Accelerometer Scale Factor Full Temperature Error Compensation Method, Device, Equipment and Medium

Abstract

An embodiment of the present application discloses a full-temperature error compensation method, device, equipment and medium for the accelerometer scale factor. The method includes: controlling the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and acquiring the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located; inputting the pulse signal, temperature data and gravity data into a pre-set multi-order full-temperature error compensation model to obtain the optimal full-temperature error compensation coefficient; and using the optimal full-temperature error compensation coefficient to perform temperature error compensation on the accelerometer scale factor. Based on this, by using the vibration isolation temperature chamber and the flipping component, a corresponding detection environment is created, 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.

Description

Technical Field

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

[0002] The 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. Among them, 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 the quartz flexible accelerometer is mostly piecewise compensation of the first term. 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 started to be applied in actual engineering. However, the existing first-term piecewise compensation method for the full-temperature error of the scale factor of the quartz flexible accelerometer can no longer meet the application requirements of the long-term stability of high-precision quartz flexible accelerometers. Summary of the Invention

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

[0005] In a first aspect, the embodiments of the present application provide a full-temperature error compensation method for the scale factor of an accelerometer.

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

[0007] Controlling the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and obtaining the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located;

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

[0009] Using the optimal full-temperature error compensation coefficient to perform temperature error compensation on the scale factor of the accelerometer.

[0010] In a second aspect, the embodiments of the present application provide a full-temperature error compensation device for the scale factor of an accelerometer. The device is implemented based on a compensation device. The compensation device includes a vibration isolation temperature chamber, a flipping component and an accelerometer component. The accelerometer component is arranged on the flipping component. The device includes:

[0011] A control module, configured to control the vibration isolation incubator and the flipping component to work according to a preset control strategy;

[0012] An acquisition module, configured to acquire the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located;

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

[0014] A compensation module, configured to perform temperature error compensation on the accelerometer scale factor by using the optimal full-temperature error compensation coefficient.

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

[0016] One or more processors;

[0017] A storage device, configured to store one or more programs,

[0018] 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 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, on which a computer program is stored, and characterized in that when the program is executed by a processor, it implements the accelerometer scale factor full-temperature error compensation method provided in any embodiment of the present application.

[0020] The technical solution of the embodiment of the present application is to control the vibration isolation incubator and the flipping component to work according to a preset control strategy, and acquire the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located; input the pulse signal, temperature data, and gravity data into a preset multi-order full-temperature error compensation model to obtain the optimal full-temperature error compensation coefficient; perform temperature error compensation on the accelerometer scale factor by using the optimal full-temperature error compensation coefficient. Based on this, by using the vibration isolation incubator and the flipping component, a corresponding detection environment is created, 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. Description of the Drawings

[0021] Figure 1 It is a schematic flowchart of the accelerometer scale factor full-temperature error compensation method provided in Embodiment 1 of the present application;

[0022] Figure 2Schematic structural diagram of an acceleration scale factor full-temperature error compensation device provided in the second embodiment of the present application;

[0023] Figure 3 Schematic structural diagram of an acceleration scale factor full-temperature error compensation device provided in the third embodiment of the present application. Specific implementation manners

[0024] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. In addition, it should be noted that for the convenience of description, only parts related to the present application are shown in the drawings, rather than all the structures.

[0025] Embodiment 1

[0026] Figure 1 Schematic flow diagram of an acceleration scale factor full-temperature error compensation method provided in the first embodiment of the present application. As Figure 1 shown, the acceleration 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 chamber, a flipping component, and an accelerometer component. The accelerometer component is arranged on the flipping component. Specifically, the following steps can be included:

[0027] Step 101: Control the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and obtain the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located.

[0028] In this embodiment, devices capable of regulating the temperature inside the chamber can be arranged in the vibration isolation temperature chamber to facilitate the regulation of the temperature in the vibration isolation temperature chamber. For specific references, relevant technologies can be referred to, and details will not be elaborated here.

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

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

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

[0032] Correspondingly, when the sensitive axis of the x-axis accelerometer points to the sky or the ground, the gravitational acceleration sensed by the x-axis accelerometer is near g0, and this state is referred to as the numerical placement.

[0033] In addition, the desired temperatures can be -40°C, -20°C, 0°C, 20°C, 40°C, 60°C. For the convenience of control, the temperature can be increased gradually to reach the aforementioned desired temperatures in sequence.

[0034] When each desired temperature is reached, a flip is performed, and the flip scheme is set to six placements including the vertical positive and negative directions of the x, y, and z axes in sequence. It should be noted that during the flip process, the temperature in the vibration isolation incubator needs to be maintained at the current desired temperature for a period of time. After the flip is completed, the temperature is increased 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 usually has a component for measuring temperature, it can be directly communicatively connected to the temperature control device to retrieve the detected temperature.

[0036] Of course, since the temperature control program has been set, each time a flip is performed, the number of pulses recorded during the flip process can be directly mapped to the current desired temperature. In addition, each flip state corresponds 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 pre-set multi-order full-temperature error compensation model to obtain the 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 full-temperature error compensation coefficient.

[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, and T is the temperature value of the quartz flexible accelerometer. is the correlation coefficient between the scale factor error and the i-th order temperature, and i represents the order of the error model. is the correlation coefficient between the scale factor error and the j-th order temperature change rate, and j represents the order of the error model.

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

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

[0042] For example, taking the scale factor as the fitting basis, substituting the first relationship model into the second relationship model and matrixizing it to obtain a fitting relationship. Since the first relationship model calculates the scale factor through temperature, the entire first relationship model can be substituted into the second relationship model.

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

[0044] , where and are the output pulse numbers of the x-axis quartz flexible accelerometer when the x-axis quartz flexible accelerometer is placed vertically forward and backward respectively, and are the output pulse numbers of the x-axis quartz flexible accelerometer when the y-axis quartz flexible accelerometer is placed vertically forward and backward respectively, and are the output pulse numbers of the x-axis quartz flexible accelerometer when the z-axis quartz flexible accelerometer is placed vertically forward and backward respectively.

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

[0046] After matrixization, 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 offset value, and the final matrix 1 is the constant term, , , is the temperature term, , , the temperature change rate term, and the polynomial compensation parameter.

[0048] Let , , , , then the simplified fitting relationship can be obtained as , where \(A\) is the gravity matrix, \(B\) is the pulse matrix, \(K_0\) 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.

[0049] Based on the above fitting relationship, can be obtained, and \(X\) is the optimal compensation coefficient within the full temperature range of the fitted quartz flexible accelerometer.

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

[0051] In this step, substituting the aforementioned \(X\) into the first relational model can complete the full-temperature error compensation of the quartz flexible accelerometer scale factor.

[0052] In this embodiment, the vibration isolation temperature chamber and the flipping component are controlled to work according to a preset control strategy, and the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located, are obtained; the pulse signal, temperature data, and gravity data are input into a pre-set multi-order full-temperature error compensation model to obtain the optimal compensation coefficient for the full-temperature error; the optimal compensation coefficient for the full-temperature error is used to compensate the temperature error of the accelerometer scale factor. Based on this, using the vibration isolation temperature chamber and the flipping component, a corresponding detection environment is created, 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 is a schematic structural diagram of an accelerometer scale factor full-temperature error compensation device provided by the second embodiment of the present application. The accelerometer scale factor full-temperature error compensation device provided by the embodiments of the present application can execute the accelerometer scale factor full-temperature error compensation method provided by any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the 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, which includes a vibration isolation temperature chamber, a flipping component, and an accelerometer component. The accelerometer component is arranged on the flipping component. The device includes:

[0055] A control module 201, configured to control the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy;

[0056] An acquisition module 202, configured to acquire the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located;

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

[0058] A compensation module 204, configured to perform temperature error compensation on the accelerometer scale factor by using the optimal full-temperature error compensation coefficient.

[0059] Furthermore, the control module is specifically configured to:

[0060] Control the temperature in the vibration isolation temperature chamber to be each desired temperature in sequence;

[0061] Each time the vibration isolation temperature chamber reaches a desired temperature, control the flipping component to drive the accelerometer component to flip according to a preset flipping scheme;

[0062] After the flipping is completed according to the preset flipping scheme, control the vibration isolation temperature chamber to reach the next desired temperature.

[0063] Furthermore, 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 configured to:

[0065] Input the temperature data into the first relationship model, and input the pulse signal and gravity data into the second relationship model;

[0066] Fit the first relationship model and the second relationship model to obtain the optimal full-temperature error compensation coefficient.

[0067] Furthermore, the input module is specifically configured to:

[0068] Use the scale factor as the fitting basis, fit the first relationship model and the second relationship model to obtain a fitting relationship;

[0069] Determine the optimal full-temperature error compensation coefficient according to the fitting relationship.

[0070] Furthermore, 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, and T is the temperature value of the quartz flexible accelerometer. is the correlation coefficient between the scale factor error and the i-th order temperature, and i represents the order of the error model. is the correlation coefficient between the scale factor error and the j-th order temperature change rate, and 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 incubator, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperature and different gravity field conditions, K is the scale factor of the quartz flexible accelerometer, and B0 is the offset value of the quartz flexible accelerometer.

[0072] Further, the input module is specifically configured to:

[0073] Taking the scale factor as the fitting basis, substituting the first relational model into the second relational model and performing matrixization to obtain the fitting relationship.

[0074] Further, 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.

[0075] Embodiment 3

[0076] Figure 3 is a schematic structural diagram of an accelerometer scale factor full-temperature error compensation device provided by Embodiment 3 of the present application. As Figure 3 shown, the accelerometer scale factor full-temperature error compensation device includes a vibration isolation incubator, a flipping component, and an accelerometer component. The accelerometer component is arranged on the flipping component.

[0077] It further includes a processor 310, a memory 320, an input device 330, and an output device 340. The number of processors 310 in the accelerometer scale factor full-temperature error compensation device can be one or more. Figure 3 Taking one processor 310 as an example; the processor 310, memory 320, input device 330, and output device 340 in the accelerometer scale factor full-temperature error compensation device can be connected through a bus or other means. Figure 3 Taking the connection through the bus as an example.

[0078] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the full-temperature error compensation method for the accelerometer scale factor in the embodiments 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, implements the above-mentioned accelerometer scale factor full-temperature error compensation method:

[0079] Control the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and obtain the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located;

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

[0081] Use the optimal full-temperature error compensation coefficient to perform temperature error compensation on the accelerometer scale factor.

[0082] Further, controlling the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy includes:

[0083] Control the temperature in the vibration isolation temperature chamber to be each desired temperature in turn;

[0084] Each time the vibration isolation temperature chamber reaches a desired temperature, control the flipping component to drive the accelerometer component to flip according to a preset flipping scheme;

[0085] After the flipping is completed according to the preset flipping scheme, control the vibration isolation temperature chamber 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] Inputting the pulse signal, temperature data, and gravity data into a preset multi-order full-temperature error compensation model to obtain the optimal full-temperature error compensation coefficient includes:

[0088] Input the temperature data into the first relationship model, and input the pulse signal and gravity data into the second relationship model;

[0089] Fit the first relationship model and the second relationship model to obtain the optimal full-temperature error compensation coefficient.

[0090] Further, fitting the first relationship model and the second relationship model to obtain the optimal full-temperature error compensation coefficient includes:

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

[0092] Determine the optimal compensation coefficient of the full-temperature error according to the fitting relationship.

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

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

[0095] Further, taking the scale factor as the fitting basis, the first relationship model and the second relationship model are fitted to obtain a fitting relationship, including:

[0096] Taking the scale factor as the fitting basis, substitute the first relationship model into the second relationship model and matrixize it to obtain a fitting relationship.

[0097] Further, 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 of 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. Among them, the program storage area may store an operating system and application programs 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 magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 320 may further include a memory remotely set relative to the processor 310, and these remote memories may be connected to the accelerometer scale factor full-temperature error compensation device through a network. Examples of the above network include but are not limited to the Internet, an enterprise internal network, a local area network, a mobile communication network, and combinations thereof.

[0099] Embodiment 4

[0100] Embodiment 4 of this application further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to execute an acceleration scale factor full-temperature error compensation method, and the method includes:

[0101] Control the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and obtain the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located;

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

[0103] Use the optimal full-temperature error compensation coefficient to perform temperature error compensation on the acceleration scale factor.

[0104] Further, controlling the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy includes:

[0105] Control the temperature in the vibration isolation temperature chamber to be each desired temperature in turn;

[0106] Each time the vibration isolation temperature chamber reaches a desired temperature, control the flipping component to drive the accelerometer component to flip according to a preset flipping scheme;

[0107] After flipping is completed according to the preset flipping scheme, control the vibration isolation temperature chamber 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] Inputting the pulse signal, temperature data, and gravity data into a preset multi-order full-temperature error compensation model to obtain the optimal full-temperature error compensation coefficient includes:

[0110] Input the temperature data into the first relationship model, and input the pulse signal and gravity data into the second relationship model;

[0111] Fit the first relationship model and the second relationship model to obtain the optimal full-temperature error compensation coefficient.

[0112] Further, fitting the first relationship model and the second relationship model to obtain the optimal full-temperature error compensation coefficient includes:

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

[0114] Determine the optimal full-temperature error compensation coefficient according to the fitting relationship.

[0115] Further, 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 i-th order temperature, and i represents the order of the error model, is the correlation coefficient between the scale factor error and the j-th order temperature change rate, and 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 incubator, Pulse is the number of pulses output by the quartz flexible accelerometer under different temperatures and different gravity fields, K is the scale factor of the quartz flexible accelerometer, and B0 is the bias value of the quartz flexible accelerometer.

[0117] Further, taking the scale factor as the fitting basis, the first relational model and the second relational model are fitted to obtain a fitting relationship, including:

[0118] Taking the scale factor as the fitting basis, the first relational model is substituted into the second relational model and matrixized to obtain the fitting relationship.

[0119] Further, 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, for a storage medium containing computer-executable instructions provided by an embodiment of the present application, the computer-executable instructions are not limited to the above method operations, and can also execute related operations in the method for compensating the full-temperature error of the accelerometer scale factor provided by any embodiment of the present application.

[0121] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software and necessary general-purpose hardware. 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, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present application.

[0122] It should be noted that in the embodiments of the above search device, the various units and modules included are only divided according to functional logic, but are not limited to the above 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 mutual distinction and are not used to limit the protection scope of the present application.

[0123] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, more other equivalent embodiments can be included, 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 the accelerometer scale factor, characterized in that The method is implemented based on a compensation device, the compensation device includes a vibration isolation temperature chamber, a flipping component, and an accelerometer component, the accelerometer component is arranged on the flipping component, and the method includes: Controlling the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy, and acquiring the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where 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 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 second relationship model includes a third relationship model representing the difference between the number of pulses and the offset value; The third relational model is as follows: , where and are the output pulse numbers of the x-axis quartz flexure accelerometer when the x-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively, and are the output pulse numbers of the x-axis quartz flexure accelerometer when the y-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively, and are the output pulse numbers of the x-axis quartz flexure accelerometer when the z-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively; Using the optimal full-temperature error compensation coefficient to perform temperature error compensation on the accelerometer scale factor.

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

3. The method according to claim 1, characterized in that The 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 the gravity data into the second relationship model; Fitting the first relationship model and the second relationship model to obtain an optimal full-temperature error compensation coefficient.

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

5. The method according to claim 4, wherein The using the scale factor as the fitting basis, fitting the first relationship model and the second relationship model to obtain a fitting relationship includes: Using the scale factor as the fitting basis, substituting the first relationship model into the second relationship model and performing matrix transformation to obtain a fitting relationship.

6. 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 chamber, a flipping component, and an accelerometer component, the accelerometer component is arranged on the flipping component, and the device includes: A control module, configured to control the vibration isolation temperature chamber and the flipping component to work according to a preset control strategy; An acquisition module, configured to acquire the pulse signal output by the accelerometer component, as well as the temperature data and gravity data of the environment where the accelerometer component is located; An input module, configured to input 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 multi-order full-temperature error compensation model includes a first relationship model between a scale factor and temperature and a second relationship model between a scale factor and gravity; a third relationship model representing the difference between the number of pulses and the offset is included in the second relationship model; The third relational model is as follows: , where and are the output pulse numbers of the x-axis quartz flexure accelerometer when the x-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively, and are the output pulse numbers of the x-axis quartz flexure accelerometer when the y-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively, and are the output pulse numbers of the x-axis quartz flexure accelerometer when the z-axis quartz flexure accelerometer is placed vertically in the positive and negative directions respectively; A compensation module, configured to perform temperature error compensation on the accelerometer scale factor by using the optimal full-temperature error compensation coefficient.

7. An accelerometer scale factor full-temperature error compensation device, characterized in that Comprising: A vibration isolation temperature chamber, a flipping component, and an accelerometer component, wherein the accelerometer component is disposed on the flipping component; One or more processors; A storage device, configured to store 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 according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, the accelerometer scale factor full-temperature error compensation method according to any one of claims 1-5 is implemented.

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