Gyroscope error calibration method

Abstract

The invention discloses a gyro error calibration method, and relates to the technical field of gyro calibration, and the gyro error calibration method comprises the following steps: erecting a photoelectric device on a three-axis swing test platform, adjusting the optical axis direction of the photoelectric device through a swing test of a single roll shaft, and calibrating the gyro error. Measuring values of the orientation gyroscope and the pitching gyroscope in the swinging process of the single roll shaft are recorded, a correction included angle of an orientation gyroscope shaft system and a pitching gyroscope shaft system is calculated based on the measured values, and the angle of the orientation / pitching gyroscope is installed and corrected; the method comprises the following steps: recording test data of an azimuth gyroscope and a pitch gyroscope through a swing test of a single azimuth axis and a single pitch axis, establishing a gyroscope axis error equation, solving model parameters, and calculating an azimuth correction factor and a pitch correction factor so as to correct orthogonality of a gyroscope axis and deviation between the gyroscope axis and an actual axis; therefore, the dynamic tracking precision of the photoelectric equipment is improved, and the high efficiency and the accuracy of the orientation / pitching gyroscope of the photoelectric equipment in the calibration process are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of gyroscope calibration, and in particular to a gyroscope error calibration method. Background Art

[0002] The optoelectronic servo system controls the attitude of the turntable through servo control so that the turntable always points to the observed target. Usually, the servo control is a dual closed-loop PID control of position loop + speed loop. During speed closed-loop control, the inertial device gyroscope is required to measure the current rotation rate as the basis for speed closed-loop calculation. The output of the speed closed-loop response system guides the turntable attitude adjustment and guides the motor to make corresponding rotations. Therefore, the accuracy and real-time nature of the gyroscope measurement data are important factors that directly determine the dynamic tracking accuracy of the turntable.

[0003] The traditional two-axis two-frame optoelectronic equipment has its axis system divided into a pitch axis system and an azimuth axis system. The servo system adjusts the attitude by controlling the rotation of the two axis systems. The rotation of the two axis systems is independent of each other and can be controlled separately. The azimuth gyro and pitch gyro respectively sense the rotation rate of their respective axis systems.

[0004] Theoretically, the installation axis of the azimuth / pitch gyro needs to maintain a physical spatial relationship of orthogonality with the optical axis of the optoelectronic device. In actual engineering, the internal structure of the optoelectronic device determines the installation position and method of the azimuth / pitch gyro, the structural design method, the processing technology capability, and the installation accuracy of the azimuth / pitch gyro. However, due to the limitations of processing and assembly, the orthogonal relationship between the gyro axis system and the optical axis pointing of the optoelectronic device cannot be effectively guaranteed. There is a certain angle between the actual installed axis system and the theoretical axis system, which leads to a certain error between the gyro measurement value and the true value. When the optical axis pointing moves, there is an angle between the actual pitch axis system and the gyro pitch axis system. In addition to being sensitive to the movement of the actual pitch axis system (optical axis X axis system), the gyro pitch axis system is also sensitive to a projection of the movement of the actual azimuth axis system (optical axis Y axis system). At this time, the data sensed by the pitch gyro has deviations. The correction coefficient derived based on the data will cause the optoelectronic device to make incorrect judgments, resulting in deviations in the servo system's tracking calculations of the target motion, and incorrect attitude adjustments will cause disturbances, affecting the dynamic tracking accuracy.

[0005] In order to solve this problem, we propose a gyro error calibration method. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a gyro error calibration method, which can effectively solve the problems in the background technology.

[0007] To achieve the above object, the technical solution adopted by the present invention is: A gyro error calibration method comprises the following steps: S1. Install the optoelectronic device on the three-axis swing test platform, release the brake of the optoelectronic device, put the optoelectronic device in a "free" state, start the middle ring of the swing test platform to perform single-axis rolling swing, make the optoelectronic device perform periodic rolling swing at the set frequency and amplitude, and use the data recording device to synchronously record data during the swing process; S2. Adjust the direction of the optical axis of the optoelectronic device so that the optical axis is parallel to the normal direction of the roll-sway plane, where the normal direction of the roll-sway plane is the roll axis system; S3. Keep the optical axis of the optoelectronic device pointing unchanged, observe and record the measured values ​​of the azimuth gyro and the pitch gyro during the swing process, and record them as the first azimuth gyro measurement value. and the first pitch gyro measurement , observe the changing pattern of the measured values ​​and determine the deviation direction of the gyro installation axis system; S4. According to the first azimuth gyro measurement value and the first pitch gyro measurement value recorded in S3, the maximum value of the periodic change of the azimuth gyro and the pitch gyro is obtained, the correction angle of the azimuth gyro axis system and the pitch gyro axis system is calculated, and the angle of the azimuth gyro and the pitch gyro is installed and corrected; S5. Construct the gyro axis error equation, obtain the sum of the projections of the actual azimuth axis and the actual pitch axis on the azimuth gyro axis, obtain the sum of the projections of the actual pitch axis and the actual azimuth axis on the pitch gyro axis, and record them as the second azimuth gyro measurement values ​​respectively. and the second pitch gyro measurement value , the azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation; S6. Perform software correction based on the obtained azimuth correction factor and pitch correction factor.

[0008] Preferably, the step of adjusting the direction of the optical axis of the optoelectronic device in S2 so that the optical axis is parallel to the normal of the rolling and swaying plane specifically includes: Adjust the direction of the photoelectric optical axis so that the position of the optical axis always points to the same place during the swinging process, and the photoelectric image as a whole rotates around the center point of the image during the swinging process. At this time, the optical axis points to the center of the swinging image, that is, the optical axis is parallel to the roll axis.

[0009] Preferably, observing the variation pattern of the measured values ​​and determining the deviation direction of the gyro installation axis system in S3 specifically includes: Observe and record the measured values ​​of the azimuth gyro and pitch gyro during the swing process, which are recorded as the first azimuth gyro measurement value. and the first pitch gyro measurement ,in For time, observe the changing pattern of data; During the observation process, if the measured values ​​of the azimuth gyro and the pitch gyro change periodically during the swing process, the axis system of the azimuth gyro and the pitch gyro are not completely parallel to the normal plane pointed by the optical axis and there is a certain angle, that is, there is an installation error. During the observation process, the measured values ​​change greatly and the installation error is large; Determine the deviation direction of the gyro installation axis system according to the "right-hand rule": When the roll axis rotates counterclockwise, if the azimuth gyro deviation value is positive, the azimuth gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the azimuth gyro deviation value is negative, the azimuth gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis; Similarly to the above, when the roll rotates counterclockwise, if the pitch gyro deviation value is positive, the pitch gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the pitch gyro deviation value is negative, the pitch gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis.

[0010] Preferably, the step S4 calculates the correction angle between the azimuth gyro axis system and the pitch gyro axis system, and performs installation correction on the angles of the azimuth gyro and the pitch gyro, specifically including: Based on the first azimuth gyro measurements recorded in S3 and the first pitch gyro measurement , Extract and The maximum values ​​of ; When the gyro is rolling with a single axis, the data sensed by the gyro is the projection of the rolling axis on the gyro axis, which is proportional to the rate of rolling. Get the rolling period T and rolling amplitude , based on the above data, the correction angles of the azimuth gyro axis system and the pitch gyro axis system can be calculated; The azimuth / pitch gyro is installed and adjusted based on the calculated correction angle to correct the angle of the azimuth gyro axis system and the pitch gyro axis system relative to the roll axis system; The calculation formula of the correction angle is: In the formula, is the correction angle between the roll axis and the azimuth gyro axis, is the correction angle between the roll axis and the pitch gyro axis, is the rolling amplitude, is the rolling frequency, The maximum angular velocity is .

[0011] Preferably, in S5, the gyro axis error equation is: The azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation, specifically including: Based on the gyro axis error equation (1), when the input , hour, , At this time, the three-axis swing test platform is set to swing in one azimuth axis, with the swing period and swing amplitude fixed. Substitute it into the formula to calculate and solve , The value of Set the three-axis sway test platform to sway on the single pitch axis, with the sway period and sway amplitude fixed, and substitute the formula to calculate the solution , The value of Substitute the calculated parameter values ​​into formula (2) to calculate the azimuth correction factor and pitch correction factor .

[0012] Preferably, in S5, the orientation correction factor Used to correct the deviation between the azimuth gyro axis system and the actual azimuth axis system, pitch correction factor Used to correct the deviation between the pitch gyro axis system and the actual pitch axis system.

[0013] Furthermore, the present invention also provides a gyro error calibration system for implementing any of the calibration methods described above, comprising: Optoelectronic equipment, the optoelectronic equipment is a two-axis two-frame structure, the axis system is divided into an azimuth axis system and a pitch axis system, and the rotation of the two axis systems is independent of each other; The optoelectronic device is provided with an azimuth gyro and a pitch gyro, and the azimuth gyro and the pitch gyro respectively sense and measure the rotation rate of the azimuth axis system and the pitch axis system; A three-axis swing test platform, on which the optoelectronic device is mounted and the brake of the optoelectronic device is released, for driving the optoelectronic device to swing periodically at a set frequency and amplitude for testing; The data recording device is connected to the optoelectronic device and is used for synchronously recording the measurement values ​​of the azimuth gyro and the pitch gyro of the optoelectronic device during the swinging process.

[0014] Preferably, the three-axis swing test platform can control the optoelectronic device to perform periodic swing motion along one of the azimuth axis, pitch axis and roll axis at a set swing frequency and swing amplitude to simulate the actual working environment of the optoelectronic device for gyro error calibration.

[0015] Compared with the prior art, the present invention provides a gyro error calibration method, which has the following beneficial effects: The present invention sets up the optoelectronic device on a three-axis swing test platform, uses the three-axis swing test platform to simulate external input, and decomposes the motion state of the three-axis space into single-axis motion along the azimuth axis, pitch axis and roll axis by accurately controlling the input variables, thereby gradually calibrating and correcting the installation error of the azimuth / pitch gyro. Combined with hardware adjustment and software correction, the efficiency and accuracy of the calibration process are ensured, and the present invention is suitable for optoelectronic devices with high precision requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of a gyro error calibration method.

[0017] Figure 2 Schematic diagram of gyroscope installation error.

[0018] Figure 3 The "right hand rule" for gyroscopes; Figure 4 Schematic diagram for judging the direction of gyro error Figure 5 Schematic diagram of the error model after roll correction. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In order to address the shortcomings of the existing technology, such as Figure 1 As shown, the present invention provides a gyro error calibration method, comprising the following steps: S1. Install the optoelectronic device on the three-axis swing test platform, release the brake of the optoelectronic device, put the optoelectronic device in a "free" state, start the middle ring of the swing test platform to perform single-axis rolling swing, make the optoelectronic device perform periodic rolling swing at the set frequency and amplitude, and use the data recording device to synchronously record data during the swing process; S2. Adjust the direction of the optical axis of the optoelectronic device so that the optical axis is parallel to the normal direction of the roll-sway plane, where the normal direction of the roll-sway plane is the roll axis system; S3. Keep the optical axis of the optoelectronic device pointing unchanged, observe and record the measured values ​​of the azimuth gyro and the pitch gyro during the swing process, and record them as the first azimuth gyro measurement value. and the first pitch gyro measurement , observe the changing pattern of the measured values ​​and determine the deviation direction of the gyro installation axis system; S4. According to the first azimuth gyro measurement value and the first pitch gyro measurement value recorded in S3, the maximum value of the periodic change of the azimuth gyro and the pitch gyro is obtained, the correction angle of the azimuth gyro axis system and the pitch gyro axis system is calculated, and the angle of the azimuth gyro and the pitch gyro is installed and corrected; S5. Construct the gyro axis error equation, obtain the sum of the projections of the actual azimuth axis and the actual pitch axis on the azimuth gyro axis, obtain the sum of the projections of the actual pitch axis and the actual azimuth axis on the pitch gyro axis, and record them as the second azimuth gyro measurement values ​​respectively. and the second pitch gyro measurement value , the azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation; S6. Perform software correction based on the obtained azimuth correction factor and pitch correction factor. After correction, the errors of the azimuth gyro and the pitch gyro caused by the assembly process etc. can be effectively reduced, and the dynamic tracking accuracy of the optoelectronic device can be greatly improved; It should be noted that due to the limitation of processing and assembly, the orthogonal relationship between the traditional gyro axis system (including the azimuth gyro axis system and the pitch gyro axis system) and the optical axis of the optoelectronic device cannot be effectively guaranteed. There is a certain angle between the actual installation axis system and the theoretical axis system. At this time, there will be a certain error between the gyro measurement value and the true value, such as Figure 2 As shown in the figure, there is an angle α between the actual pitch axis X and the gyro pitch axis X'. When the optical axis points to the movement, the gyro pitch axis X' is sensitive to the movement of the actual pitch axis X (optical axis X axis) and a projection of the movement of the actual azimuth axis (optical axis Y axis). At this time, the data sensed by the pitch gyro has errors, which will cause the optoelectronic device to make wrong judgments, the servo system to deviate from the tracking calculation of the target motion, and the attitude error adjustment will cause disturbances, which will have a greater impact on the dynamic tracking accuracy. The present invention adjusts the direction of the optical axis of the optoelectronic device through a swing test of a single transverse rolling axis, records the measured values ​​of the azimuth gyro and the pitch gyro during the swing of the single transverse rolling axis, calculates the corrected angles of the azimuth gyro axis system and the pitch gyro axis system based on the measured values, and performs installation correction on the angles of the azimuth / pitch gyros; records the measured values ​​of the azimuth / pitch gyros through swing tests of a single azimuth axis and a single pitch axis; establishes a gyro axis system error equation, solves the model parameters, and calculates the azimuth correction factor and the pitch correction factor to correct the orthogonality of the gyro axis system and the deviation between the gyro axis system and the actual axis system, thereby improving the dynamic tracking accuracy of the optoelectronic device, and ensuring the efficiency and accuracy of the azimuth / pitch gyros of the optoelectronic device in the calibration process.

[0021] Specifically, the step of adjusting the direction of the optical axis of the optoelectronic device in S2 so that the optical axis is parallel to the normal direction of the rolling and swaying plane includes: Adjust the direction of the photoelectric optical axis so that the position of the optical axis always points to the same place during the swinging process, and the photoelectric image as a whole rotates around the center point of the image during the swinging process. At this time, the optical axis points to the center of the swinging image, that is, the optical axis is parallel to the roll axis.

[0022] Specifically, observing the variation pattern of the measured values ​​in S3 and determining the deviation direction of the gyro installation axis system specifically includes: Observe and record the measured values ​​of the azimuth gyro and pitch gyro during the swing process, which are recorded as the first azimuth gyro measurement value. and the first pitch gyro measurement ,in For time, observe the changing pattern of data; During the observation process, if the measured values ​​of the azimuth gyro and the pitch gyro change periodically during the swing process, the axis system of the azimuth gyro and the pitch gyro are not completely parallel to the normal plane pointed by the optical axis and there is a certain angle, that is, there is an installation error, and the measured value changes greatly during the observation process, and the installation error is large; Determine the deviation direction of the gyro installation axis system according to the "right-hand rule". The gyro "right-hand rule" is as follows: Figure 3 As shown, the schematic diagram of gyro error direction judgment is as follows Figure 4 As shown: When the roll axis rotates counterclockwise, if the azimuth gyro deviation value is positive, the azimuth gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the azimuth gyro deviation value is negative, the azimuth gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis; Similarly to the above, when the roll rotates counterclockwise, if the pitch gyro deviation value is positive, the pitch gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the pitch gyro deviation value is negative, the pitch gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis.

[0023] Specifically, the calculation of the correction angle between the azimuth gyro axis system and the pitch gyro axis system in S4, and installation correction of the angles of the azimuth gyro and the pitch gyro, specifically includes: Based on the first azimuth gyro measurements recorded in S3 and the first pitch gyro measurement , Extract and The maximum values ​​of ; When the gyro is rolling with a single axis, the data sensed by the gyro is the projection of the rolling axis on the gyro axis, which is proportional to the rate of rolling. Get the rolling period T and rolling amplitude , based on the above data, the correction angles of the azimuth gyro axis system and the pitch gyro axis system can be calculated; The azimuth / pitch gyro is installed and adjusted based on the calculated correction angle to correct the angle of the azimuth gyro axis system and the pitch gyro axis system relative to the roll axis system; The calculation formula of the correction angle is: In the formula, is the correction angle between the roll axis and the azimuth gyro axis, is the correction angle between the roll axis and the pitch gyro axis, is the rolling amplitude, is the rolling frequency, The maximum angular velocity is ; It should be noted that, after the processing in step S3, by correcting the angle of the azimuth / pitch gyro, the influence of the speed of the roll axis system on the azimuth gyro axis system and the pitch gyro axis system is corrected. The schematic diagram of the corrected error model is shown in FIG. Figure 5 As shown; At this time, the error of the gyro is mainly the orthogonality of the gyro axis system and the deviation between the gyro axis system and the actual azimuth / pitch axis system. The gyro axis system error equation is constructed to correct the orthogonality of the gyro axis system and the deviation between the gyro axis system and the actual azimuth / pitch axis system. Specifically, in S5, the gyro axis error equation is: The azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation, specifically including: Based on the gyro axis error equation (1), when the input , hour, , At this time, the three-axis swing test platform is set to swing in one azimuth axis, with the swing period and swing amplitude fixed. Substitute it into the formula to calculate and solve , The value of Set the three-axis sway test platform to sway on the single pitch axis, with the sway period and sway amplitude fixed, and substitute the formula to calculate the solution , The value of Substitute the calculated parameter values ​​into formula (2) to calculate the azimuth correction factor and pitch correction factor .

[0024] Specifically, in S5, the orientation correction factor Used to correct the deviation between the azimuth gyro axis system and the actual azimuth axis system, pitch correction factor It is used to correct the deviation between the pitch gyro axis system and the actual pitch axis system, which can improve the accuracy of azimuth gyro and pitch gyro measurement, and improve the tracking accuracy of optoelectronic equipment and the reliability of attitude adjustment.

[0025] Furthermore, the present invention also provides a gyro error calibration system for implementing any of the calibration methods described above, comprising: Optoelectronic equipment, the optoelectronic equipment is a two-axis two-frame structure, the axis system is divided into an azimuth axis system and a pitch axis system, and the rotation of the two axis systems is independent of each other; The optoelectronic device is provided with an azimuth gyro and a pitch gyro, and the azimuth gyro and the pitch gyro respectively sense and measure the rotation rate of the azimuth axis system and the pitch axis system; A three-axis swing test platform, on which the optoelectronic device is mounted and the brake of the optoelectronic device is released, for driving the optoelectronic device to swing periodically at a set frequency and amplitude for testing; The data recording device is connected to the optoelectronic device and is used for synchronously recording the measurement values ​​of the azimuth gyro and the pitch gyro of the optoelectronic device during the swinging process.

[0026] Specifically, the three-axis swing test platform can control the optoelectronic device to perform periodic swing motion along one of the azimuth axis, pitch axis and roll axis at a set swing frequency and swing amplitude to simulate the actual working environment of the optoelectronic device for gyro error calibration.

[0027] In summary, the advantages of the present invention are as follows: the present invention sets up the optoelectronic device on the three-axis swing test platform, uses the three-axis swing test platform to simulate external input, and decomposes the motion state of the three-axis space into single-axis motion along the azimuth axis, the pitch axis and the roll axis by accurately controlling the input variables. The azimuth / pitch gyro combines the data of the roll axis system, the azimuth axis system and the pitch axis system, thereby gradually calibrating and correcting the installation error of the azimuth / pitch gyro; Specifically, through the swing test of a single roll axis, the direction of the optical axis of the optoelectronic device is adjusted so that the optical axis is parallel to the normal of the roll swing plane, and the measured values ​​of the azimuth gyro and the pitch gyro during the swing of the single roll axis are recorded, and the correction angles of the azimuth gyro axis system and the pitch gyro axis system are calculated based on the measured values, and the angles of the azimuth / pitch gyro are installed and corrected; through the swing test of a single azimuth axis and a single pitch axis, the measured values ​​of the azimuth / pitch gyro are recorded, and the gyro axis system error equation is established in combination with the orthogonality error of the gyro axis system and the deviation between the gyro axis system and the actual azimuth / pitch axis system, the model parameters are solved, and the azimuth correction factor and the pitch correction factor are calculated. The correction factor is used to correct the orthogonality of the gyro axis system and the deviation between the gyro axis system and the actual axis system, thereby improving the dynamic tracking accuracy of the optoelectronic device. This method ensures the efficiency and accuracy of the azimuth / pitch gyro of the optoelectronic device in the calibration process by combining hardware adjustment and software correction.

[0028] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A gyro error calibration method, characterized in that: The steps include: S1. Install the optoelectronic device on the three-axis swing test platform, release the brake of the optoelectronic device, put the optoelectronic device in a "free" state, start the middle ring of the swing test platform to perform single-axis rolling swing, make the optoelectronic device perform periodic rolling swing at the set frequency and amplitude, and use the data recording device to synchronously record data during the swing process; S2. Adjust the direction of the optical axis of the optoelectronic device so that the optical axis is parallel to the normal direction of the roll-sway plane, where the normal direction of the roll-sway plane is the roll axis system; S3. Keep the optical axis of the optoelectronic device pointing unchanged, observe and record the measured values ​​of the azimuth gyro and the pitch gyro during the swing process, and record them as the first azimuth gyro measurement value and the first pitch gyro measurement , observe the changing pattern of the measured values ​​and determine the deviation direction of the gyro installation axis system; S4. According to the first azimuth gyro measurement value and the first pitch gyro measurement value recorded in S3, the maximum value of the periodic change of the azimuth gyro and the pitch gyro is obtained, the correction angle of the azimuth gyro axis system and the pitch gyro axis system is calculated, and the angle of the azimuth gyro and the pitch gyro is installed and corrected; S5. Construct the gyro axis error equation, obtain the sum of the projections of the actual azimuth axis and the actual pitch axis on the azimuth gyro axis, obtain the sum of the projections of the actual pitch axis and the actual azimuth axis on the pitch gyro axis, and record them as the second azimuth gyro measurement values ​​respectively. and the second pitch gyro measurement value , the azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation; S6. Perform software correction based on the obtained azimuth correction factor and pitch correction factor.

2. A gyro error calibration method according to claim 1, characterized in that: The step S2 of adjusting the direction of the optical axis of the optoelectronic device so that the optical axis is parallel to the normal direction of the rolling and swaying plane specifically includes: Adjust the direction of the photoelectric optical axis so that the position of the optical axis always points to the same place during the swinging process, and the photoelectric image as a whole rotates around the center point of the image during the swinging process. At this time, the optical axis points to the center of the swinging image, that is, the optical axis is parallel to the roll axis.

3. A gyro error calibration method according to claim 2, characterized in that: The step S3 of observing the variation pattern of the measured values ​​and determining the deviation direction of the gyro installation axis system specifically includes: Observe and record the measured values ​​of the azimuth gyro and pitch gyro during the swing process, which are recorded as the first azimuth gyro measurement value. and the first pitch gyro measurement ,in For time, observe the changing pattern of data; During the observation process, if the measured values ​​of the azimuth gyro and the pitch gyro change periodically during the swing process, the axis system of the azimuth gyro and the pitch gyro are not completely parallel to the normal plane pointed by the optical axis and there is a certain angle, that is, there is an installation error; Determine the deviation direction of the gyro installation axis system according to the "right-hand rule": When the roll axis rotates counterclockwise, if the azimuth gyro deviation value is positive, the azimuth gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the azimuth gyro deviation value is negative, the azimuth gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis; Similarly to the above, when the roll rotates counterclockwise, if the pitch gyro deviation value is positive, the pitch gyro axis deviates toward the positive direction of the optical axis relative to the normal plane of the optical axis; if the pitch gyro deviation value is negative, the pitch gyro axis deviates toward the negative direction of the optical axis relative to the normal plane of the optical axis.

4. A gyro error calibration method according to claim 3, characterized in that: The step S4 calculates the correction angle between the azimuth gyro axis system and the pitch gyro axis system, and performs installation correction on the angles of the azimuth gyro and the pitch gyro, specifically including: Based on the first azimuth gyro measurements recorded in S3 and the first pitch gyro measurement , Extract and The maximum values ​​of ; When the gyro is rolling with a single axis, the data sensed by the gyro is the projection of the rolling axis on the gyro axis, which is proportional to the rate of rolling. Get the rolling period T and rolling amplitude , based on the above data, the correction angles of the azimuth gyro axis system and the pitch gyro axis system can be calculated; The azimuth / pitch gyro is installed and adjusted based on the calculated correction angle to correct the angle of the azimuth gyro axis system and the pitch gyro axis system relative to the roll axis system; The calculation formula of the correction angle is: In the formula, is the correction angle between the roll axis and the azimuth gyro axis, is the correction angle between the roll axis and the pitch gyro axis, is the rolling amplitude, is the rolling frequency, The maximum angular velocity is .

5. A gyro error calibration method according to claim 4, characterized in that: include: In S5, the gyro axis error equation is: The azimuth correction factor and the pitch correction factor are calculated based on the obtained measurement values ​​and the gyro axis error equation, specifically including: Based on the gyro axis error equation (1), when the input , hour, , At this time, the three-axis swing test platform is set to swing in one azimuth axis, with the swing period and swing amplitude fixed. Substitute it into the formula to calculate and solve , The value of Set the three-axis sway test platform to sway on the single pitch axis, with the sway period and sway amplitude fixed, and substitute the formula to calculate the solution , The value of Substitute the calculated parameter values ​​into formula (2) to calculate the azimuth correction factor and pitch correction factor .

6. A gyro error calibration method according to claim 5, characterized in that: include: In S5, the orientation correction factor Used to correct the deviation between the azimuth gyro axis system and the actual azimuth axis system, pitch correction factor Used to correct the deviation between the pitch gyro axis system and the actual pitch axis system.

7. A gyro error calibration system, used to implement the gyro error calibration method according to any one of claims 1 to 6, characterized in that: include: Optoelectronic equipment, the optoelectronic equipment is a two-axis two-frame structure, the axis system is divided into an azimuth axis system and a pitch axis system, and the rotation of the two axis systems is independent of each other; The optoelectronic device is provided with an azimuth gyro and a pitch gyro, and the azimuth gyro and the pitch gyro respectively sense and measure the rotation rate of the azimuth axis system and the pitch axis system; A three-axis swing test platform, on which the optoelectronic device is mounted and the brake of the optoelectronic device is released, for driving the optoelectronic device to swing periodically at a set frequency and amplitude for testing; The data recording device is connected to the optoelectronic device and is used for synchronously recording the measurement values ​​of the azimuth gyro and the pitch gyro of the optoelectronic device during the swinging process.

8. A gyro error calibration system according to claim 7, characterized in that: include: The three-axis swing test platform can control the optoelectronic device to perform periodic swing motion along one of the azimuth axis, pitch axis and roll axis at a set swing frequency and swing amplitude to simulate the actual working environment of the optoelectronic device for gyro error calibration.

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