Fiber-optic gyroscope scale factor correction method and application

Abstract

The invention discloses a fiber-optic gyroscope scale factor correction method, system and device and a medium, and relates to the technical field of inertial navigation, the method comprises the following steps: installing a fiber-optic gyroscope on a turntable, and carrying out turntable control and data acquisition by adopting a first mode; performing first data processing and calculation to obtain a scale factor K and a correction coefficient K '; carrying out turntable control and data acquisition according to a second mode; performing secondary data processing and calculation to obtain a secondary correction coefficient K ''; and correcting output data of the fiber-optic gyroscope according to K, K 'and K ''to obtain an angular velocity calculation value with preset precision. According to the invention, the defects of existing engineering design and test technical conditions can be overcome, and the application precision of the fiber-optic gyroscope in a large angular velocity range is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of inertial navigation technology, and in particular to a method, system, device and medium for correcting a scale factor of a fiber optic gyroscope. Background Art

[0002] Fiber optic gyroscope is a kind of inertial sensor, its function is to sense the angular velocity of an object rotating in inertial space and convert it into digital signal output. The scale factor series parameters are one of the parameters that characterize the input and output relationship of the fiber optic gyroscope, including: scale factor, nonlinearity, scale factor asymmetry, scale factor repeatability, scale factor stability, maximum input angular velocity, etc. Affected by factors such as product processing and manufacturing, working environment, etc., these parameters have a certain error range, and these errors become important factors affecting the fiber optic gyroscope in specific applications. Among them, scale factor, nonlinearity, scale factor asymmetry, and scale factor temperature sensitivity have the greatest impact in practical applications.

[0003] In order to overcome the influence of the scale factor series parameters, the engineering community has taken many technical measures. For example, the high-precision inertial navigation system scale factor temperature error characteristic measurement method and system (application publication number CN114383629) measured and processed the scale factor change of the laser gyro under the influence of temperature from the inertial navigation level; the fiber optic gyroscope scale factor nonlinear error compensation method (application publication number CN113267202 A) By obtaining the output value of the fiber optic gyroscope and the angular velocity output value of the turntable and performing smoothing, the corresponding scale factor and angular acceleration are calculated, and a two-dimensional interpolation calculation is performed to obtain the scale factor model of the fiber optic gyroscope, thereby improving the accuracy of the scale factor; the gyroscope scale factor test system and method provided by the gyroscope scale factor test system (application publication number CN107741239A) replaces the use of a turntable to test the scale factor of the gyroscope, is simple to operate and can test the scale factors of multiple gyroscopes at the same time, saving time, reducing costs, and facilitating the mass production of gyroscopes; a closed-loop fiber optic gyroscope scale factor high-precision calibration method (application publication number CN104713574A) uses a variable temperature method on a turntable with a temperature chamber to obtain a calibration curve of the closed-loop fiber optic gyroscope scale factor that changes point by point with temperature; a closed-loop fiber optic gyroscope scale factor fast stabilization method and system (application publication number CN108692741 A) Modeling and calculating the Steinhart-Hart equation coefficients, and then using the corresponding temperature and the scale factor temperature field compensated scale factor to obtain the final scale factor, so as to achieve rapid stabilization of the closed-loop fiber optic gyroscope; A method for rapid testing of fiber optic gyroscope scale factor parameters (application publication number CN 104034350A) adopts a turntable rotating at a sinusoidal angular rate, and then uses least squares fitting to achieve rapid testing of fiber optic gyroscope scale factor parameters; A method for rapid stabilization of fiber optic gyroscope scale factor (application publication number CN 103776465 ​​A) is mainly to solve the problem of reducing the startup time of fiber optic gyroscope under high and low temperature conditions; A method for rapid self-correction of fiber optic gyroscope scale factor (application publication number CN 114018234 A) is to take current limiting measures for the fiber optic gyroscope temperature control circuit, and then use the light source temperature telemetry to implement compensation for the fiber optic gyroscope scale factor, which solves the problem of insufficient temperature control ability of the fiber optic gyroscope in the full temperature range and low stability of the scale factor in the temperature control process; a fiber optic gyroscope scale factor error compensation method (application publication number CN 110595508A) is to install temperature sensors at two corresponding points inside and outside the fiber ring of the fiber optic gyroscope, and propose a new scale factor error compensation model to compensate for the error caused by the scale factor changing with temperature; a fiber optic gyroscope scale factor index high-precision test method (application publication number CN110068355 A) performs automatic test of the fiber optic gyroscope scale factor index by synchronously collecting the turntable position and gyro data, thereby improving the accuracy of the scale factor index test;A method and system for temperature compensation of scale factor of fiber optic gyroscope (application publication number CN 114216450A) compensates the influence of temperature on scale factor based on the pre-stored temperature compensation list and the detected current ambient temperature; a method for compensating scale factor error of fiber optic gyroscope based on LSTM (application publication number CN114459455 A) designs a calibration experiment under continuously changing temperature and input angular velocity, obtains the scale factor nonlinear error model of fiber optic gyroscope at different temperature points and input angular velocity points, and uses LSTM to compensate for the nonlinear error of scale factor of fiber optic gyroscope; a method for testing scale factor of gyroscope based on high-precision three-axis turntable (application publication number CN113776560 A) The key point is to use the precise positioning function of the three-axis turntable to measure and eliminate the nonlinear error of the scale factor caused by the misalignment angle of the gyro input axis; a rate fiber optic gyro scale factor calibration method (application publication number CN114166246A) is mainly to solve the problem that the existing gyro scale factor calibration method cannot be implemented without a rate turntable. Some other public documents also mentioned some related scale factor testing problems, but how to solve the precise use of the scale factor series parameters in practical applications to meet the high-precision application requirements of better than 10ppm has always been difficult. ; Summary of the invention

[0004] The embodiment of the present application provides a method and application for correcting the scale factor of a fiber optic gyroscope, which is used to solve the defects in the above-mentioned related technologies. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for correcting a scale factor of a fiber optic gyroscope, comprising: installing a fiber optic gyroscope on a turntable, adopting a first turntable control and data acquisition method, comprising rotating the turntable in sequence to a first group of four positions perpendicular to each other and collecting first output data after the turntable is stationary, rotating the turntable according to a number of angular velocity values ​​with the same logarithmic value and opposite directions and collecting second output data after stabilization, and rotating the turntable in sequence to a second group of four positions that differ by 45° from the first group of four positions and collecting third output data after the turntable is stationary; taking the average of the first output data and the third output data obtained under the condition of the turntable being stationary as a deviation value, and calculating the scale factor based on the second output data and the deviation value obtained under the condition of the turntable being rotated; obtaining the first angular velocity mean of the fiber optic gyroscope output at each angular velocity value based on the scale factor, and fitting the first correction factor of the scale factor using the least squares method based on the angular velocity value and the corresponding first angular velocity mean. Positive function; adopting a second turntable control and data acquisition method, including rotating the turntable to a third group of four positions perpendicular to each other in sequence and collecting fourth output data after the turntable is stationary, rotating the turntable in an acceleration-stabilizing angular velocity-deceleration stationary manner and continuously collecting fifth output data, rotating the turntable to a fourth group of four positions 45° different from the third group of four positions in sequence and collecting sixth output data after the turntable is stationary; obtaining the average angular velocity of the turntable control process, and averaging the fourth output data, the fifth output data and the sixth output data obtained in the turntable control process after being processed by the scale factor and the first correction function to obtain a second angular velocity mean; fitting a second correction function of the scale factor by using the least squares method according to the average angular velocity of the turntable and the second angular velocity mean outputted by the fiber optic gyroscope, and correcting the output data of the fiber optic gyroscope according to the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

[0006] In one embodiment of the present invention, in both the first turntable control and data acquisition method and the second turntable control and data acquisition method, the turntable selects at least 11 pairs of angular velocity values ​​with the same value and opposite directions to rotate to collect the second output data and the fifth output data.

[0007] In one embodiment of the present invention, the first correction function and the second correction function are high-order polynomial functions of order not less than 3.

[0008] In one embodiment of the present invention, obtaining the first angular velocity average of the fiber optic gyroscope output at each angular velocity value according to the scaling factor includes: subtracting the deviation value from the first output data, the second output data, and the third output data output by the fiber optic gyroscope and dividing the result by the scaling factor to obtain the first angular velocity average of the fiber optic gyroscope output at each angular velocity value: in, is the first angular velocity mean value calculated when the j-th turntable inputs the angular velocity, is the average output of the fiber optic gyroscope when the jth turntable input angular velocity is, is the average output of the fiber optic gyroscope when the turntable is stationary.

[0009] In one embodiment of the present invention, the first correction function of the scale factor is fitted using the least square method according to the angular velocity value and the corresponding first angular velocity mean value, including: taking the first angular velocity mean value as an independent variable and the angular velocity value as a dependent variable, and fitting the first correction function of the scale factor using the least square method as follows: K′=[a0 a1 a2 a3…] T ; Among them, a0, a1, a2, a3 refer to the constant term, linear term, quadratic term, and cubic term coefficients of K' respectively, and T is the exponential power.

[0010] In one embodiment of the present invention, the output data of the fiber optic gyroscope corrected according to the first correction function and the second correction function are respectively expressed as: in, is the calculated value of the FOG output after eliminating the zero bias and scaling factor, ω′ is the calculated value of the FOG output after K′ correction; ω i ' , ' j =b0+b1ω i ' ,j +b2ω i ' ,j 2 +b3ω i ' ,j 3 +…; where ω i ' , ' j is the effective value of the final fiber optic gyroscope output after correction by K, K', and K".

[0011] In a second aspect, an embodiment of the present application further provides a fiber optic gyroscope scale factor correction system, comprising: a first turntable control and data acquisition module, used to rotate the turntable in sequence to a first group of four positions perpendicular to each other and collect first output data after the turntable is stationary, collect second output data after the turntable is rotated at a number of angular velocity values ​​with the same logarithmic value and opposite direction and stabilizes, and collect third output data after the turntable is rotated in sequence to a second group of four positions 45° different from the first group of four positions and stops; a scale factor calculation module, used to take the average of the first output data and the third output data obtained under the condition of the turntable being stationary as a deviation value, and calculate the scale factor according to the second output data and the deviation value obtained under the condition of the turntable being rotated; a first correction function fitting module, used to obtain the first angular velocity mean value of the fiber optic gyroscope output at each angular velocity value according to the scale factor, and fit the first correction function of the scale factor according to the angular velocity value and the corresponding first angular velocity mean value using the least squares method; A second turntable control and data acquisition module is used to rotate the turntable in sequence to a third group of four positions that are perpendicular to each other and collect fourth output data after the turntable stops, rotate the turntable in a manner of acceleration-stabilizing angular velocity-deceleration and stopping and continuously collect fifth output data, and rotate the turntable in sequence to a fourth group of four positions that are 45° different from the third group of four positions and collect sixth output data after the turntable stops; an angular velocity mean value calculation module is used to obtain the average angular velocity of the turntable control process, and average the fourth output data, the fifth output data and the sixth output data obtained in the turntable control process after calculation and processing with the scale factor and the first correction function to obtain a second angular velocity mean; an output data correction module is used to fit a second correction function of the scale factor according to the average angular velocity of the turntable and the second angular velocity mean outputted by the fiber optic gyroscope using the least squares method, and correct the output data of the fiber optic gyroscope according to the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

[0012] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method described in any one of the above embodiments are implemented.

[0013] In a fourth aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the above embodiments.

[0014] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0015] A precise revision method for the scale factor of a fiber optic gyroscope is proposed. This method can effectively compensate for the linear and nonlinear errors of the scale factor in the application of the fiber optic gyroscope. Without considering temperature factors and misalignment angles, the application accuracy can reach 1ppm. The relevant method can be implemented using only a single-axis position / rate turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a method for correcting a scale factor of a fiber optic gyroscope provided in an embodiment of the present application;

[0018] Figure 2 It is a structural schematic diagram of a fiber optic gyroscope scale factor correction system provided in an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the structure of the computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0023] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.

[0024] The present application is described in detail below with reference to specific embodiments.

[0025] Next, combine Figure 1 , taking the terminal performing the fiber optic gyroscope scale factor correction as an example, the fiber optic gyroscope scale factor correction method provided by the embodiment of the present application is introduced. For details, please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for correcting a scale factor of a fiber optic gyroscope provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0026] S101, installing the fiber optic gyroscope on a turntable, using a first turntable control and data acquisition method, including sequentially rotating the turntable to a first group of four positions perpendicular to each other and making it stop, collecting first output data, rotating the turntable at a plurality of angular velocity values ​​with the same value and opposite directions and making it stable, collecting second output data, and sequentially rotating the turntable to a second group of four positions that differ from the first group of four positions by 45 degrees and making it stop, collecting third output data;

[0027] S102, taking the average of the first output data and the third output data obtained when the turntable is stationary as a deviation value, and calculating a scale factor according to the second output data and the deviation value obtained when the turntable is rotating;

[0028] S103, obtaining a first angular velocity mean value output by the fiber optic gyroscope at each angular velocity value according to the scale factor, and fitting a first correction function of the scale factor by using a least square method according to the angular velocity value and the corresponding first angular velocity mean value;

[0029] S104, adopting the second turntable control and data collection method, including rotating the turntable to a third group of four positions perpendicular to each other in sequence and collecting fourth output data after the turntable is stationary, rotating the turntable in a manner of acceleration-stable angular velocity-deceleration stationary and continuously collecting fifth output data, and rotating the turntable to a fourth group of four positions 45° different from the third group of four positions in sequence and collecting sixth output data after the turntable is stationary;

[0030] Step S105, obtaining an average angular velocity in the turntable control process, and averaging the fourth output data, the fifth output data, and the sixth output data obtained in the turntable control process after calculation and processing using the scaling factor and the first correction function to obtain a second angular velocity average;

[0031] Step S106, fitting a second correction function of the scale factor using the least squares method according to the average angular velocity of the turntable and the second angular velocity mean value output by the fiber optic gyroscope, and correcting the output data of the fiber optic gyroscope according to the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

[0032] Specifically, in step S101, for example, the fiber optic gyroscope is installed on a position rate turntable (hereinafter referred to as the turntable), the rotation axis of the turntable is perpendicular to the local horizontal plane, and the sensitive axis of the fiber optic gyroscope is parallel to the rotation axis of the turntable.

[0033] After the FOG is powered on and stabilized, the first turntable control and data acquisition method is first used. The first step of this method is to rotate the turntable to four mutually perpendicular positions, such as 0°, 90°, 180°, and 270°, and collect the output data of the FOG for a period of time, such as more than 60 seconds, at each position. The second step is to select at least 11 pairs of angular velocity values ​​with the same value but opposite directions within the range of the FOG, such as ±0.05° / s, ±0.1° / s, ±0.5° / s, ±1° / s, ±2° / s, ±5° / s, ±10° / s, ±20° / s, ±50° / s, ±80° / s, and ±100° / s. After the turntable angular velocity output is stable, collect the output data of the FOG for a period of time, such as more than 60 seconds. In the third step, the turntable is rotated to four positions which are perpendicular to each other and 45° away from the position of the turntable in the first step, such as 45°, 135°, 225°, and 315°, and the output data of the fiber optic gyroscope is collected at each position for a period of time, such as more than 60 seconds.

[0034] In step S102, the output data of the above 8 groups obtained when the turntable is stationary are averaged as the deviation value, and the deviation value includes the zero position of the gyro and the earth rotation component that the gyro is sensitive to. The deviation value is subtracted from the output data of the fiber optic gyro obtained under the condition of the turntable rotating, and the scale factor K is calculated. The calculation formula can refer to the method in GJB2426A-2015, which will not be repeated here. It is worth mentioning that the purpose of taking the average of 8 groups of stationary data is to try to eliminate the errors caused by factors such as the non-parallelism between the rotation axis of the turntable and the sensitive axis of the fiber optic gyro and the self-jumping of the rotation axis of the turntable.

[0035] In step S103, the static and rotating data output by the fiber optic gyroscope are subtracted from the deviation value and divided by the scale factor K to obtain the average output angular velocity of the fiber optic gyroscope at each angular velocity point:

[0036]

[0037] In the formula, is the average angular velocity calculated for the first time when the j-th turntable inputs the angular velocity, is the average output of the fiber optic gyroscope when the jth turntable input angular velocity is, It is the average output of the fiber optic gyroscope when the input angular velocity of the turntable is 0 (i.e. stationary).

[0038] Further, is the independent variable, the angular velocity point Ω given by the turntable is the dependent variable, and the scale factor correction function K' is fitted by the least squares method as follows:

[0039] K′=[a0 a1 a2 a3…] T (2)

[0040] Wherein, a0, a1, a2, and a3 refer to the coefficients of the constant term, the linear term, the quadratic term, and the cubic term of K' respectively. K' is required to be a high-order polynomial function of order not less than 3, and T is the exponential power.

[0041] If we want to calculate the output angular velocity of the fiber optic gyroscope after correction by the correction function K', the calculation formula is:

[0042]

[0043] In the formula, is the calculated value of the FOG output after eliminating the zero bias and scaling factor, and ω′ is the calculated value of the FOG output after K′ correction.

[0044] In step S104, the second turntable control and data acquisition method is adopted. The first step of this method is to rotate the turntable to four mutually perpendicular positions, such as 0°, 90°, 180°, and 270° in turn, and collect the output data of the fiber optic gyroscope at each position for a period of time, such as more than 60s. The second step is to use the 0° position of the turntable as the starting moment, and then the turntable rotates n circles (n≥1) in the manner of acceleration-stable angular velocity-deceleration and stillness, and then returns to the 0° position, and the output data of the fiber optic gyroscope is collected during the process; the stable angular velocity, for example, selects at least 11 pairs of angular velocity values ​​with the same value but opposite rotation. The third step is to rotate the turntable to four mutually perpendicular positions that differ by 45° from the first step, such as 45°, 135°, 225°, and 315° in turn, and collect the output data of the fiber optic gyroscope at each position for a period of time, such as more than 60s. The output value of the fiber optic gyroscope collected at each moment under the above state is processed according to the following formula:

[0045]

[0046]

[0047] In the formula, It is necessary to recalculate the static data of the fiber optic gyro in the second turntable control and data acquisition method, ω i,j is the angular velocity value at the i-th moment calculated when the j-th turntable inputs the angular velocity state (including static), F i,j is the output value of the fiber optic gyroscope at the i-th moment when the j-th turntable input angular velocity state (including static), ω i ' ,j It is the calculated value of the angular velocity at the i-th moment after K' correction when the j-th turntable input angular velocity state (including static) is in state.

[0048] In step S105, the average of each rotation process of the turntable in the second turntable control and data collection method (including static) is taken to obtain the average turntable rotation angular velocity The corresponding fiber optic gyro output data is also averaged after the scale factor K and the correction function K' are calculated and processed to obtain the average angular velocity

[0049] In step S106, the average angular velocity is the independent variable, the average angular velocity of the turntable As the dependent variable, the least square method is used to fit the scale factor correction function K':

[0050] K″=[b0 b1 b2 b3 …] T (6)

[0051] In formula (6), b0, b1, b2, and b3 refer to the coefficients of the constant term, the linear term, the quadratic term, and the cubic term of K' respectively, and K' is required to be a high-order polynomial function of no less than 3rd order.

[0052] The output value ω" obtained by using K" i,j The calculation formula is:

[0053]

[0054] In formula (7), ω″ i,j That is, it is the final effective value of the fiber optic gyroscope output obtained after correction by the scale factor K, correction functions K' and K".

[0055] In specific applications, the turntable is not considered, and the F value of the fiber optic gyroscope output at any time in the normal state is i , and then substitute into formulas (4), (5), and (7) to obtain the angular velocity calculated value ω″ i The predetermined accuracy can be achieved.

[0056] The reason why the present invention adopts a single-axis turntable and a related series of steps is that, first, under existing engineering and technical conditions, no matter how the fiber optic gyroscope hardware processing and manufacturing method is improved, the input and output relationship of the fiber optic gyroscope itself is still nonlinear, and directly using the scale factor K for linear application will cause application errors; second, the turntable currently available for calibration has limited accuracy, especially the rate accuracy and rate stability cannot reach the accuracy level below 1ppm. As shown in Table 1, the main parameter indicators of the currently commonly used turntables are given. The highest accuracy indicator of the turntable angular velocity stability is only at the 10ppm level, and the more axes the turntable has, the worse the accuracy.

[0057] Therefore, the present invention utilizes the characteristic that the current turntable positioning accuracy reaches more than 2" (as shown in Table 1), adopts the angular velocity mean principle and nonlinear fitting, measures and corrects the scale factor, and improves the accuracy of the corrected application index to more than 1ppm.

[0058] Table 1

[0059]

[0060]

[0061] See next Figure 2, which is a structural diagram of a fiber optic gyroscope scale factor correction system provided by an exemplary embodiment of the present application. The system can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated on a server as an independent module. The fiber optic gyroscope scale factor correction system in the embodiment of the present application can be applied to a terminal or a cloud. The system 20 includes a first turntable control and data acquisition module 201, a scale factor calculation module 202, a first correction function fitting module 203, a second turntable control and data acquisition module 204, an angular velocity mean value calculation module 205, and an output data correction module 206, wherein:

[0062] The first turntable control and data acquisition module 201 is used to rotate the turntable to a first group of four positions perpendicular to each other in sequence and collect first output data after the turntable is stationary, rotate the turntable at a plurality of angular velocity values ​​with the same value and opposite directions and collect second output data after stabilization, and rotate the turntable to a second group of four positions that are 45° different from the first group of four positions in sequence and collect third output data after the turntable is stationary;

[0063] The scale factor calculation module 202 is used to take the average of the first output data and the third output data obtained under the condition of the turntable being stationary as the deviation value, and calculate the scale factor according to the second output data and the deviation value obtained under the condition of the turntable rotating;

[0064] The first correction function fitting module 203 is used to obtain the first angular velocity mean value output by the fiber optic gyroscope at each angular velocity value according to the scale factor, and to fit the first correction function of the scale factor by using the least square method according to the angular velocity value and the corresponding first angular velocity mean value;

[0065] The second turntable control and data acquisition module 204 is used to adopt a second turntable control and data acquisition method, including rotating the turntable to a third group of four positions perpendicular to each other in sequence and collecting fourth output data after the turntable is stationary, rotating the turntable in an acceleration-stable angular velocity-deceleration stationary mode and continuously collecting fifth output data, and rotating the turntable to a fourth group of four positions 45° different from the third group of four positions in sequence and collecting sixth output data after the turntable is stationary;

[0066] The angular velocity mean value calculation module 205 is used to obtain the average angular velocity of the turntable during the rotation process, and average the fourth output data, the fifth output data and the sixth output data obtained during the rotation process of the turntable after the scaling factor and the first correction function are calculated and processed to obtain a second angular velocity mean value;

[0067] The output data correction module 206 is used to fit a second correction function of the scale factor according to the average angular velocity of the turntable and the second angular velocity mean value output by the fiber optic gyroscope using the least squares method, and correct the output data of the fiber optic gyroscope according to the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

[0068] It should be noted that the system 20 provided in the above embodiment only uses the division of the above functional modules as an example when executing the fiber optic gyroscope scale factor correction method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the system provided in the above embodiment and the fiber optic gyroscope scale factor correction method embodiment belong to the same concept, and the implementation process thereof is detailed in the method embodiment, which will not be repeated here.

[0069] like Figure 3 As shown, an embodiment of the present application also provides an electronic device 300, including a memory 302, a processor 301, and a computer program stored in the memory 302 and executable on the processor 301, and when the processor 301 executes the program, the steps of the method described in any one of the above embodiments are implemented.

[0070] In the embodiment of the present application, the processor 301 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0071] The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0072] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the method in the embodiment of the present application.

[0073] In some embodiments, the electronic device 300 further includes: a peripheral device interface 303 and at least one peripheral device 304. The processor 301, the memory 302 and the peripheral device interface 303 can be connected via a bus or a signal line. Each peripheral device 304 can be connected to the peripheral device interface 303 via a bus, a signal line or a circuit board. Specifically, the peripheral device 304 includes: a display screen, a camera and an audio circuit. The peripheral device interface 303 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302.

[0074] In some embodiments of the present application, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.

[0075] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0076] like Figure 4 As shown, the embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0077] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting a scale factor of a fiber optic gyroscope, characterized in that: include: The fiber optic gyroscope is mounted on a turntable, and a first turntable control and data acquisition method is adopted, including sequentially rotating the turntable to a first group of four positions perpendicular to each other and collecting first output data after the turntable is stationary, rotating the turntable at a plurality of angular velocity values ​​with the same value and opposite directions and collecting second output data after stabilization, and sequentially rotating the turntable to a second group of four positions that differ from the first group of four positions by 45 degrees and collecting third output data after the turntable is stationary; The first output data and the third output data obtained when the turntable is stationary are averaged as a deviation value, and a scale factor is calculated based on the second output data and the deviation value obtained when the turntable is rotating; Obtaining a first angular velocity mean value output by the fiber optic gyroscope at each angular velocity value according to the scale factor, and fitting a first correction function of the scale factor by using a least square method according to the angular velocity value and the corresponding first angular velocity mean value; The second turntable control and data collection method is adopted, including rotating the turntable to a third group of four positions perpendicular to each other in sequence and collecting fourth output data after the turntable is stationary, rotating the turntable in a manner of acceleration-stable angular velocity-deceleration stationary and continuously collecting fifth output data, and rotating the turntable to a fourth group of four positions 45° different from the third group of four positions in sequence and collecting sixth output data after the turntable is stationary; Acquire an average angular velocity during the turntable control process, and average the fourth output data, the fifth output data, and the sixth output data obtained during the turntable control process after calculation and processing using the scale factor and the first correction function to obtain a second angular velocity average value; A second correction function of the scale factor is fitted using the least squares method based on the average angular velocity of the turntable and the second angular velocity mean value output by the fiber optic gyroscope, and the output data of the fiber optic gyroscope is corrected based on the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

2. The method for correcting the scale factor of an optical fiber gyroscope according to claim 1, characterized in that: In the first turntable control and data collection method and the second turntable control and data collection method, the turntable selects at least 11 pairs of angular velocity values ​​with the same value and opposite directions to rotate to collect the second output data and the fifth output data.

3. The method for correcting the scale factor of an optical fiber gyroscope according to claim 1, characterized in that: The first correction function and the second correction function are high-order polynomial functions of order not less than 3.

4. The method for correcting the scale factor of an optical fiber gyroscope according to claim 1, characterized in that: The step of obtaining the first angular velocity mean value output by the fiber optic gyroscope at each angular velocity value according to the scaling factor comprises: The first output data, the second output data, and the third output data output by the fiber optic gyroscope are subtracted from the deviation value and divided by the scale factor to obtain the average first angular velocity output by the fiber optic gyroscope at each angular velocity value: in, is the first angular velocity mean value calculated when the j-th turntable inputs the angular velocity, is the average output of the fiber optic gyroscope when the jth turntable input angular velocity is, is the average output of the fiber optic gyroscope when the turntable is stationary.

5. The method for correcting the scale factor of an optical fiber gyroscope according to claim 1, characterized in that: The step of fitting a first correction function of the scale factor using a least square method according to the angular velocity value and the corresponding first angular velocity mean value comprises: The first angular velocity mean is used as an independent variable, the angular velocity value is used as a dependent variable, and the first correction function of the scale factor is fitted using the least squares method: K′=[a0 a1 a2 a3…] T ; Among them, a0, a1, a2, a3 refer to the coefficients of the constant term, linear term, quadratic term, and cubic term of K' respectively, and T is the exponential power.

6. The method for correcting the scale factor of an optical fiber gyroscope according to claim 5, characterized in that: The output data of the fiber optic gyroscope corrected according to the first correction function and the second correction function are respectively expressed as: in, is the calculated value of the FOG output after eliminating the zero bias and scaling factor, ω′ is the calculated value of the FOG output after K′ correction; ω″ i,j =b0+b1ω′ i,j +b2ω′ i,j 2 +b3ω′ i,j 3 +…; where ω″ i,j is the effective value of the final fiber optic gyroscope output after correction by K, K', and K".

7. A fiber optic gyroscope scale factor correction system, characterized in that: include: A first turntable control and data acquisition module, used for sequentially rotating the turntable to a first group of four positions perpendicular to each other and collecting first output data after the turntable is stationary, rotating the turntable at a plurality of angular velocity values ​​with the same value and opposite directions and collecting second output data after stabilization, and sequentially rotating the turntable to a second group of four positions 45° different from the first group of four positions and collecting third output data after the turntable is stationary; a scale factor calculation module, configured to take the average of the first output data and the third output data obtained under the condition that the turntable is stationary as a deviation value, and calculate the scale factor according to the second output data and the deviation value obtained under the condition that the turntable is rotating; a first correction function fitting module, configured to obtain, according to the scale factor, a first angular velocity mean value output by the fiber optic gyroscope at each angular velocity value, and to fit a first correction function of the scale factor by using a least square method according to the angular velocity value and the corresponding first angular velocity mean value; The second turntable control and data acquisition module is used to rotate the turntable to a third group of four positions that are perpendicular to each other in sequence and collect fourth output data after the turntable is stationary, rotate the turntable in a manner of acceleration-stable angular velocity-deceleration-stationary and continuously collect fifth output data, and rotate the turntable to a fourth group of four positions that are 45° different from the third group of four positions in sequence and collect sixth output data after the turntable is stationary; an angular velocity mean value calculation module, used for obtaining an average angular velocity in the turntable control process, and averaging the fourth output data, the fifth output data and the sixth output data obtained in the turntable control process after calculation and processing by the scaling factor and the first correction function to obtain a second angular velocity mean value; An output data correction module is used to fit a second correction function of the scale factor using the least squares method according to the average angular velocity of the turntable and the second angular velocity mean value output by the fiber optic gyroscope, and to correct the output data of the fiber optic gyroscope according to the scale factor, the first correction function and the second correction function to obtain an angular velocity calculation value of a predetermined accuracy.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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