroscope is calculated using ω1, specifically:

[0044] 2.1) The fiber optic gyroscope is stationary for 3-5 minutes, the stationary speed ω1 of the fiber optic gyroscope is continuously collected, and the average value ω1 of the stationary speed ω1 of the fiber optic gyroscope is calculated.

[0045] ​2.2) Repeat step 2.1 for k (k=3-5) times, respectively calculate the average value of the fiber optic gyroscope static speed ω1 to ω k ;

[0046] 2.3) Average ω1 to ω k , get the average value of the fiber optic gyroscope static speed ω0.

[0047] 3) Collect the fiber optic gyroscope output speed ω and the angle output by the encoder on the photoelectric theodolite turntable as the output angle θ of the photoelectric theodolite turntable through the master control software; The master control software sends the same PPS (pulse per second) signal to the angle measuring sensor on the fiber optic gyroscope and the photoelectric theodolite turntable, so that the speed signal and the angle signal are kept in high-precision synchronization, which can reach ns-level synchronization.

[0048] 4) The photoelectric theodolite turntable runs 5*sin(1*t), 1*sin(1*t), 0.5*sin(1*t) and 0.05*sin(1*t) position sine for one sine period, and repeats 10 sine periods, collects the output speed ω of the fiber optic gyroscope and the output angle θ of the photoelectric theodolite turntable in each sine period;

[0049] 5) According to the output angle θ of the photoelectric theodolite turntable in the middle period collected in step 4, the average value of the angular velocity of the photoelectric theodolite turntable is calculated According to the output speed ω of the fiber optic gyroscope collected in the same period and the average value of the fiber optic gyroscope output speed ω0 calculated in step 2, the average speed of the fiber optic gyroscope is calculated i ; Specifically including the following steps:

[0050] 5.1) Differentiate the output angle θ of the photoelectric theodolite turntable in each sine period to calculate the angular velocity

[0051] 5.2) Fit the angular velocity The differential of the output result of the angle measuring sensor can also get a speed with very small noise after fitting, and the middle 6 sine periods after fitting are selected as 6 calculation periods;

[0052] 5.3) The average value of the angular velocity includes the maximum average value of the angular velocity and the minimum average value of the angular velocity Take the maximum value of the angular velocity in each calculation period, and take the average of the maximum values of the 6 angular velocities , get the maximum average value of the angular velocity Take the minimum value of the angular velocity the minimum value of the angular velocity the minimum average value of the angular velocity

[0053] 5.4) the average velocity ω of the fiber-optic gyroscope i including the maximum average velocity ω imax and the minimum average velocity ω imin , taking the maximum value ω of the output velocity ω of the fiber-optic gyroscope in each calculation period max , ω max subtracting the average value ω0 of the output velocity of the fiber-optic gyroscope, and averaging (ω max - ω0) to obtain the maximum average velocity ω of the fiber-optic gyroscope imax ; taking the minimum value of the output velocity ω of the fiber-optic gyroscope in each calculation period, subtracting the average value ω0 of the output velocity of the fiber-optic gyroscope, and averaging the absolute value of (ω - ω0) to obtain the minimum average velocity ω imin of the fiber-optic gyroscope;

[0054] 6) calculating the average value of the angular velocity of the photoelectric theodolite turntable in step 5 and the average velocity ω i of the fiber-optic gyroscope, calculating the misalignment γ between the sensitive axis of the fiber-optic gyroscope and the measured axis of the photoelectric theodolite turntable according to the ratio A, the misalignment γ including the first included angle γ max and the second included angle γ min ; if the sensitive axis of the fiber-optic gyroscope and the sensitive axis of the angle measuring sensor are completely parallel to the rotation axis of the photoelectric theodolite turntable, the angular velocity of the photoelectric theodolite turntable and the average velocity ω i of the fiber-optic gyroscope should be exactly the same; if there is an included angle between the sensitive axis of the fiber-optic gyroscope and the sensitive axis of the angle measuring sensor, i.e., there is a misalignment, the measured velocity values will be different; specifically including the following steps:

[0055] 6.1) calculating the ratio of to ω imax to obtain the first ratio A max , and taking the inverse cosine of the first ratio A max can obtain the first included angle γ max between the output axis of the fiber-optic gyroscope and the corresponding rotation axis of the turntable;

[0056] 6.2) calculating the ratio of to ω imin to obtain the second ratio A min , and taking the inverse cosine of the second ratio A min can obtain the second included angle γmin ; first ratio A max and second ratio A min Theoretically, the first ratio A max and the second ratio A min There is a small gap, not exactly the same.

[0057] 7) According to the average speed ω of the fiber optic gyroscope in step 5 i and the non-parallelism γ in step 6, the shaft non-parallelism is corrected according to the following formula, so as to obtain the corrected angular rate of the fiber optic gyroscope

[0058] 7.1) According to the maximum average speed ω of the fiber optic gyroscope imax and the first included angle γ max , the maximum corrected angular rate of the fiber optic gyroscope is calculated according to the following formula

[0059]

[0060] According to the minimum average speed ω of the fiber optic gyroscope imin and the second included angle γ min , the minimum corrected angular rate of the fiber optic gyroscope is calculated according to the following formula

[0061]

[0062] 7.2) The maximum corrected angular rate ω of the fiber optic gyroscope and the minimum corrected angular rate ω are averaged to obtain the corrected angular rate ω of the fiber optic gyroscope

[0063] The fiber optic gyroscope is a high-precision sensitive inertial measurement element. The fiber optic gyroscope is installed on the reference surface of the turntable, and the speed measured by the sensitive axis of the fiber optic gyroscope is the rotational speed of the optical theodolite turntable axis perpendicular to the installation surface. Due to the limitations of manufacturing and assembly process, the output axis of the fiber optic gyroscope and the shaft system of the optical theodolite turntable cannot be completely parallel, which leads to the output speed of the fiber optic gyroscope cannot be equal to the speed of the corresponding rotation axis of the optical theodolite turntable. The encoder is installed on the structural axis of the optical theodolite turntable, and due to the influence of assembly and other reasons, there will be a certain error between the sensitive axis of the encoder and the shaft system of the optical theodolite turntable.

[0064] In the use of photoelectric theodolite turntable for precision tracking or pointing, optical fiber gyroscope is used as a speed sensor, and encoder is used as an angle sensor, and the implementation of control algorithm defaults that the speed sensor and the angle sensor are completely coincident with the photoelectric theodolite turntable, while in fact, the speed sensor and the angle sensor are not parallel to the shaft system of the photoelectric theodolite turntable, which causes errors to occur. Therefore, before using the speed of the optical fiber gyroscope to represent the speed of the photoelectric theodolite turntable, the speed of the optical fiber gyroscope needs to be corrected. The method corrects the non-parallelism of the sensitive axis of the speed sensor and the sensitive axis of the angle sensor, and corrects the sensitive axis of the speed sensor to the sensitive axis of the angle sensor.

[0065] Similarly, the application can also use two-axis or three-axis gyroscope to measure the two-axis and three-axis non-parallelism of the photoelectric theodolite turntable or the stable platform. The three-axis non-parallelism of the optical fiber gyroscope is calibrated at the factory, the two-axis or three-axis output value of the optical fiber gyroscope is obtained, the two-axis or three-axis output value of the photoelectric theodolite turntable or the stable platform is obtained, by comparing the two output values, and taking the two-axis or three-axis non-parallelism of the optical fiber gyroscope as a reference, the two-axis or three-axis non-parallelism of the turntable or the stable platform can be calculated.

Claims

1. A method for correcting shaft misalignment based on fiber-optic gyroscope measurement, characterized in that: The method comprises the following steps: 1) installing a fiber-optic gyroscope on the horizontal plane and the elevation plane of the photoelectric theodolite turntable, and requiring the output shaft of the fiber-optic gyroscope to coincide with the corresponding rotation shaft of the photoelectric theodolite turntable; 2) making the fiber-optic gyroscope stationary, collecting the stationary speed ω1 of the fiber-optic gyroscope for multiple times, and calculating the average value ω0 of the stationary speed of the fiber-optic gyroscope by using ω1; 3) sending the same PPS signal to the fiber-optic gyroscope and the photoelectric theodolite turntable, and synchronously collecting the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable; 4) making the photoelectric theodolite turntable rotate n sine periods, collecting the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable in each sine period, and wherein n≥9; 5) According to the output angle θ of the photoelectric theodolite turntable in all cycles or part of the intermediate cycles collected in step 4, the average angular velocity of the photoelectric theodolite turntable is calculated According to the output speed ω of the fiber-optic gyroscope collected in the same cycle and the average output speed ω0 of the fiber-optic gyroscope calculated in step 2, the average speed ω of the fiber-optic gyroscope is calculated i ; 6) calculating the average value of the angular velocity of the photoelectric theodolite turntable in step 5 and the average velocity ω of the fiber-optic gyroscope, calculating the non-parallelism γ between the output shaft of the fiber-optic gyroscope and the corresponding rotary shaft of the photoelectric theodolite turntable according to the ratio A i and the average velocity ω of the fiber-optic gyroscope, calculating the non-parallelism γ between the output shaft of the fiber-optic gyroscope and the corresponding rotary shaft of the photoelectric theodolite turntable according to the ratio A 7) Average speed of the fiber-optic gyroscope ω from step 5 i and the misalignment γ from step 6, the shaft misalignment is corrected according to the following equation, resulting in the corrected angular rate of the fiber-optic gyroscope 2. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 1, characterized in that: The step 5 comprises the following steps: 5.1) Differentiate the output angle θ of the photoelectric theodolite turntable in each sine period, and calculate the angular velocity of the photoelectric theodolite turntable in each sine period 5.2) Diagonal velocity The fitting is performed, and the middle 6-7 sinusoidal periods after the fitting are selected as 6-7 calculation periods; 5.3) Average value of angular velocity including the maximum average value of angular velocity and the minimum average value of angular velocity The maximum value of angular velocity is selected for each calculation period, and the maximum values of angular velocity for the 6-7 calculation periods are averaged to obtain the maximum average value of angular velocity The minimum value of angular velocity is selected for each calculation period, and the absolute values of the minimum values of angular velocity are averaged to obtain the minimum average value of angular velocity 5.4) Average speed of the fiber-optic gyroscope ω i including the maximum average speed ω imax and the minimum average speed ω imin , taking the maximum value ω max of the output speed ω of the fiber-optic gyroscope in each calculation period max , subtracting the average value ω0 of the output speed of the fiber-optic gyroscope and averaging ω max - ω0, the maximum average speed ω imax of the fiber-optic gyroscope is obtained; taking the minimum value of the output speed ω of the fiber-optic gyroscope in each calculation period, subtracting the average value ω0 of the output speed of the fiber-optic gyroscope and averaging the absolute value of ω - ω0, the minimum average speed ω imin of the fiber-optic gyroscope is obtained.

3. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 2, characterized in that: The step 6 comprises the following steps: 6.1) the non-parallelism γ includes a first included angle γ max and a second included angle γ min ; the ratio of the value of ω in step 5.3 imax to the value of ω max in step 5.4, is the first ratio A max , and the inverse cosine of the first ratio A max is the first included angle γ 6.2) Calculate the ratio of the value of ω in step 5.3 to the value of ω imin in step 5.4, to obtain a second ratio A min . Take the inverse cosine of the second ratio A min to obtain a second included angle γ min between the output axis of the fiber-optic gyroscope and the corresponding rotation axis of the turntable.

4. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 3, characterized in that: The step 7 comprises the following steps: 7.1) According to the maximum average speed ω of the fiber-optic gyroscope imax and the first included angle γ max The maximum corrected angular rate of the fiber-optic gyroscope is calculated as follows According to the minimum average speed ω imin and the second included angle γ min , the minimum corrected angular rate of the fiber-optic gyroscope is calculated as follows 7.2) Maximum corrected angular rate of the fiber optic gyroscope and minimum corrected angular rate of the fiber optic gyroscope averaged to obtain the corrected angular rate of the fiber optic gyroscope 5. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to any one of claims 1 to 4, characterized in that: The step 2 comprises the following steps: 2.1) making the fiber-optic gyroscope stationary for 3-5 minutes, continuously collecting the stationary speed ω1 of the fiber-optic gyroscope, and calculating the average value ω1 of the stationary speed ω1 of the fiber-optic gyroscope; 2.2) Repeat step 2.1 for k times, and calculate the average value of the static speed of the fiber-optic gyroscope each time ω1 to ωk k ; wherein k = 3-5; 2.3) ω1 to ω k The average value is obtained, and the average value ω0 of the static speed of the fiber-optic gyroscope is obtained.

6. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 5, characterized in that: The sine period in the step 4 is the position sine of 5*sin(1*t), 1*sin(1*t), 0.5*sin(1*t) and 0.05*sin(1*t), wherein t is time.

7. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 6, characterized in that: In the step 3, the output speed ω of the fiber-optic gyroscope and the output angle θ of the photoelectric theodolite turntable are collected by the master control software, and the output speed ω and the output angle θ are ns-level synchronization.

8. The method for measuring the shafting misalignment based on the fiber-optic gyroscope according to claim 7, characterized in that: In the step 1, the photoelectric theodolite turntable can be replaced by a stable platform.

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