Accelerometer scale factor full-temperature error compensation method, device, equipment and medium

Abstract

The embodiment of the invention discloses an accelerometer scale factor full-temperature error compensation method and device, equipment and a medium. The method comprises the following steps: controlling a vibration isolation temperature box and an overturning part to work according to a preset control strategy, and obtaining a pulse signal output by an accelerometer part and temperature data and gravity data of an environment where the accelerometer part is located; inputting the pulse signal, the temperature data and the gravity data into a preset multi-order full-temperature error compensation model to obtain a full-temperature error optimal compensation coefficient; and performing temperature error compensation on the accelerometer scale factor by using the full-temperature error optimal compensation coefficient. Based on this, a corresponding detection environment is created by using the vibration isolation temperature box and the turnover component, and a full-stage temperature error compensation coefficient is determined by using a multi-order full-temperature error compensation model, so that the temperature error of the quartz flexible accelerometer is reduced.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of error compensation, and in particular to a method, device, equipment and medium for compensating the full-temperature error of an accelerometer scale factor. Background Art

[0002] Quartz flexible accelerometer is an important component of inertial navigation technology. Its dynamic measurement error is directly related to the accuracy of inertial navigation technology. The stability of the scale factor is the main component of this error factor. Like the bias stability of the quartz flexible accelerometer, it is greatly affected by external temperature changes.

[0003] At present, the full temperature error compensation of the scale factor of quartz flexible accelerometer is mostly a first-order segmented compensation. This method is simple and effective for quartz flexible accelerometers with medium and low precision application requirements. With the continuous innovation and maturity of quartz flexible accelerometer technology, high-precision quartz flexible accelerometers have been developed and put into practical engineering applications. However, the existing first-order segmented compensation method for the full temperature error of the scale factor of quartz flexible accelerometer can no longer meet the application requirements of long-term stability of high-precision quartz flexible accelerometers. Summary of the invention

[0004] Embodiments of the present application provide a method, device, equipment and medium for compensating the full-temperature error of an accelerometer scale factor, so as to reduce the temperature error of a quartz flexible accelerometer.

[0005] In a first aspect, an embodiment of the present application provides a method for compensating the full-temperature error of an accelerometer scale factor.

[0006] The method is implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, the accelerometer component is arranged on the flip component, and the method includes:

[0007] Control the vibration isolation temperature box and the flip component to work according to the preset control strategy, and obtain the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located;

[0008] Input the pulse signal, temperature data and gravity data into a pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error;

[0009] The optimal compensation coefficient of the full temperature error is used to compensate the temperature error of the accelerometer scale factor.

[0010] In a second aspect, an embodiment of the present application provides an accelerometer scale factor full-temperature error compensation device, the device is implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, the accelerometer component is arranged on the flip component, and the device includes:

[0011] A control module, used to control the vibration isolation temperature box and the flip component to work according to a preset control strategy;

[0012] An acquisition module, used for acquiring the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located;

[0013] An input module is used to input the pulse signal, temperature data and gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal compensation coefficient for the full-temperature error;

[0014] The compensation module is used to perform temperature error compensation on the accelerometer scale factor by using the optimal compensation coefficient of the full temperature error.

[0015] In a third aspect, an embodiment of the present application further provides an accelerometer scale factor full-temperature error compensation device, the accelerometer scale factor full-temperature error compensation device comprising:

[0016] one or more processors;

[0017] a storage device for storing one or more programs,

[0018] When one or more programs are executed by one or more processors, the one or more processors implement the accelerometer scale factor full-temperature error compensation method provided in any embodiment of the present application.

[0019] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, a method for compensating the full-temperature error of the accelerometer scale factor as provided in any embodiment of the present application is implemented.

[0020] The technical solution of the embodiment of the present application controls the vibration isolation temperature box and the flip component to work according to the preset control strategy, and obtains the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located; inputs the pulse signal, temperature data and gravity data into a pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient for the full-temperature error; and uses the optimal compensation coefficient for the full-temperature error to compensate the temperature error of the accelerometer scale factor. Based on this, the vibration isolation temperature box and the flip component are used to create a corresponding detection environment, and the multi-order full-temperature error compensation model is used to determine the full-stage temperature error compensation coefficient, thereby reducing the temperature error of the quartz flexible accelerometer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic flow chart of a method for compensating the full-temperature error of an accelerometer scale factor provided in Embodiment 1 of the present application;

[0022] Figure 2A schematic diagram of the structure of an accelerometer scale factor full-temperature error compensation device provided in Embodiment 2 of the present application;

[0023] Figure 3 This is a schematic diagram of the structure of an accelerometer scale factor full-temperature error compensation device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0024] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0025] Embodiment 1

[0026] Figure 1 This is a flow chart of a method for compensating the full-temperature error of an accelerometer scale factor provided in the first embodiment of the present application, as shown in FIG. Figure 1 As shown, the accelerometer scale factor full-temperature error compensation method provided in this embodiment can be implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, and the accelerometer component is arranged on the flip component. Specifically, the following steps may be included:

[0027] Step 101: Control the vibration isolation temperature box and the flip component to work according to a preset control strategy, and obtain the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located.

[0028] In this embodiment, a device capable of regulating the temperature inside the vibration isolation incubator may be provided in the incubator to facilitate regulating the temperature in the incubator. For details, reference may be made to related technologies and will not be repeated here.

[0029] Specifically, the temperature in the vibration isolation incubator can be controlled to be each desired temperature in sequence; each time the vibration isolation incubator is controlled to reach a desired temperature, the flip component is controlled to drive the accelerometer component to flip according to a preset flipping scheme; after the flipping is completed according to the preset flipping scheme, the vibration isolation incubator is controlled to reach the next desired temperature.

[0030] It should be noted that three accelerometers can be set in the vibration isolation temperature chamber (the accelerometers referred to in this embodiment are all quartz flexible accelerometers). These three accelerometers are arranged along the axes of the physical space coordinates (such as the right-handed coordinate system, right x, front y, and upper z). The three accelerometers are set on a flip component, which can flip the accelerometer on each axis to a state of pointing to the sky or the ground.

[0031] Among them, since the three accelerometers are fixedly arranged along the axis of the physical space coordinate system, when one of the accelerometers flips, the other two will be driven to flip together, for example, the sensitive axis of the y-axis accelerometer points to the sky or the ground, or the sensitive axis of the z-axis accelerometer points to the sky or the ground. At this time, the gravity acceleration sensed by the x-axis accelerometer is close to 0. In this embodiment, this state is referred to as the horizontal placement state (referring to the x-axis accelerometer being horizontal).

[0032] Correspondingly, the sensitive axis of the x-axis accelerometer points to the sky or the ground. At this time, the gravitational acceleration sensed by the x-axis accelerometer is around g0. This state is called numerical placement.

[0033] In addition, the desired temperatures may be -40°C, -20°C, 0°C, 20°C, 40°C, and 60°C. For ease of control, a gradual temperature increase may be adopted to reach the aforementioned desired temperatures in sequence.

[0034] Each time a desired temperature is reached, the temperature is flipped, and the flipping scheme is set to six positions, including x, y, and z axes, vertically in the positive and negative directions. It should be noted that during the flipping process, the temperature in the vibration isolation incubator needs to be maintained at the current desired temperature for a period of time, and after the flipping is completed, the temperature is raised to the next desired temperature.

[0035] In this step, the output pulse signals of the three accelerometers are also recorded in real time, and the number of pulses is recorded. Since the temperature control device is usually provided with a component for measuring temperature, it is possible to directly communicate with the temperature control device to retrieve the temperature detected by it.

[0036] Of course, since the temperature control program has been set, each time a flip is performed, the number of pulses recorded in the flip process can be directly mapped to the current expected temperature. In addition, each flip state will correspond to a default gravity value, so the number of pulses measured in each flip state can be mapped to the corresponding gravity value.

[0037] Step 102: Input the pulse signal, temperature data and gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal full-temperature error compensation coefficient.

[0038] In this step, the multi-order full-temperature error compensation model includes a first relationship model between the scale factor and temperature and a second relationship model between the scale factor and gravity. Specifically, the temperature data can be input into the first relationship model, and the pulse signal and gravity data can be input into the second relationship model; the first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient for the full-temperature error.

[0039] Among them, the first relationship model is , where K is the scale factor of the quartz flexible accelerometer, K0 is the scale factor at a specific temperature, T is the temperature value of the quartz flexible accelerometer, is the correlation coefficient between the scale factor error and the first-order temperature, i represents the order of the error model, is the correlation coefficient between the scale factor error and the temperature change rate of the first order, j represents the order of the error model;

[0040] The second relational model is , where G is the gravity value of the horizontal platform in the vibration isolation chamber, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

[0041] During the specific fitting, the first relationship model and the second relationship model are fitted with the scale factor as the fitting basis to obtain a fitting relationship; and the optimal compensation coefficient of the full temperature error is determined according to the fitting relationship.

[0042] For example, the first relationship model is substituted into the second relationship model with the scale factor as the fitting basis, and matrixed to obtain the fitting relationship. Since the first relationship model is obtained by temperature calculation based on the scale factor, the first relationship model can be completely brought into the second relationship model.

[0043] In a specific example, the difference between the number of pulses and the deviation value of the second relational model can be expressed as a third relational model:

[0044] ,in, and are the output pulse numbers of the x-axis quartz flexible accelerometer when it is placed vertically in the forward and reverse directions, and are the output pulse numbers of the x-axis quartz flexible accelerometer when the y-axis quartz flexible accelerometer is placed vertically in the positive and negative directions, respectively. and They are the output pulse numbers of the x-axis quartz flexible accelerometer when the z-axis quartz flexible accelerometer is placed vertically in the forward and reverse directions respectively.

[0045] Since the bias value changes with temperature can be obtained by the output pulse number of temperature change when placed horizontally (i.e., near the acceleration zero input), the scale factor changes with temperature can be obtained by the difference between the output pulse number of temperature change when placed vertically (i.e., near the acceleration g0 input) and the output pulse number when placed horizontally. Therefore, the difference between the pulse number and the bias value can be recorded as the third relationship model.

[0046] After matrixing, the following fitting relationship can be obtained:

[0047] , where i=1, 2, 3; j=1, 2. The Pusle matrix is ​​the difference between the number of pulses and the deviation value. The last matrix 1 is a constant term. , , is the temperature term, , , temperature change rate term, multiple term compensation parameters.

[0048] make , , , , the simplified fitting relationship can be obtained as , where A is the gravity matrix, B is the pulse matrix, K0 is the scaling factor at a specific temperature, X is the optimal compensation coefficient matrix for the full temperature error, and C is the temperature data matrix.

[0049] Based on the above fitting relationship, we can get , X is the optimal compensation coefficient of the fitted quartz flexible accelerometer within the full temperature range.

[0050] Step 103: Use the optimal compensation coefficient for the full-temperature error to perform temperature error compensation on the accelerometer scale factor.

[0051] In this step, the above X is substituted into the first relationship model to complete the full-temperature error compensation of the scale factor of the quartz flexible accelerometer.

[0052] In this embodiment, the vibration isolation temperature box and the flip component are controlled to work according to the preset control strategy, and the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located are obtained; the pulse signal, temperature data and gravity data are input into the pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error; the optimal compensation coefficient of the full-temperature error is used to compensate the temperature error of the accelerometer scale factor. Based on this, the vibration isolation temperature box and the flip component are used to create a corresponding detection environment, and the multi-order full-temperature error compensation model is used to determine the full-stage temperature error compensation coefficient, thereby reducing the temperature error of the quartz flexible accelerometer.

[0053] Embodiment 2

[0054] Figure 2 This is a schematic diagram of the structure of an accelerometer scale factor full-temperature error compensation device provided in the second embodiment of the present application. The accelerometer scale factor full-temperature error compensation device provided in the embodiment of the present application can execute the accelerometer scale factor full-temperature error compensation method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. The device can be implemented in software and / or hardware, such as Figure 2As shown, the device is implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, the accelerometer component is arranged on the flip component, and the device includes:

[0055] The control module 201 is used to control the vibration isolation incubator and the flip component to work according to a preset control strategy;

[0056] An acquisition module 202 is used to acquire a pulse signal output by the accelerometer component and temperature data and gravity data of an environment in which the accelerometer component is located;

[0057] An input module 203 is used to input the pulse signal, temperature data and gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal compensation coefficient for the full-temperature error;

[0058] The compensation module 204 is used to perform temperature error compensation on the accelerometer scale factor using the optimal compensation coefficient for the full temperature error.

[0059] Furthermore, the control module is specifically used for:

[0060] Controlling the temperature in the vibration isolation temperature box to be the desired temperatures in turn;

[0061] Each time the vibration isolation temperature box is controlled to reach a desired temperature, the flip component is controlled to drive the accelerometer component to flip according to a preset flipping scheme;

[0062] After the flipping is completed according to the preset flipping plan, the vibration isolation temperature box is controlled to reach the next desired temperature.

[0063] Further, the multi-order full-temperature error compensation model includes a first relationship model between the scale factor and temperature and a second relationship model between the scale factor and gravity;

[0064] The input module is specifically used for:

[0065] Inputting temperature data into a first relational model, and inputting pulse signals and gravity data into a second relational model;

[0066] The first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient of the full temperature error.

[0067] Furthermore, the input module is specifically used for:

[0068] Using the scale factor as a fitting basis, the first relationship model and the second relationship model are fitted to obtain a fitting relationship;

[0069] The optimal compensation coefficient of the total temperature error is determined based on the fitting relationship.

[0070] Furthermore, the first relational model is , where K is the scale factor of the quartz flexible accelerometer, K0 is the scale factor at a specific temperature, T is the temperature value of the quartz flexible accelerometer, is the correlation coefficient between the scale factor error and the first-order temperature, i represents the order of the error model, is the correlation coefficient between the scale factor error and the temperature change rate of the first order, j represents the order of the error model;

[0071] The second relational model is , where G is the gravity value of the horizontal platform in the vibration isolation chamber, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

[0072] Furthermore, the input module is specifically used for:

[0073] Using the scaling factor as the fitting basis, the first relationship model is substituted into the second relationship model and matrixed to obtain the fitting relationship.

[0074] Furthermore, the fitting relationship is , where A is the gravity matrix, B is the pulse matrix, K0 is the scaling factor at a specific temperature, X is the optimal compensation coefficient matrix for the full temperature error, and C is the temperature data matrix.

[0075] Embodiment 3

[0076] Figure 3 A schematic diagram of the structure of an accelerometer scale factor full-temperature error compensation device provided in Embodiment 3 of the present application is shown in FIG. Figure 3 As shown, the accelerometer scale factor full-temperature error compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, and the accelerometer component is arranged on the flip component;

[0077] The device also includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of the processor 310 in the accelerometer scale factor full temperature error compensation device can be one or more. Figure 3 A processor 310 is taken as an example; the processor 310, the memory 320, the input device 330 and the output device 340 in the accelerometer scale factor full temperature error compensation device can be connected via a bus or other means, Figure 3 The example of connecting through bus is taken in the following.

[0078] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the accelerometer scale factor full-temperature error compensation method in the embodiment of the present invention. The processor 310 executes various functional applications and data processing of the accelerometer scale factor full-temperature error compensation device by running the software programs, instructions and modules stored in the memory 320, that is, to implement the above-mentioned accelerometer scale factor full-temperature error compensation method:

[0079] Control the vibration isolation temperature box and the flip component to work according to the preset control strategy, and obtain the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located;

[0080] Input the pulse signal, temperature data and gravity data into a pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error;

[0081] The optimal compensation coefficient of the full temperature error is used to compensate the temperature error of the accelerometer scale factor.

[0082] Furthermore, the vibration isolation incubator and the flipping component are controlled to work according to a preset control strategy, including:

[0083] Controlling the temperature in the vibration isolation temperature box to be the desired temperatures in turn;

[0084] Each time the vibration isolation temperature box is controlled to reach a desired temperature, the flip component is controlled to drive the accelerometer component to flip according to a preset flipping scheme;

[0085] After the flipping is completed according to the preset flipping plan, the vibration isolation temperature box is controlled to reach the next desired temperature.

[0086] Further, the multi-order full-temperature error compensation model includes a first relationship model between the scale factor and temperature and a second relationship model between the scale factor and gravity;

[0087] Input the pulse signal, temperature data and gravity data into the pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error, including:

[0088] Inputting temperature data into a first relational model, and inputting pulse signals and gravity data into a second relational model;

[0089] The first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient of the full temperature error.

[0090] Furthermore, the first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient of the full temperature error, including:

[0091] Using the scale factor as a fitting basis, the first relationship model and the second relationship model are fitted to obtain a fitting relationship;

[0092] The optimal compensation coefficient of the total temperature error is determined based on the fitting relationship.

[0093] Furthermore, the first relational model is , where K is the scale factor of the quartz flexible accelerometer, K0 is the scale factor at a specific temperature, T is the temperature value of the quartz flexible accelerometer, is the correlation coefficient between the scale factor error and the first-order temperature, i represents the order of the error model, is the correlation coefficient between the scale factor error and the temperature change rate of the first order, j represents the order of the error model;

[0094] The second relational model is , where G is the gravity value of the horizontal platform in the vibration isolation chamber, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

[0095] Furthermore, the first relationship model and the second relationship model are fitted with the scaling factor as a fitting basis to obtain a fitting relationship, including:

[0096] Using the scaling factor as the fitting basis, the first relationship model is substituted into the second relationship model and matrixed to obtain the fitting relationship.

[0097] Furthermore, the fitting relationship is , where A is the gravity matrix, B is the pulse matrix, K0 is the scaling factor at a specific temperature, X is the optimal compensation coefficient matrix for the full temperature error, and C is the temperature data matrix.

[0098] The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the accelerometer scale factor full temperature error compensation device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0099] Embodiment 4

[0100] Embodiment 4 of the present application further provides a storage medium including computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a method for compensating the full-temperature error of an accelerometer scale factor. The method includes:

[0101] Control the vibration isolation temperature box and the flip component to work according to the preset control strategy, and obtain the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located;

[0102] Input the pulse signal, temperature data and gravity data into a pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error;

[0103] The temperature error of the accelerometer scale factor is compensated using the optimal compensation coefficient of the full temperature error.

[0104] Furthermore, the vibration isolation incubator and the flipping component are controlled to work according to a preset control strategy, including:

[0105] Controlling the temperature in the vibration isolation temperature box to be the desired temperatures in turn;

[0106] Each time the vibration isolation temperature box is controlled to reach a desired temperature, the flip component is controlled to drive the accelerometer component to flip according to a preset flipping plan;

[0107] After the flipping is completed according to the preset flipping plan, the vibration isolation temperature box is controlled to reach the next desired temperature.

[0108] Further, the multi-order full-temperature error compensation model includes a first relationship model between the scale factor and temperature and a second relationship model between the scale factor and gravity;

[0109] Input the pulse signal, temperature data and gravity data into the pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient of the full-temperature error, including:

[0110] Inputting temperature data into a first relational model, and inputting pulse signals and gravity data into a second relational model;

[0111] The first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient of the full temperature error.

[0112] Furthermore, the first relationship model and the second relationship model are fitted to obtain the optimal compensation coefficient of the full temperature error, including:

[0113] Using the scale factor as a fitting basis, the first relationship model and the second relationship model are fitted to obtain a fitting relationship;

[0114] The optimal compensation coefficient of the total temperature error is determined based on the fitting relationship.

[0115] Furthermore, the first relational model is , where K is the scale factor of the quartz flexible accelerometer, K0 is the scale factor at a specific temperature, T is the temperature value of the quartz flexible accelerometer, is the correlation coefficient between the scale factor error and the first-order temperature, i represents the order of the error model, is the correlation coefficient between the scale factor error and the temperature change rate of the first order, j represents the order of the error model;

[0116] The second relational model is , where G is the gravity value of the horizontal platform in the vibration isolation chamber, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

[0117] Furthermore, the first relationship model and the second relationship model are fitted with the scaling factor as a fitting basis to obtain a fitting relationship, including:

[0118] Using the scaling factor as the fitting basis, the first relationship model is substituted into the second relationship model and matrixed to obtain the fitting relationship.

[0119] Furthermore, the fitting relationship is , where A is the gravity matrix, B is the pulse matrix, K0 is the scale factor at a specific temperature, X is the optimal compensation coefficient matrix for the full temperature error, and C is the temperature data matrix.

[0120] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above method operations, can also execute the relevant operations in the accelerometer scale factor full-temperature error compensation method provided in any embodiment of the present application.

[0121] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present application can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0122] It is worth noting that in the embodiment of the above-mentioned search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0123] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for compensating the full-temperature error of an accelerometer scale factor, characterized in that: The method is implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, the accelerometer component is arranged on the flip component, and the method includes: Controlling the vibration isolation temperature box and the flip component to work according to a preset control strategy, and obtaining the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located; Inputting the pulse signal, the temperature data and the gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal full-temperature error compensation coefficient; The temperature error compensation of the accelerometer scale factor is performed using the optimal compensation coefficient for the full-temperature error.

2. The method according to claim 1, characterized in that: The controlling the vibration isolation incubator and the flipping component to work according to a preset control strategy includes: Controlling the temperature in the vibration isolation temperature box to be the desired temperatures in turn; Each time the vibration isolation temperature box is controlled to reach a desired temperature, the flip component is controlled to drive the accelerometer component to flip according to a preset flipping scheme; After the flipping is completed according to the preset flipping scheme, the vibration isolation temperature box is controlled to reach the next desired temperature.

3. The method according to claim 1, characterized in that The multi-order full-temperature error compensation model includes a first relationship model between the scale factor and temperature and a second relationship model between the scale factor and gravity; The step of inputting the pulse signal, the temperature data and the gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal full-temperature error compensation coefficient includes: Inputting the temperature data into the first relationship model, and inputting the pulse signal and gravity data into the second relationship model; The first relationship model and the second relationship model are fitted to obtain an optimal compensation coefficient for the full-temperature error.

4. The method according to claim 3, characterized in that The fitting of the first relationship model and the second relationship model to obtain the optimal compensation coefficient of the full temperature error includes: Using the scaling factor as a fitting basis, fitting the first relationship model and the second relationship model to obtain a fitting relationship; The optimal compensation coefficient of the full-temperature error is determined according to the fitting relationship.

5. The method according to claim 4, characterized in that The first relational model is , where K is the scale factor of the quartz flexible accelerometer, K0 is the scale factor at a specific temperature, T is the temperature value of the quartz flexible accelerometer, is the correlation coefficient between the scale factor error and the first-order temperature, i represents the order of the error model, is the correlation coefficient between the scale factor error and the temperature change rate of the first order, j represents the order of the error model; The second relational model is , where G is the gravity value of the horizontal platform in the vibration isolation chamber, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

6. The method according to claim 4, characterized in that The step of fitting the first relationship model and the second relationship model using the scale factor as a fitting basis to obtain a fitting relationship includes: The scaling factor is used as a fitting basis, the first relationship model is substituted into the second relationship model, and matrixing is performed to obtain a fitting relationship.

7. The method according to claim 6, characterized in that The fitting relationship is , where A is the gravity matrix, B is the pulse matrix, K0 is the scaling factor at a specific temperature, X is the optimal compensation coefficient matrix for the full temperature error, and C is the temperature data matrix.

8. An accelerometer scale factor full temperature error compensation device, characterized in that: The device is implemented based on a compensation device, the compensation device includes a vibration isolation temperature box, a flip component and an accelerometer component, the accelerometer component is arranged on the flip component, and the device includes: A control module, used to control the vibration isolation incubator and the flip component to work according to a preset control strategy; An acquisition module, used for acquiring the pulse signal output by the accelerometer component and the temperature data and gravity data of the environment in which the accelerometer component is located; An input module, used for inputting the pulse signal, the temperature data and the gravity data into a preset multi-order full-temperature error compensation model to obtain an optimal compensation coefficient for the full-temperature error; The compensation module is used to perform temperature error compensation on the accelerometer scale factor by using the full-temperature error optimal compensation coefficient.

9. An accelerometer scale factor full temperature error compensation device, characterized in that: include: A vibration isolation temperature box, a flip component and an accelerometer component, wherein the accelerometer component is arranged on the flip component; one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the accelerometer scale factor full-temperature error compensation method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for compensating the full-temperature error of the accelerometer scale factor as claimed in any one of claims 1 to 7 is implemented.

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