A method for correcting scale factor of fiber-optic gyroscope and application thereof

Abstract

The application discloses a fiber-optic gyroscope scale factor correction method, system, device and medium, relates to the technical field of inertial navigation, and comprises the following steps: installing the fiber-optic gyroscope on a turntable, controlling the turntable and collecting data in a first mode; performing first data processing and calculation to obtain a scale factor K and a correction coefficient K'; controlling the turntable and collecting data in a second mode; performing second data processing and calculation to obtain a second correction coefficient K''; and correcting output data of the fiber-optic gyroscope according to the K, the K' and the K'' to obtain an angular velocity calculation value with predetermined precision. The application can overcome the shortcomings of existing engineering design and test technical conditions, and significantly improve the application precision of the fiber-optic gyroscope in a large angular velocity range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial navigation, and particularly relates to a fiber-optic gyroscope scale factor correction method, system, device and medium. BACKGROUND

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

[0003] To overcome the influence of 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) measures and processes the scale factor change of the laser gyroscope under the influence of temperature from the inertial navigation level; the fiber-optic gyroscope scale factor nonlinearity error compensation method (application publication number CN113267202 A) obtains the output value of the fiber-optic gyroscope and the angular velocity output value of the turntable, and performs smoothing processing, calculates the corresponding scale factor and angular acceleration, and performs two-dimensional interpolation calculation to obtain the scale factor model of the fiber-optic gyroscope, thereby improving the precision of the scale factor; the gyroscope scale factor test system method (application publication number CN107741239A) provides a gyroscope scale factor test system and method that replaces the use of a turntable to test the scale factor of a gyroscope, is simple to operate, and can simultaneously test the scale factor of multiple gyroscopes at one time, saving time and reducing cost, facilitating 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 point-by-point change of the scale factor of the closed-loop fiber-optic gyroscope with temperature; a closed-loop fiber-optic gyroscope scale factor rapid stabilization method and system (application publication number CN108692741 A) models and calculates the Steinhart-Hart equation coefficients, and then uses the corresponding temperature and scale factor temperature field compensated scale factor to obtain the final scale factor, thereby realizing the rapid stabilization of the closed-loop fiber-optic gyroscope; a rapid test method for scale factor parameters of a fiber-optic gyroscope (application publication number CN104034350A) uses a turntable to rotate at a sinusoidal angular rate, and then uses least squares fitting to realize rapid testing of the scale factor parameters of the fiber-optic gyroscope; a fiber-optic gyroscope scale factor rapid stabilization method (application publication number CN103776465A) mainly solves the problem of reducing the startup time of the fiber-optic gyroscope under high and low temperature conditions; a fiber-optic gyroscope scale factor rapid self-correction method (application publication number CN114018234A) takes current limiting measures on the temperature control circuit of the fiber-optic gyroscope, and then uses light source temperature telemetry to compensate for the scale factor of the fiber-optic gyroscope, solving the problems of insufficient temperature control capability and low scale factor stability during the temperature control process of the fiber-optic gyroscope over the entire temperature range; a fiber-optic gyroscope scale factor error compensation method (application publication number CN110595508A) installs temperature sensors at two corresponding points inside and outside the fiber ring of the fiber-optic gyroscope, and proposes a new scale factor error compensation model to compensate for the errors caused by the change of the scale factor with temperature; a high-precision test method for scale factor indicators of a fiber-optic gyroscope (application publication number CN110068355A) automatically tests the scale factor indicators of the fiber-optic gyroscope by synchronously collecting the turntable position and gyroscope data, thereby improving the accuracy of the scale factor indicator test;A scale factor temperature compensation method and system for an optical fiber gyroscope (application publication number CN 114216450A) compensates the effect of temperature on scale factor based on a pre-stored temperature compensation list and the detected current environmental temperature; an optical fiber gyroscope scale factor error compensation method based on LSTM (application publication number CN 114459455 A) designs a calibration experiment under continuously changing temperature and input angular rate, obtains a scale factor nonlinear error model of the optical fiber gyroscope at different temperature points and input angular rate points, and compensates the scale factor nonlinear error of the optical fiber gyroscope using LSTM; a gyro scale factor test method based on a high-precision three-axis turntable (application publication number CN 113776560 A) focuses on using the accurate position positioning function of the three-axis turntable to measure and eliminate the scale factor nonlinear error caused by the misalignment angle of the input axis of the gyro; a rate optical fiber gyroscope scale factor calibration method (application publication number CN 114166246A) mainly solves the problem that the existing gyro scale factor calibration method cannot be implemented when there is no rate turntable. Some related scale factor test problems are also mentioned in other public documents, but it is still difficult to solve the precise use of scale factor series parameters in actual application to meet the high-precision application demand of better than 10ppm. SUMMARY

[0004] The embodiments of the present application provide a fiber-optic gyroscope scale factor correction method and application to solve the above-mentioned related technical defects, and the technical solution is as follows:

[0005] In a first aspect, the embodiments of the present application provide a method for correcting scale factor of a fiber optic gyroscope, comprising: installing the fiber optic gyroscope on a turntable, using a first turntable control and data acquisition mode, including rotating the turntable to a first set of four positions perpendicular to each other in turn and collecting first output data after the turntable is stationary, rotating the turntable at a plurality of pairs of angular velocity values with the same numerical value and opposite directions and collecting second output data after the turntable is stable, rotating the turntable to a second set of four positions which are 45° away from the first set of four positions in turn 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 stationary condition of the turntable as a bias value, and calculating a scale factor according to the second output data obtained under the rotating condition of the turntable and the bias value; obtaining a first average angular velocity of the fiber optic gyroscope output under each of the angular velocity values 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 values and the corresponding first average angular velocity; using a second turntable control and data acquisition mode, including rotating the turntable to a third set of four positions perpendicular to each other in turn and collecting fourth output data after the turntable is stationary, rotating the turntable at an acceleration-stable angular velocity-deceleration stationary mode and continuously collecting fifth output data, rotating the turntable to a fourth set of four positions which are 45° away from the third set of four positions in turn and collecting sixth output data after the turntable is stationary; obtaining an average angular velocity of the turntable control process, and obtaining a second average angular velocity by taking the average of the fourth output data, the fifth output data and the sixth output data obtained by the turntable control process after calculation and processing by the scale factor and the first correction function; fitting a second correction function of the scale factor by using a least square method according to the average angular velocity of the turntable and the second average angular velocity of the fiber optic gyroscope output, and correcting the output data of the fiber optic gyroscope to obtain an angular velocity calculation value with a predetermined precision according to the scale factor, the first correction function and the second correction function.

[0006] In an embodiment of the present application, in the first turntable control and data acquisition mode and the second turntable control and data acquisition mode, the turntable is rotated at at least 11 pairs of angular velocity values with the same numerical value and opposite directions to collect the second output data and the fifth output data.

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

[0008] In an embodiment of the present application, the first average angular velocity of the fiber optic gyroscope output under each of the angular velocity values obtained according to the scale factor comprises: dividing the first output data, the second output data and the third output data of the fiber optic gyroscope by the scale factor after subtracting the bias value to obtain the first average angular velocity of the fiber optic gyroscope output under each of the angular velocity values. wherein, is the first average angular velocity calculated when the jth turntable input angular velocity, is the output average value of the fiber-optic gyroscope when the jth turntable input angular velocity, is the output average value of the fiber-optic gyroscope when the turntable is stationary.

[0009] In an embodiment of the present application, the first correction function of the scale factor is fitted by using the least square method according to the angular velocity value and the corresponding first average angular velocity, which comprises: taking the first average angular velocity as the independent variable and the angular velocity value as the dependent variable, and fitting the first correction function of the scale factor by using the least square method as K'= [a0 a1 a2 a3…] T ; wherein a0, a1, a2, a3 respectively represent the constant term, the first-order term, the second-order term, and the third-order term coefficient of K', and T is the exponential power.

[0010] In an embodiment of the present application, the output data of the fiber-optic gyroscope is respectively corrected according to the first correction function and the second correction function, which is expressed as: wherein, is the calculated value of the fiber-optic gyroscope output after the bias and scale factor are eliminated, ω' is the calculated value of the fiber-optic gyroscope output after the K' correction; ω i , j = b0 + b1ω i ,j + b2ω i ,j 2 + b3ω i ,j 3 +…; wherein ω i , j is the effective value of the final fiber-optic gyroscope output after the K, K', and K" corrections.

[0011] ​​​​​​​In a second aspect, the embodiments of the present application further provide a fiber-optic gyroscope scale factor correction system, comprising: a first turntable control and data acquisition module, configured to rotate a turntable to a first set of four positions perpendicular to each other in sequence, acquire first output data after the turntable is stationary, rotate the turntable at a plurality of pairs of angular velocity values with the same logarithm value and opposite rotation directions, acquire second output data after the turntable is stable, rotate the turntable to a second set of four positions with a 45° difference from the first set of four positions in sequence, and acquire third output data after the turntable is stationary; a scale factor calculation module, configured to take a mean value of the first output data and the third output data obtained under the stationary condition of the turntable as a bias value, and calculate a scale factor according to the second output data obtained under the rotating condition of the turntable and the bias value; a first correction function fitting module, configured to obtain a first angular velocity mean value of the fiber-optic gyroscope output under each angular velocity value according to the scale factor, and 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; a second turntable control and data acquisition module, configured to rotate the turntable to a third set of four positions perpendicular to each other in sequence, acquire fourth output data after the turntable is stationary, rotate the turntable in a manner of acceleration-stable angular velocity-deceleration and stationarization, continuously acquire fifth output data, rotate the turntable to a fourth set of four positions with a 45° difference from the third set of four positions in sequence, and acquire sixth output data after the turntable is stationary; an angular velocity mean value calculation module, configured to obtain an average angular velocity of the turntable control process, and obtain a second angular velocity mean value by taking a mean value of the fourth output data, the fifth output data and the sixth output data obtained in the turntable control process after calculation processing by using the scale factor and the first correction function; and an output data correction module, configured to fit a second correction function of the scale factor by using a least square method according to the average angular velocity of the turntable and the second angular velocity mean value of the fiber-optic gyroscope output, and correct output data of the fiber-optic gyroscope to obtain an angular velocity calculation value with a predetermined precision according to the scale factor, the first correction function and the second correction function.

[0012] In a third aspect, the embodiments of the present application further provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the above embodiments when executing the program.

[0013] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement the steps of the method according to any one of the above embodiments.

[0014] The technical solutions provided by some embodiments of the present application have at least the following beneficial effects:

[0015] By proposing a precision revision method for the scale factor of the fiber-optic gyroscope, the linear and nonlinear errors of the scale factor can be effectively compensated in the application of the fiber-optic gyroscope, and the application accuracy can reach 1ppm level without considering the temperature factor and misalignment angle; and the related method can be realized by using a single-axis position / rate turntable. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or related art, the drawings needed to be used in the embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a flowchart of a scale factor correction method of a fiber-optic gyroscope provided by an embodiment of the present application;

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

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

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

[0021] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be clearly and completely described below in combination with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusion. 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 can optionally include steps or modules not listed, or can optionally include other steps or modules inherent to the process, method, product or device.

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

[0024] The present application will now be described in detail with reference to specific embodiments.

[0025] Next, combine Figure 1 Taking the execution of fiber optic gyroscope scaling factor correction at the terminal as an example, this application introduces the fiber optic gyroscope scaling factor correction method provided in its embodiments. For details, please refer to... Figure 1 , Figure 1 A schematic flowchart of a fiber optic gyroscope scaling factor correction method provided in an embodiment of this application is shown. Figure 1 As shown, the method includes the following steps:

[0026] S101, the fiber optic gyroscope is mounted on the turntable, and the first turntable control and data acquisition method is adopted, including rotating the turntable to four mutually perpendicular positions in sequence and collecting the first output data after it stops; rotating the turntable at several pairs of angular velocity values ​​with the same value and opposite direction and collecting the second output data after it stabilizes; and rotating the turntable to four positions in sequence that are 45° different from the first group of four positions and collecting the third output data after it stops.

[0027] S102, take the average of the first output data and the third output data obtained under the condition that the turntable is stationary as the deviation value, and calculate the scaling factor based on the second output data and the deviation value obtained under the condition that the turntable is rotating.

[0028] S103, obtain the first average angular velocity output of the fiber optic gyroscope under each angular velocity value according to the scaling factor, and fit the first correction function of the scaling factor using the least squares method according to the angular velocity value and the corresponding first average angular velocity.

[0029] S104, adopts the second turntable control and data acquisition method, including rotating the turntable sequentially to the third group of four mutually perpendicular positions and then collecting the fourth output data after it stops; rotating the turntable in an acceleration-stabilized angular velocity-deceleration-stopping manner and continuously collecting the fifth output data; rotating the turntable sequentially to the fourth group of four positions that are 45° different from the third group of four positions and then collecting the sixth output data after it stops.

[0030] Step S105, obtaining the average angular velocity of the turntable control process, and taking the average of the fourth output data, the fifth output data and the sixth output data obtained by the turntable control process after the scale factor and the first correction function calculation processing to obtain the second angular velocity average;

[0031] Step S106, according to the average angular velocity of the turntable and the second angular velocity average of the fiber-optic gyroscope output, a second correction function of the scale factor is fitted by using the least square method, and the output data of the fiber-optic gyroscope is corrected according to the scale factor, the first correction function and the second correction function to obtain the angular velocity calculation value with predetermined precision.

[0032] Specifically, in step S101, for example, the fiber-optic gyroscope is installed on a position rate turntable (hereinafter referred to as a 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 fiber-optic gyroscope is powered on and stabilized, a first turntable control and data acquisition mode is used first. The first step is to sequentially rotate the turntable to four positions perpendicular to each other, such as 0°, 90°, 180° and 270°, and collect the output data of the fiber-optic gyroscope at each position for a period of time, such as 60s or more. The second step is to select at least 11 pairs of angular velocity values with the same numerical value but opposite directions within the range of the fiber-optic gyroscope, 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 stabilized, the output data of the fiber-optic gyroscope is collected for a period of time, such as 60s or more. The third step is to sequentially rotate the turntable to four positions perpendicular to each other and 45° away from the positions in the first step, such as 45°, 135°, 225° and 315°, and collect the output data of the fiber-optic gyroscope at each position for a period of time, such as 60s or more.

[0034] In step S102, the output data obtained in the above eight groups of turntable stationary state is taken as the average value, which contains the zero position of the gyroscope and the earth rotation component sensed by the gyroscope. The output data of the fiber-optic gyroscope obtained under the condition of the turntable rotation is subtracted by the bias value, and the scale factor K is calculated. The calculation formula can refer to the method in GJB2426A-2015, which is not described here. It is worth mentioning that the purpose of taking the average of the eight groups of stationary data is to eliminate the errors caused by the non-parallelism of the turntable rotation axis and the fiber-optic gyroscope sensitive axis, the turntable rotation axis itself jumping and other factors.

[0035] In step S103, the stationary and rotating data outputted by the fiber-optic gyroscope are divided by the scale factor K after the bias value is subtracted, and the average output angular velocity of the fiber-optic gyroscope at each angular velocity point is obtained as follows:

[0036]

[0037] wherein, is the average angular velocity calculated for the first time when the jth turntable input angular velocity is inputted, is the average output of the fiber-optic gyroscope when the jth turntable input angular velocity is inputted, is the average output of the fiber-optic gyroscope when the turntable input angular velocity is 0 (i.e., stationary).

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

[0039] K' = [a0 a1 a2 a3…] T (2)

[0040] wherein a0, a1, a2, a3 respectively represent the constant term, the first-order term, the second-order term and the third-order term coefficient of K', K' is required to be a high-order polynomial function not less than 3, and T is the exponential power.

[0041] If the output angular velocity of the fiber-optic gyroscope corrected by the correction function K' is to be calculated, the calculation formula is as follows:

[0042]

[0043] wherein, is the calculation value of the fiber-optic gyroscope output after the zero bias and the scale factor are processed, and ω' is the calculation value of the fiber-optic gyroscope output after the K' correction.

[0044] In step S104, the second turntable control and data acquisition mode is adopted. In the first step, the turntable is rotated to four positions perpendicular to each other, such as 0°, 90°, 180° and 270°, and the output data of the fiber-optic gyroscope is collected at each position for a period of time, such as 60s or more. In the second step, the 0° position of the turntable is taken as the starting time, and then the turntable is rotated n times (n≥1) at an acceleration-stable angular velocity-deceleration static mode, and then returns to the 0° position. The output data of the fiber-optic gyroscope is collected during the process. The stable angular velocity is selected to be at least 11 pairs of angular velocity values with the same numerical value but opposite directions. In the third step, the turntable is rotated to four positions perpendicular to each other and 45° different from 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 60s or more. The output value of the fiber-optic gyroscope at each time point in the above state is processed according to the following formula:

[0045]

[0046]

[0047] In the formula, The fiber-optic gyroscope static data needs to be re-calculated using the second turntable control and data acquisition mode, ω i,j is the angular velocity value calculated at the ith time point when the jth turntable is in the input angular velocity state (including static), F i,j is the output value of the fiber-optic gyroscope at the ith time point when the jth turntable is in the input angular velocity state (including static), ω i ,j is the corrected angular velocity value at the ith time point of the jth turntable in the input angular velocity state (including static).

[0048] In step S105, the average turntable rotation angular velocity is obtained by taking the average of each rotation process of the turntable in the second turntable control and data acquisition mode (including static).

[0049] In step S106, the average angular velocity is taken as the independent variable, and the average turntable rotation angular velocity is taken as the dependent variable, and the scale factor correction function K" is fitted by the least square method:

[0050] K"=[b0 b1 b2 b3 …] T (6)

[0051] ​In formula (6), b0, b1, b2, b3 respectively refer to constant term, first term, second term, third term coefficient of K", and K" is required to be a high order polynomial function not less than 3 order.

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

[0053]

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

[0055] In specific application, the turntable is not considered, and the F i of the fiber-optic gyroscope output value at any moment in normal state is substituted into formula (4), (5) and (7) in turn to solve the angular velocity calculation value ω" i , and the predetermined precision can be achieved.

[0056] The reason why the present application adopts single-axis turntable and related series steps is that, first, under the existing engineering technical conditions, no matter how to improve the fiber-optic gyroscope hardware processing and manufacturing method, the input and output relationship of the fiber-optic gyroscope itself is still nonlinear, and directly using scale factor K for linear application will bring application error; second, the accuracy of the turntable that can be used for calibration is limited, especially the rate accuracy and rate stability cannot reach the accuracy level of 1ppm or below, and the more the number of axes of the turntable, the worse the accuracy.

[0057] Therefore, the present application uses the characteristics that the positioning accuracy of the current turntable reaches 2" or above (as shown in Table 1), adopts angular velocity average principle and nonlinear fitting to measure and correct the scale factor, so that the accuracy of the corrected application index is improved to 1ppm or above.

[0058] Table 1

[0059]

[0060]

[0061] Next, please see Figure 2A structure diagram of a fiber-optic gyroscope scale factor correction system is provided for an exemplary embodiment of the present application. The system can be implemented as all or part of a terminal by software, hardware or a combination of both, and can also be integrated as an independent module on a server. The fiber-optic gyroscope scale factor correction system in the embodiment of the present application can be applied to a terminal or cloud, and 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 average calculation module 205 and an output data correction module 206, wherein:

[0062] The first turntable control and data acquisition module 201 is configured to rotate the turntable to a first set of four positions perpendicular to each other in sequence, acquire first output data after the turntable is stationary, rotate the turntable at a plurality of pairs of angular velocity values with the same logarithmic value and opposite directions, acquire second output data after the turntable is stable, rotate the turntable to a second set of four positions with a 45° difference from the first set of four positions in sequence, and acquire third output data after the turntable is stationary;

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

[0064] The first correction function fitting module 203 is configured to obtain a first angular velocity average of the fiber-optic gyroscope output under each angular velocity value according to the scale factor, and 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 average;

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

[0066] The angular velocity average calculation module 205 is configured to obtain an average angular velocity of the turntable rotating process, and take the average of the fourth output data, the fifth output data and the sixth output data obtained in the turntable rotating process after calculation processing by the scale factor and the first correction function to obtain a second angular velocity average;

[0067] The output data correction module 206 is configured to fit a second correction function of the scale factor by using a least square method according to the average angular velocity of the turntable and the second average value of the angular velocity output by the fiber optic gyroscope, 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 with a predetermined precision.

[0068] It should be noted that the system 20 provided in the above embodiments is only used for illustrating the division of the above functional modules when the fiber optic gyroscope scale factor correction method is performed, and in actual application, the above functions can be distributed to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the system and the fiber optic gyroscope scale factor correction method provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be described here.

[0069] As shown in Figure 3 The embodiment of the present application further provides an electronic device 300, which comprises a memory 302, a processor 301 and a computer program stored in the memory 302 and capable of running on the processor 301, and the processor 301 implements the steps of the method described in any one of the above embodiments when executing the program.

[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 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 can be implemented in at least one of the following hardware forms: a DSP (Digital Signal Processing), a FPGA (Field-Programmable Gate Array) and a PLA (Programmable Logic Array).

[0071] The processor 301 can also include a main processor and a coprocessor. The main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state.

[0072] Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments of this application, the non-transitory computer-readable storage media in memory 302 is used to store at least one instruction, which is executed by processor 301 to implement the method in the embodiments of this 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, memory 302, and peripheral device interface 303 can be connected via a bus or signal line. Each peripheral device 304 can be connected to the peripheral device interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device 304 includes: a display screen, a camera, and audio circuitry. The peripheral device interface 303 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 301 and memory 302.

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

[0075] The electronic device structural block diagram shown in the embodiments of this application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0076] like Figure 4 As shown, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the methods in any of the foregoing embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0077] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform from the above description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0078] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting the scaling factor of a fiber optic gyroscope, characterized in that, include: The fiber optic gyroscope is mounted on a turntable, and the first turntable control and data acquisition method is adopted, including rotating the turntable sequentially to the first set of four mutually perpendicular positions and then collecting the first output data after it stops; rotating the turntable at several pairs of angular velocity values ​​with the same value but opposite direction and then collecting the second output data after it stabilizes; and rotating the turntable sequentially to the second set of four positions that are 45° different from the first set of four positions and then collecting the third output data after it stops. The average of the first output data and the third output data obtained under the condition that the turntable is stationary is taken as the deviation value. The scaling factor is calculated based on the second output data obtained under the condition that the turntable is rotating and the deviation value. The first mean angular velocity output by the fiber optic gyroscope is obtained according to the scaling factor for each angular velocity value, and the first correction function of the scaling factor is fitted using the least squares method according to the angular velocity value and the corresponding first mean angular velocity. The second turntable control and data acquisition method includes: rotating the turntable sequentially to the four positions of the third group that are perpendicular to each other and then collecting the fourth output data after it stops; rotating the turntable in a manner of acceleration-stabilization angular velocity-deceleration and continuously collecting the fifth output data; and rotating the turntable sequentially to the four positions of the fourth group that are 45° different from the four positions of the third group and then collecting the sixth output data after it stops. The average angular velocity of the turntable control process is obtained, and the average value of the fourth, fifth and sixth output data obtained from the turntable control process is obtained by calculating and processing the scaling factor and the first correction function to obtain the second average angular velocity. The average angular velocity of the turntable and the average second angular velocity output by the fiber optic gyroscope are used to fit a second correction function of the scaling factor using the least squares method. The output data of the fiber optic gyroscope is then corrected according to the scaling factor, the first correction function, and the second correction function to obtain a calculated angular velocity value with a predetermined accuracy.

2. The fiber optic gyroscope scaling factor correction method according to claim 1, characterized in that, In both the first and second turntable control and data acquisition methods, the turntable selects at least 11 pairs of angular velocity values ​​with the same value but opposite directions to rotate in order to acquire the second output data and the fifth output data.

3. The fiber optic gyroscope scaling factor correction method according to claim 1, characterized in that, The first correction function and the second correction function are high-order polynomial functions of order no less than 3.

4. The fiber optic gyroscope scaling factor correction method according to claim 1, characterized in that, The step of obtaining the average first angular velocity output of the fiber optic gyroscope for each angular velocity value based on the scaling factor includes: Subtracting the deviation value from the first, second, and third output data of the fiber optic gyroscope and dividing by the scaling factor yields the average first angular velocity output by the fiber optic gyroscope for each angular velocity value: ;in, The average first angular velocity calculated when the angular velocity is input for the j-th turntable. The average output value of the fiber optic gyroscope when the j-th turntable is input angular velocity. is the average output value of the fiber optic gyroscope when the turntable is stationary, and K is the scaling factor.

5. The fiber optic gyroscope scaling factor correction method according to claim 1, characterized in that, The step of fitting the first correction function of the scaling factor using the least squares method based on the angular velocity value and the corresponding mean of the first angular velocity includes: Using the mean angular velocity as the independent variable and the angular velocity as the dependent variable, the first correction function for the scaling factor is fitted using the least squares method as follows: ;in, , , , These refer to the coefficients of the constant term, linear term, quadratic term, and cubic term of K', respectively. It is an exponent.

6. The fiber optic gyroscope scaling factor correction method according to claim 5, characterized in that, Using the average angular velocity as the independent variable and the average turntable rotation angular velocity as the dependent variable, the second correction function K" of the scaling factor is fitted using the least squares method: ； in, , , , These refer to the coefficients of the constant term, linear term, quadratic term, and cubic term of K, respectively. The correction of the output data of the fiber optic gyroscope according to the first correction function and the second correction function is expressed as follows: ;in, The calculated value is the output of the fiber optic gyroscope after zero bias and scaling factor elimination. The calculated value of the fiber optic gyroscope output after K' correction; ;in, This is the final effective value of the fiber optic gyroscope output after correction by K, K', and K'.

7. A fiber optic gyroscope scaling factor correction system, characterized in that, include: The first turntable control and data acquisition module is used to collect the first output data after the turntable is rotated to the first set of four mutually perpendicular positions and then comes to a stop; to collect the second output data after the turntable is rotated to the same angular velocity values ​​but in opposite directions and then stabilized; and to collect the third output data after the turntable is rotated to the second set of four positions that are 45° different from the first set of four positions and then comes to a stop. The scaling factor calculation module is used to take the average of the first output data and the third output data obtained under the condition that the turntable is stationary as the deviation value, and to calculate the scaling factor based on the second output data obtained under the condition that the turntable is rotating and the deviation value. The first correction function fitting module is used to obtain the first average angular velocity output of the fiber optic gyroscope under each angular velocity value according to the scaling factor, and to fit the first correction function of the scaling factor using the least squares method according to the angular velocity value and the corresponding first average angular velocity. The second turntable control and data acquisition module is used to sequentially rotate the turntable to the third set of four mutually perpendicular positions and then collect the fourth output data after it stops; to make the turntable rotate in a manner of acceleration-stabilized angular velocity-deceleration and stop and continuously collect the fifth output data; and to sequentially rotate the turntable to the fourth set of four positions that are 45° different from the third set of four positions and then collect the sixth output data after it stops. The angular velocity mean calculation module is used to obtain the average angular velocity during the turntable control process, and to obtain the second angular velocity mean by averaging the fourth, fifth and sixth output data obtained during the turntable control process after processing the scaling factor and the first correction function. The output data correction module is used to fit a second correction function of the scaling factor using the least squares method based on the average angular velocity of the turntable and the average value of the second angular velocity output by the fiber optic gyroscope, and to correct the output data of the fiber optic gyroscope according to the scaling factor, the first correction function and the second correction function to obtain an angular velocity calculation value with 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, it implements the steps of the method as described in any one of claims 1 to 6.

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, it implements the steps of the method as described in any one of claims 1 to 6.

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