Pairing method of quartz flexible accelerometer torquer based on Hungary algorithm

Abstract

The invention relates to a quartz flexible accelerometer, and aims to solve the problems that when an existing torquer pairing method is used for matching a torquer with a large data size, time and labor are wasted, the pairing effect cannot be optimal, and the success rate is low. The quartz flexible accelerometer torquer pairing method based on the Hungary algorithm comprises the following steps: numbering M upper torquers and N lower torquers, and respectively testing height difference values between magnetic pole piece surfaces and yoke C surfaces of each upper torquer and each lower torquer, sorting and recording all test data according to the test data and magnetic saturation values of corresponding points on each upper torquer and each lower torquer; calculating and screening an upper torquer and a lower torquer which meet matching conditions, and creating a bipartite graph of the upper torquer and the lower torquer; calculating the maximum matching logarithm and the optimal pairing number of the upper torquer and the lower torquer according to a Hungary algorithm; and sorting and archiving the matching result, thereby completing the pairing of the quartz flexible accelerometer torquer.

Description

Technical Field

[0001] The invention relates to a quartz flexible accelerometer, and in particular to a pairing method of a quartz flexible accelerometer torquer based on a Hungarian algorithm. Background Art

[0002] As a key sensor unit of the inertial navigation system, the error level of the quartz flexible accelerometer directly determines the navigation accuracy of the inertial system. The quartz flexible accelerometer mainly includes an upper torquer assembly, a lower torquer assembly, a pendulum assembly, an isolation ring, a servo circuit and a housing. Figure 1 As shown, the upper / lower torquer assemblies are both referred to as torquers for short. The upper torquer 1 and the lower torquer 2 have the same structure, both including a yoke, a magnet 5, a pole piece and a compensation ring 6. By adopting a top-to-top layout of the same-name poles, a uniform magnetic field is formed in the gap between the pole piece and the yoke, providing an energy source for the operation of the moving coil of the pendulum assembly.

[0003] like Figure 2 As shown, the circumferential position of the torquer air gap is marked every 90° in the clockwise direction, and are marked as 1, 2, 3 and 4 in sequence; during the accelerometer production process, the torquers in each accelerometer need to be arranged top to top, then point 1 of the upper torquer corresponds to point 1 of the lower torquer, point 2 of the upper torquer corresponds to point 4 of the lower torquer, point 4 of the upper torquer corresponds to point 2 of the lower torquer, and point 3 of the upper torquer corresponds to point 3 of the lower torquer.

[0004] The saturation value difference of the magnetic induction intensity of the upper torquer, referred to as the saturation value difference, is that the difference between the maximum and minimum values ​​of the saturation values ​​of the magnetic induction intensity of the four corresponding points 1, 2, 3 and 4 is less than N1, and the saturation value difference of the magnetic induction intensity of the lower torquer, that is, the difference between the maximum and minimum values ​​of the saturation values ​​of the magnetic induction intensity of the four corresponding points 1, 2, 3 and 4 is less than N2. The smaller the difference in the magnetic saturation value after full magnetization, the more uniform and consistent the distribution of magnetic materials inside the magnetic column, and the better the quality of the produced accelerometer. For the paired upper and lower torquers, the difference in magnetic induction intensity between the upper 2 points and the lower 4 points cannot be greater than 6-10mT, and the difference between the upper 3 points and the lower 3 points cannot be greater than 10-15mT.

[0005] It can be seen that during the pairing process of a pair of upper and lower torquers of a quartz accelerometer, the smaller the difference in magnetic induction intensity of the corresponding points, the closer the magnetic fields of the paired upper and lower torquers are, and the better the pairing result. When there are a large number of batch torquers, it is necessary to ensure that the pairing result of the upper and lower torquers is optimal and the maximum number of upper and lower torquers are matched, which undoubtedly increases the difficulty of the torquer pairing effect;

[0006] Chinese patent CN106940740B discloses a torquer pairing method in the production of quartz flexible accelerometers. Although this method can also achieve torquer pairing, it has the following disadvantages: 1) In the production process, although this method is improved compared with the traditional method of pairing based on experience and manual work, when the amount of pairing data is too large, not only is the workload large, the pairing process is labor-intensive and time-consuming, but the pairing effect cannot be guaranteed, making the torquer pairing effect unable to achieve the optimal effect. 2) In actual production, it is difficult to find the pairing with the minimum magnetic induction intensity difference, and it is often impossible to achieve complete pairing of all upper and lower torquers. The pairing success rate is low, the practicality is poor, and the pairing steps are relatively simple and imperfect. Summary of the invention

[0007] The purpose of the present invention is to solve the technical problems that the existing torquer pairing method is time-consuming and labor-intensive when matching torquers with large data volumes, the pairing effect cannot be optimized, the pairing success rate is low, and the practicality is poor. An optimal pairing method for quartz flexible accelerometer torquers based on the Hungarian algorithm is proposed.

[0008] The Hungarian algorithm adopted in the present invention is a greedy algorithm based on the augmenting path concept: its basic idea is to find an augmenting path in the current match M, and alternately flip the unmatched edges and matched edges on it, so as to increase the final number of matches.

[0009] The Hungarian algorithm was first used by Hungarian mathematician D. Konig to find the number of zero elements in a matrix. For the maximum matching problem of bipartite graphs, the most classic method is to use the Hungarian method. The core idea of ​​the Hungarian method is to keep looking for augmenting paths and increase the number of matching pairs; assuming e i Already assigned edges, c i is an edge that has not yet been assigned. If there is a path similar to c 0 ->e 0 ->c 1 ->e 1 ->…->c m , start searching from the unassigned edges, and alternate between assigned and unassigned edges along the way, and finally end with an unassigned edge. Such a path is called an augmenting path.

[0010] like Figure 3 In (a), (x 3 ,y 3 )->(y 3 ,x 2 )->(x 2 ,y 2 )->(y 2 ,x 1 )->(x 1,y 4 ) is an augmenting path; in particular, a single unassigned edge is also an augmenting path; when we find an augmenting path, we change the assigned edges in this path to unassigned edges and the unassigned edges to assigned edges, such as Figure 3 As shown in (b); through this change operation, one more edge is assigned; the theorem shows that in a non-maximum matching bipartite graph, there must be an augmenting path; therefore, solving the maximum matching problem is to continuously search for augmenting paths in the bipartite graph until there are no augmenting paths, which means that the maximum matching is completed.

[0011] To achieve the above objectives, the technical solution proposed by the present invention is:

[0012] A quartz flexible accelerometer torquer optimal pairing method based on the Hungarian algorithm is special in that it includes the following steps:

[0013] Step 1), numbering the M upper torquers and the N lower torquers, respectively testing the height difference between the magnetic pole piece surface and the yoke iron C surface of each upper torquer and the lower torquer, and the magnetic saturation value of the corresponding point on each upper torquer and the lower torquer, and collating and recording all test data, where M>100, N>100;

[0014] Step 2), calculate and select the upper torquers and lower torquers that meet the matching conditions, and create a bipartite graph of the upper torquers and lower torquers;

[0015] Step 3), calculate the maximum matching pair number and the optimal pairing number of the upper torquer and the lower torquer according to the Hungarian algorithm;

[0016] Step 4) sorting and archiving the matching results of step 3) to complete the pairing of the quartz flexible accelerometer torquer.

[0017] Further, step 1) is specifically as follows:

[0018] Step 1.1) numbering the M upper torquers and the N lower torquers, testing and recording the height difference between the magnetic pole piece surface and the yoke iron C surface of each upper torquer and the lower torquer;

[0019] Step 1.2) Using the magnetic saturation value of one point on the upper torquer and the lower torquer as the basic reference value, obtain the magnetic saturation values ​​of the remaining three points;

[0020] Step 1.3) Arrange and record the height difference between each upper torquer and lower torquer under the corresponding number and the magnetic saturation values ​​of the four corresponding points.

[0021] Further, step 2) is specifically as follows:

[0022] Step 2.1), calculate and determine whether the difference in magnetic saturation values ​​of each upper torquer and the difference in magnetic saturation values ​​of the lower torquer is less than 25mT; if so, the upper torquer or the lower torquer meets the matching requirements; if not, remove the upper torquer or the lower torquer;

[0023] The magnetic saturation value difference of the upper torquer is the difference between the maximum and minimum values ​​of the magnetic induction intensity saturation values ​​of the four corresponding points 1, 2, 3 and 4 in the upper torquer; the magnetic saturation value difference of the lower torquer is the difference between the maximum and minimum values ​​of the magnetic induction intensity saturation values ​​of the four corresponding points 1, 2, 3 and 4 in the lower torquer;

[0024] Step 2.2), create a two-dimensional array of all 0s according to the number of upper torquers and lower torquers after screening;

[0025] Step 2.3), set the pairing constraints of the upper torquer and the lower torquer, create a bipartite graph of the upper torquer and the lower torquer, set the number of the upper torquer to the left graph of the bipartite graph, and set the number of the lower torquer to the right graph of the bipartite graph.

[0026] Furthermore, the pairing constraint in step 2.3) is:

[0027] Make the saturation value of the magnetic induction intensity between the upper torquer point 2 and the lower torquer point 4 less than M1mT, the difference between the saturation value of the magnetic induction intensity between the upper torquer point 3 and the lower torquer point 3 is less than M2mT, the difference between the saturation value of the magnetic induction intensity between the upper torquer point 4 and the lower torquer point 2 is less than M1mT, and the height difference between the magnetic pole piece surface of the upper and lower torquers to the yoke iron C surface is less than H, thereby creating a bipartite graph of the upper torquer and the lower torquer;

[0028] Among them, M1 <M2,6≤M1≤10,10≤M2≤15,0.005mm≤H≤0.015mm。

[0029] Further, step 3) is specifically as follows:

[0030] Step 3.1) Use the depth-first search algorithm to find the augmenting path for the unmatched points in the left graph;

[0031] Step 3.2), determine whether the unmatched points in the left image can be matched with the previously unmatched points in the right image. If so, increase the number of matching pairs by one and execute step 3.3);

[0032] If not, determine whether there is a new augmenting path. If so, add one to the matching pair number and execute step 3.3); if not, execute step 3.3);

[0033] Step 3.3) determines whether the enumeration of the left graph in the bipartite graph is completed according to the Hungarian algorithm. If not, execute step 3.2) to find the augmented path of the next unmatched point; if so, output the maximum matching pair number and the optimal pairing number of the upper torquer and the lower torquer.

[0034] The present invention also proposes a readable storage medium, which is special in that: the readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the pairing method of the quartz flexible accelerometer torquer based on the Hungarian algorithm are implemented.

[0035] Beneficial effects of the present invention:

[0036] [1] The present invention discloses an optimal pairing method for a quartz flexible accelerometer torquer based on the Hungarian algorithm, which has high pairing efficiency. The upper / lower torquers are paired by the Hungarian algorithm, which effectively improves the pairing quality, pairing efficiency and pairing success rate, reduces the pairing error, and ensures that the difference in the saturation value of the upper / lower torquer is minimized while ensuring a high number of pairing successes, thereby achieving perfect pairing.

[0037] [2] The present invention inputs a large number of test parameters of upper / lower torquers into a computer, uses a computer program to establish a pairing GUI interface, analyzes the data of all upper / lower torquers, and inputs different specified pairing requirements in the GUI interface. The best pairing scheme for the entire batch of upper / lower torquers can be automatically and quickly found, and the best pairing is completed, which greatly improves the efficiency and success rate of the pairing of the upper and lower torquers, effectively saves the pairing time, and realizes one-click quick pairing. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of the cross-sectional structure of the upper torquer;

[0039] Figure 2 Schematic diagram of the distribution of corresponding points on the lower torquer;

[0040] Figure 3 This is a matching diagram of the Hungarian algorithm;

[0041] Among them, (a) is the initial matching graph of the Hungarian algorithm; (b) is the matching graph after the Hungarian algorithm generates the augmented path;

[0042] Figure 4 A pairing flow chart of an embodiment of a pairing method of a quartz flexible accelerometer torquer based on a Hungarian algorithm of the present invention;

[0043] Figure 5 This is a schematic diagram of the torque device pairing GUI interface in the computer of this embodiment;

[0044] Reference numerals:

[0045] 1-upper torque device, 2-lower torque device, 3-pole piece surface, 4-yoke iron C surface, 5-magnetic steel, 6-compensation ring. DETAILED DESCRIPTION

[0046] like Figure 4 As shown, a pairing method of a quartz flexible accelerometer torquer based on the Hungarian algorithm is characterized by comprising the following steps:

[0047] Step 1), numbering M upper torquers 1 and N lower torquers 2, the upper torquers 1 and the lower torquers 2 have the same structure, testing the height difference between the pole piece surface 3 and the yoke iron C surface 4 of each upper torquer 1 and the lower torquer 2 respectively, taking the magnetic saturation value of one point on the upper torquer 1 and the lower torquer 2 as the basic reference value, obtaining the magnetic saturation values ​​of the remaining three points, wherein M>100, N>100;

[0048] The test data of the height difference between the upper torquer 1 and the lower torquer 2 and the magnetic saturation values ​​of the four corresponding points under the corresponding numbers are input into an Excel table in a computer for sorting and recording;

[0049] Step 2), calculating and selecting the upper torquer 1 and the lower torquer 2 that meet the matching conditions in a computer, and creating a bipartite graph of the upper torquer 1 and the lower torquer 2;

[0050] Step 2.1), calculate and determine whether the difference in magnetic saturation values ​​of each upper torquer 1 and the difference in magnetic saturation values ​​of the lower torquer 2 is less than 25mT; if so, the upper torquer 1 or the lower torquer 2 meets the matching requirements; if not, remove the upper torquer 1 or the lower torquer 2;

[0051] The difference in magnetic saturation value of the upper torquer 1 is the difference between the maximum value and the minimum value of the magnetic induction intensity saturation value of the four corresponding points in the upper torquer 1, namely, point 1, point 2, point 3, and point 4; the difference in magnetic saturation value of the lower torquer 2 is the difference between the maximum value and the minimum value of the magnetic induction intensity saturation value of the four corresponding points in the lower torquer 2, namely, point 1, point 2, point 3, and point 4;

[0052] Step 2.2), create a two-dimensional array of all 0s according to the number of upper torquers 1 and lower torquers 2 after screening;

[0053] Step 2.3), set the pairing constraints of the upper torquer 1 and the lower torquer 2, so that the saturation value of the magnetic induction intensity of the 2 points of the upper torquer 1 and the 4 points of the lower torquer 2 is less than M1mT, the difference of the saturation value of the magnetic induction intensity of the 3 points of the upper torquer 1 and the 3 points of the lower torquer 2 is less than M2mT, the difference of the saturation value of the magnetic induction intensity of the 4 points of the upper torquer 1 and the 2 points of the lower torquer 2 is less than M1mT, and the height difference from the pole piece surface 3 to the yoke iron C surface 4 of the upper and lower torquers 2 is less than H, create a bipartite graph of the upper torquer 1 and the lower torquer 2, set the number of the upper torquer 1 to the left graph of the bipartite graph, and set the number of the lower torquer 2 to the right graph of the bipartite graph;

[0054] Among them, M1 <M2,6≤M1≤10,10≤M2≤15,0.005mm≤H≤0.015mm;

[0055] The specific values ​​of M1, M2 and H are determined according to actual product pairing requirements.

[0056] Step 3), calculate the maximum matching pair number and the optimal pairing number of the upper torquer 1 and the lower torquer 2 according to the Hungarian algorithm;

[0057] Step 3.1) Use the depth-first search algorithm to find an augmenting path for the unmatched points in the left graph; Use the DFS depth-first search algorithm to find an augmenting path starting from an unmatched point i in the left graph; The search starting point is in the left graph, and the end point is in the right graph. The starting point and the end point are unmatched points, and the remaining points are matched points;

[0058] Step 3.2), determine whether the unmatched points in the left image can be matched with the previously unmatched points in the right image;

[0059] Mark the unmatched point i in the left graph as visited, and then traverse each matched j point in the right graph connected to i. If j has not been visited, continue to perform DFS from j. If it has been visited, you can reach an unmatched k point of the upper torquer 1 through other paths, which means that an augmenting path has been found. Then add all the odd-numbered edges on the augmenting path to the original maximum matching, and delete all the even-numbered edges in the augmenting path from the original matching. This operation is the negation of the augmenting path, and the new maximum matching pair number is one more than the original matching pair number; each time an augmenting path is found, mark the points visited by the augmenting path; find an augmenting path, and obtain a larger matching number by negation to replace the original matching number. After each edge in the augmenting path is negated each time, the matched points are still matched, but the matching objects have changed;

[0060] Step 3.3) Determine whether the enumeration of the left graph in the bipartite graph is completed according to the Hungarian algorithm. If not, execute step 3.2) to find the augmenting path of the next unmatched point until no augmenting path can be found; if yes, output the maximum matching number and optimal pairing number of the upper torquer 1 and the lower torquer 2. Edit and run the torquer pairing program and the torquer pairing GUI interface in the computer according to step 2) and step 3), such as Figure 5 As shown;

[0061] Select the Excel spreadsheet file recorded in step 1), and input the starting column number and the ending column number of the upper / lower torquer 2 respectively; input the magnetic induction intensity difference corresponding to points 2, 3, and 4 of the upper / lower torquer 2 and the height difference of the upper / lower torquer 2 respectively according to the pairing requirements; after the parameters are entered, click Execute Match to realize one-key pairing, automatically find the best pairing scheme for the entire batch of upper / lower torquers 2, and complete the best pairing, which greatly improves the efficiency and success rate of the pairing of the upper / lower torquer 2, avoids the error of manual calculation, reduces the pairing difference of the upper / lower torquer 2, and ensures that the saturation value difference of the upper / lower torquer 2 is minimized while ensuring a high number of successful pairings.

[0062] Step 4) sort out and archive the above matching results to form a report, and complete the pairing of the quartz flexible accelerometer torquer.

Claims

1. A pairing method for a quartz flexible accelerometer torquer based on the Hungarian algorithm, characterized in that: The following steps are involved: Step 1), numbering M upper torquers (1) and N lower torquers (2), respectively testing the height difference between the magnetic pole piece surface (3) and the yoke iron C surface (4) of each upper torquer (1) and lower torquer (2), and the magnetic saturation value of the corresponding point on each upper torquer (1) and lower torquer (2), and collating and recording all test data, wherein M>100, N>100; Step 2), calculating and selecting the upper torquer (1) and the lower torquer (2) that meet the matching conditions, and creating a bipartite graph of the upper torquer (1) and the lower torquer (2); Step 3), calculating the maximum matching pair number and the optimal pairing number of the upper torquer (1) and the lower torquer (2) according to the Hungarian algorithm; Step 4) sorting and archiving the matching results of step 3) to complete the pairing of the quartz flexible accelerometer torquer.

2. The pairing method of a quartz flexible accelerometer torquer based on the Hungarian algorithm according to claim 1, characterized in that: Step 1) is specifically as follows: Step 1.1) numbering the M upper torquers (1) and the N lower torquers (2), testing and recording the height difference between the magnetic pole piece surface (3) and the yoke iron C surface (4) of each upper torquer (1) and the lower torquer (2); Step 1.2) Using the magnetic saturation value of one point on the upper torquer (1) and the lower torquer (2) as a basic reference value, obtain the magnetic saturation values ​​of the remaining three points; Step 1.3) Arrange and record the height difference between the upper torquer (1) and the lower torquer (2) with corresponding numbers and the magnetic saturation values ​​of the four corresponding points.

3. The pairing method of the quartz flexible accelerometer torquer based on the Hungarian algorithm according to claim 2, characterized in that: Step 2) is specifically as follows: Step 2.1), calculate and determine whether the difference in magnetic saturation values ​​of each upper torquer (1) and the difference in magnetic saturation values ​​of the lower torquer (2) are less than 25 mT; if so, the upper torquer (1) or the lower torquer (2) meets the matching requirement; if not, remove the upper torquer (1) or the lower torquer (2); The magnetic saturation value difference of the upper torquer (1) is the difference between the maximum value and the minimum value of the magnetic induction intensity saturation values ​​of the four corresponding points 1, 2, 3 and 4 in the upper torquer (1); the magnetic saturation value difference of the lower torquer (2) is the difference between the maximum value and the minimum value of the magnetic induction intensity saturation values ​​of the four corresponding points 1, 2, 3 and 4 in the lower torquer (2); Step 2.2), create a two-dimensional array of all zeros according to the number of upper torquers (1) and lower torquers (2) after screening; Step 2.3), set the pairing constraints of the upper torquer (1) and the lower torquer (2), create a bipartite graph of the upper torquer (1) and the lower torquer (2), set the number of the upper torquer (1) to the left graph of the bipartite graph, and set the number of the lower torquer (2) to the right graph of the bipartite graph.

4. The pairing method of quartz flexible accelerometer torquer based on Hungarian algorithm according to claim 3, characterized in that: The pairing constraints in step 2.3) are: The saturation value of the magnetic induction intensity between the 2 points of the upper torquer (1) and the 4 points of the lower torquer (2) is made less than M1mT, the difference between the saturation value of the magnetic induction intensity between the 3 points of the upper torquer (1) and the 3 points of the lower torquer (2) is less than M2mT, the difference between the saturation value of the magnetic induction intensity between the 4 points of the upper torquer (1) and the 2 points of the lower torquer (2) is less than M1mT, and the height difference between the magnetic pole piece surface (3) of the upper and lower torquers (2) and the yoke iron C surface (4) is less than H, thereby creating a bipartite graph of the upper torquer (1) and the lower torquer (2); Of which: M1 <M2,6≤M1≤10,10≤M2≤15,0.005mm≤H≤0.015mm。 5. The pairing method of quartz flexible accelerometer torquer based on Hungarian algorithm according to claim 4, characterized in that: Step 3) is specifically: Step 3.1) Use the depth-first search algorithm to find the augmenting path for the unmatched points in the left graph; Step 3.2), determine whether the unmatched points in the left image can be matched with the previously unmatched points in the right image. If so, increase the number of matching pairs by one and execute step 3.3); If not, determine whether there is a new augmenting path. If so, increase the matching logarithm by one and execute step 3.3); if not, execute step 3.3); Step 3.3), according to the Hungarian algorithm, determine whether the enumeration of the left graph in the bipartite graph is completed. If not, execute step 3.2) to find the augmented path of the next unmatched point; if so, output the maximum matching pair number and the optimal pairing number of the upper torquer (1) and the lower torquer (2).

6. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of a pairing method of a quartz flexible accelerometer torquer based on the Hungarian algorithm as described in any one of claims 1-5 are implemented.

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