A High-Efficiency Temperature Compensation Parameter Verification Method for Closed-Loop Fiber Optic Gyroscopes

Abstract

This invention belongs to the field of closed-loop fiber optic gyroscope control electronics technology, specifically relating to a method for verifying efficient temperature compensation parameters of a closed-loop fiber optic gyroscope. The method includes: obtaining temperature compensation parameters corresponding to the closed-loop fiber optic gyroscope under different operating ambient temperatures through temperature adjustment tests, and generating a temperature compensation parameter table; after the closed-loop fiber optic gyroscope enters normal operating mode, obtaining the real-time operating ambient temperature value of the closed-loop fiber optic gyroscope, reading the temperature compensation parameter corresponding to the current operating ambient temperature in the temperature compensation parameter table, setting the temperature compensation parameter corresponding to the current temperature point as 'b', and simultaneously reading the temperature compensation parameters 'a' and 'c' corresponding to adjacent temperature points; determining the temperature compensation parameters using either the difference comparison method or the shift comparison method, and calculating the final normal output value with the angular rate calculated from the original gyroscope.

Description

Technical Field

[0001] This invention belongs to the field of closed-loop fiber optic gyroscope control electronics technology, specifically relating to a method for verifying the high-efficiency temperature compensation parameters of a closed-loop fiber optic gyroscope. Background Technology

[0002] Closed-loop fiber optic gyroscopes, as high-precision inertial navigation instruments based on the Sagnac effect, offer numerous advantages, such as the ability to operate in a zero-phase-position closed-loop mode, the absence of moving and wearing parts, a wide accuracy range, stable and reliable manufacturing processes, low cost, and suitability for mass production. Furthermore, they are trending towards miniaturization and integration. However, the operation of closed-loop fiber optic gyroscopes is affected by ambient temperature, with performance varying at different temperatures. Therefore, in practical applications, compensation is needed for the angular rate information demodulated from the closed-loop fiber optic gyroscope's control circuit to ensure that the gyroscope meets the expected accuracy requirements.

[0003] In existing closed-loop fiber optic gyroscope control circuit technology, a temperature sensor installed inside the gyroscope measures the ambient temperature of the closed-loop fiber optic gyroscope in real time. Simultaneously, the temperature compensation parameters corresponding to the ambient temperature are stored in an EEPROM memory. Before outputting the angular rate, the closed-loop fiber optic gyroscope control circuit needs to read the corresponding compensation parameters for the XYZ axes from the EEPROM memory using a lookup table based on the temperature collected by the temperature sensor. After calculation, the final output is obtained. Therefore, if the temperature compensation parameters deviate abnormally from the preset value, it will directly lead to abnormal output results from the closed-loop fiber optic gyroscope. Furthermore, since closed-loop fiber optic gyroscopes require high real-time data processing speeds, how to efficiently verify the temperature compensation parameters in practical engineering is an urgent problem to be solved in order to improve the accuracy of the output results of the closed-loop fiber optic gyroscope control circuit. Summary of the Invention

[0004] Purpose of the invention: To provide an efficient method for verifying temperature compensation parameters of closed-loop fiber optic gyroscopes, solving the problem of verifying temperature compensation parameters of closed-loop fiber optic gyroscopes in the prior art, and improving the accuracy of output results in the engineering application of closed-loop fiber optic gyroscope control circuits.

[0005] Technical solution:

[0006] A method for efficiently verifying temperature compensation parameters of a closed-loop fiber optic gyroscope includes:

[0007] Step 1: Through temperature adjustment tests of the closed-loop fiber optic gyroscope, obtain the temperature compensation parameters of the closed-loop fiber optic gyroscope under different operating ambient temperatures, and generate a temperature compensation parameter table.

[0008] Step 2: After the closed-loop fiber optic gyroscope enters the normal working mode, obtain the real-time working environment temperature value of the closed-loop fiber optic gyroscope, read the temperature compensation parameter corresponding to the current working environment temperature in the temperature compensation parameter table, set the temperature compensation parameter corresponding to the current temperature point to b, and at the same time read the temperature compensation parameters a and c corresponding to the adjacent temperature points.

[0009] Step 3: Determine the temperature compensation parameters using either the difference comparison method or the shift comparison method, and calculate the final normal output value using the angular rate obtained from the original gyroscope.

[0010] Furthermore, in step 2, the typical interval between adjacent temperature points is 0.0625℃.

[0011] Furthermore, in step 3, the difference comparison method specifically refers to:

[0012] Step 31: First, calculate the difference between the temperature compensation parameters a and b corresponding to adjacent temperature points to obtain the difference Δab between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Then, compare this difference Δab with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 32; otherwise, report an error and indicate that the temperature compensation parameter is abnormal.

[0013] Step 32: Subtract the temperature compensation parameters b and c corresponding to adjacent temperature points to obtain the difference Δbc between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Compare this difference Δbc with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 33; otherwise, report an error and indicate that the temperature compensation parameter is abnormal.

[0014] Step 33: Subtract the temperature compensation parameters a and c corresponding to the temperature point to obtain the difference Δac between the corresponding temperature compensation parameters. Compare the difference Δac with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 34. Otherwise, report an error and indicate that the temperature compensation parameter is abnormal. Force the value of the temperature compensation parameter b corresponding to the temperature point to be replaced with the temperature compensation parameter a corresponding to the previous temperature point.

[0015] Step 34: Calculate the temperature compensation parameter b with the angular rate calculated from the original gyroscope to obtain the final normal output value.

[0016] Furthermore, the preset normal difference value of the difference comparison method is the change in the temperature compensation parameter corresponding to 10 times the typical value of the temperature interval.

[0017] Furthermore, in step 3, the shift comparison method specifically includes:

[0018] Step 35: Randomly select multiple consecutive adjacent temperature points corresponding to temperature compensation parameters in the temperature compensation parameter table. Using the selected multiple temperature compensation parameters as a reference, compare the multiple temperature compensation parameters in order from high to low data bits to determine the number of bits M that the data first changes.

[0019] Step 36: Compare the temperature compensation coefficients a and b corresponding to the adjacent temperature points to be verified from the highest to the lowest bit position up to the Nth bit position. If the data bits corresponding to a and b are the same from the highest bit to the Nth bit, then jump to step 37; otherwise, report an error and indicate that the temperature compensation parameter is abnormal; N = M-1.

[0020] Step 37: Compare the temperature compensation coefficients b and c corresponding to the adjacent temperature points to be verified from the highest to the lowest bit position up to the Nth bit position. If the data bits corresponding to b and c are the same from the highest bit to the Nth bit, then jump to step 38; otherwise, report an error and indicate that the temperature compensation parameter is abnormal.

[0021] Step 38: Compare the temperature compensation coefficients a and c corresponding to the adjacent temperature points to be verified from the highest to the lowest data bits up to the Nth bit. If the data bits corresponding to a and c are the same from the highest bit to the Nth bit, then jump to step 39; otherwise, report an error and indicate that the temperature compensation parameter is abnormal, and forcibly replace the value of the temperature compensation parameter b corresponding to the temperature point with the temperature compensation parameter a corresponding to the previous temperature point.

[0022] Step 39: Calculate the temperature compensation parameter b with the angular rate calculated from the original gyroscope to obtain the final normal output value.

[0023] Furthermore, in the shift comparison method, the temperature compensation parameters corresponding to 10 consecutive adjacent temperature points are selected as typical values.

[0024] Furthermore, the operating temperature range of the closed-loop fiber optic gyroscope is +80℃ to -50℃.

[0025] Furthermore, the standard operating temperature of a closed-loop fiber optic gyroscope is +20°C.

[0026] Beneficial effects:

[0027] 1. This invention provides a high-efficiency temperature compensation parameter verification technology and method for closed-loop fiber optic gyroscopes. By installing a temperature sensor in the closed-loop fiber optic gyroscope to obtain an accurate working environment temperature, the accuracy of the temperature compensation parameters is judged by the temperature compensation parameter verification program, thus ensuring the correctness of the temperature compensation parameters and the final output data of the closed-loop fiber optic gyroscope.

[0028] 2. This invention provides a high-efficiency temperature compensation parameter verification technology and method for closed-loop fiber optic gyroscopes. The method is simple and efficient, and can achieve rapid real-time verification and decision-making of temperature compensation parameters with very low computing power requirements, ensuring that the overall performance of the closed-loop fiber optic gyroscope is not affected by abnormal temperature compensation parameters.

[0029] 3. The verification results are accurate and objective, and the fault point of the closed-loop fiber optic gyroscope temperature compensation parameter can be accurately located during the test, which improves efficiency and accuracy;

[0030] 4. The verification techniques and methods are universal and suitable for different types of engineering tests. Attached Figure Description

[0031] To more clearly illustrate the technical solution of this invention, the testing method of this invention will be briefly described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this invention.

[0032] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] Figure 1 This is a difference comparison method in an efficient temperature compensation parameter verification method for closed-loop fiber optic gyroscopes.

[0034] Figure 2 This is a shift comparison method in an efficient temperature compensation parameter verification method for closed-loop fiber optic gyroscopes. Detailed Implementation

[0035] like Figure 1 and Figure 2 A method for efficiently verifying temperature compensation parameters of a closed-loop fiber optic gyroscope, comprising the following steps:

[0036] S1: The real-time operating ambient temperature of the closed-loop fiber optic gyroscope is obtained by a temperature sensor installed inside the closed-loop fiber optic gyroscope and converted into a digital signal.

[0037] S2: The closed-loop fiber optic gyroscope first enters the debugging mode. Through temperature debugging tests of the closed-loop fiber optic gyroscope, the temperature compensation parameters corresponding to the closed-loop fiber optic gyroscope under different working ambient temperatures are obtained, and a temperature compensation parameter table is generated. By inputting a command with specific storage parameters through serial communication with the host computer, the temperature compensation parameters are written into the EEPROM memory for storage. The temperature compensation parameters are obtained according to different ambient temperatures and are used to compensate for the original XYZ axis angular rates calculated by the closed-loop fiber optic gyroscope control circuit. The address offset in the temperature compensation parameter table corresponds to the temperature offset, and the compensation coefficient corresponding to different temperatures can be quickly found by address indexing.

[0038] S3: After the closed-loop fiber optic gyroscope enters normal operating mode, the temperature compensation parameter verification program is started. The real-time operating ambient temperature value of the closed-loop fiber optic gyroscope is obtained through the temperature sensor mentioned in S1. The temperature compensation parameter corresponding to the current ambient temperature in the temperature compensation parameter table is read, and the temperature compensation parameter corresponding to the current temperature point is set to b. At the same time, the temperature compensation parameters a and c corresponding to the adjacent temperature points are read. The temperature compensation parameters a, b, and c are the temperature compensation parameters corresponding to the current temperature point and the compensation parameters corresponding to the adjacent temperature points. The typical value of the interval between adjacent temperature points is 0.0625℃. The interval between adjacent temperature points can also be set to different values ​​according to the changes in the actual use scenario.

[0039] S4: The high-efficiency temperature compensation parameter verification technology and method for the closed-loop fiber optic gyroscope can be achieved by two methods: difference comparison method and shift comparison method.

[0040] S5: The difference comparison method is as follows: First, the temperature compensation parameters a and b corresponding to adjacent temperature points are subtracted to obtain the difference Δab between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Then, this difference Δab is compared with a preset normal difference value. If the difference is less than the preset normal difference value, the process jumps to step S51; otherwise, an error is reported and a message is displayed indicating that the temperature compensation parameter is abnormal. The typical value of the preset normal difference value is the change in the temperature compensation parameter corresponding to 10 times the typical value of the temperature interval. The preset normal difference value can also be changed and set according to the actual needs of the designer or user.

[0041] S51: Subtract the temperature compensation parameters b and c corresponding to adjacent temperature points to obtain the difference Δbc between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Compare this difference Δbc with the preset normal difference. If the difference is less than the preset normal difference, proceed to step S52. Otherwise, report an error and indicate that the temperature compensation parameter is abnormal.

[0042] S52: Subtract the temperature compensation parameters a and c corresponding to the temperature point to obtain the difference Δac between the corresponding temperature compensation parameters, and compare the difference Δac with the preset normal difference. If the difference is less than the preset normal difference, jump to step S6; otherwise, report an error and prompt that the temperature compensation parameter is abnormal, and forcibly replace the value of the temperature compensation parameter b corresponding to the temperature point with the temperature compensation parameter a corresponding to the previous temperature point.

[0043] S6: The temperature compensation parameter of the closed-loop fiber optic gyroscope at the operating temperature point of this environment is normal. The temperature compensation parameter verification program ends. The temperature compensation parameter b is calculated with the angular rate solved by the original gyroscope to obtain the final normal output value.

[0044] S7: The shift comparison method is as follows: First, randomly select 10 consecutive temperature points corresponding to temperature compensation parameters from the temperature compensation parameter table. Using the selected 10 temperature compensation parameters as a reference, the high bits of the temperature compensation parameters are usually consistent, while the low bits are different. Compare the 10 temperature compensation parameters sequentially from high to low data bits to determine the bit M at which the data first changes. The shift comparison method selects 10 consecutive adjacent temperature points corresponding to temperature compensation parameters as typical values. In actual operation, adjustments can be made according to changes in fiber optic ring length and compensation accuracy.

[0045] S71: Compare the temperature compensation coefficients a and b corresponding to the adjacent temperature points to be verified from the highest to the lowest data bits up to the Nth bit. If the data bits corresponding to a and b are the same from the highest bit to the Nth bit, then jump to step S72; otherwise, report an error and indicate that the temperature compensation parameter is abnormal; N = M-1.

[0046] S72: Compare the temperature compensation coefficients b and c corresponding to the adjacent temperature points to be verified from the highest to the lowest data bits up to the Nth bit. If the data bits corresponding to b and c are the same from the highest bit to the Nth bit, then jump to step S73; otherwise, report an error and indicate that the temperature compensation parameter is abnormal.

[0047] S73: Compare the temperature compensation coefficients a and c corresponding to the adjacent temperature points to be verified from the highest to the lowest data bits up to the Nth bit. If the data bits corresponding to a and c are the same from the highest bit to the Nth bit, then jump to step S8; otherwise, report an error and indicate that the temperature compensation parameter is abnormal, and forcibly replace the value of the temperature compensation parameter b corresponding to the temperature point with the temperature compensation parameter a corresponding to the previous temperature point.

[0048] S8: The temperature compensation parameter of the closed-loop fiber optic gyroscope at the operating temperature point of this environment is normal. The temperature compensation parameter verification program ends. The temperature compensation parameter b is calculated with the angular rate solved by the original gyroscope to obtain the final normal output value.

[0049] The actual operating temperature range of the closed-loop fiber optic gyroscope is +80℃ to -50℃.

[0050] The standard operating temperature of the closed-loop fiber optic gyroscope is +20℃;

[0051] The actual operating temperature change rate of the closed-loop fiber optic gyroscope is less than 0.2℃ / s;

[0052] If the program reports an error and indicates that the temperature compensation parameter is abnormal during the above operation steps, the fault point of the closed-loop fiber optic gyroscope temperature compensation parameter can be determined through the verification program.

[0053] In summary, this invention provides an efficient temperature compensation parameter verification method for closed-loop fiber optic gyroscopes. By installing a temperature sensor in the closed-loop fiber optic gyroscope to obtain accurate operating ambient temperature, the accuracy of the temperature compensation parameters is determined through the temperature compensation parameter verification program, ensuring the correctness of the temperature compensation parameters and the final output data of the closed-loop fiber optic gyroscope. The method is simple and efficient, enabling rapid real-time verification and decision-making of temperature compensation parameters with minimal computing power requirements, ensuring that the overall performance of the closed-loop fiber optic gyroscope is not affected by abnormal temperature compensation parameters. The verification results are accurate and objective, and the fault point of the temperature compensation parameter of the closed-loop fiber optic gyroscope can be accurately located during the testing process, improving efficiency and accuracy. The verification technology and method are universal and suitable for different types of engineering tests.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. A method for verifying the high-efficiency temperature compensation parameters of a closed-loop fiber optic gyroscope, characterized in that, include: Step 1: Through temperature adjustment tests of the closed-loop fiber optic gyroscope, obtain the temperature compensation parameters of the closed-loop fiber optic gyroscope under different operating ambient temperatures, and generate a temperature compensation parameter table. Step 2: After the closed-loop fiber optic gyroscope enters the normal working mode, obtain the real-time working environment temperature value of the closed-loop fiber optic gyroscope, read the temperature compensation parameter corresponding to the current working environment temperature in the temperature compensation parameter table, set the temperature compensation parameter corresponding to the current temperature point to b, and at the same time read the temperature compensation parameters a and c corresponding to the adjacent temperature points. Step 3: Determine the temperature compensation parameters using either the difference comparison method or the shift comparison method, and calculate the final normal output value using these parameters along with the angular rate calculated from the original gyroscope. The difference comparison method is as follows: Step 31: First, calculate the difference between the temperature compensation parameters a and b corresponding to adjacent temperature points to obtain the difference Δab between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Then, compare the difference Δab with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 32; otherwise, report an error and indicate that the temperature compensation parameter is abnormal. Step 32: Subtract the temperature compensation parameters b and c corresponding to adjacent temperature points to obtain the difference Δbc between the temperature compensation parameters corresponding to the current temperature point and the previous temperature point. Compare the difference Δbc with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 33. Otherwise, report an error and indicate that the temperature compensation parameter is abnormal. Step 33: Subtract the temperature compensation parameters a and c corresponding to the temperature point to obtain the difference Δac between the corresponding temperature compensation parameters. Compare the difference Δac with the preset normal difference. If the difference is less than the preset normal difference, proceed to step 34. Otherwise, report an error and indicate that the temperature compensation parameter is abnormal. Force the value of the temperature compensation parameter b corresponding to the temperature point to be replaced with the temperature compensation parameter a corresponding to the previous temperature point. Step 34: Calculate the temperature compensation parameter b with the angular rate calculated from the original gyroscope to obtain the final normal output value.

2. The method according to claim 1, characterized in that, In step 2, the typical interval between adjacent temperature points is 0.0625℃.

3. The method according to claim 2, characterized in that, The preset normal difference value of the difference comparison method is the change in the temperature compensation parameter corresponding to 10 times the typical value of the temperature interval.

4. The method according to claim 1, characterized in that, Step 3, the shift comparison method, specifically includes: Step 35: Randomly select multiple consecutive adjacent temperature points corresponding to temperature compensation parameters in the temperature compensation parameter table. Using the selected multiple temperature compensation parameters as a reference, compare the multiple temperature compensation parameters in order from high to low data bits to determine the number of bits M that the data first changes. Step 36: Compare the temperature compensation coefficients a and b corresponding to the adjacent temperature points to be verified from the highest to the lowest bit position up to the Nth bit position. If the data bits corresponding to a and b are the same from the highest bit to the Nth bit, then jump to step 37; otherwise, report an error and indicate that the temperature compensation parameter is abnormal; N = M - 1. Step 37: Compare the temperature compensation coefficients b and c corresponding to the adjacent temperature points to be verified from the highest to the lowest bit position up to the Nth bit position. If the data bits corresponding to b and c are the same from the highest bit to the Nth bit, then jump to step 38; otherwise, report an error and indicate that the temperature compensation parameter is abnormal. Step 38: Compare the temperature compensation coefficients a and c corresponding to the adjacent temperature points to be verified from the highest to the lowest data bits up to the Nth bit. If the data bits corresponding to a and c are the same from the highest bit to the Nth bit, then jump to step 39; otherwise, report an error and indicate that the temperature compensation parameter is abnormal, and forcibly replace the value of the temperature compensation parameter b corresponding to the temperature point with the temperature compensation parameter a corresponding to the previous temperature point. Step 39: Calculate the temperature compensation parameter b with the angular rate calculated from the original gyroscope to obtain the final normal output value.

5. The method according to claim 4, characterized in that, In the shift comparison method, the temperature compensation parameters corresponding to 10 consecutive adjacent temperature points are selected as typical values.

6. The method according to claim 1, characterized in that, The operating temperature range of the closed-loop fiber optic gyroscope is +80℃ to -50℃.

7. The method according to claim 1, characterized in that, The standard operating temperature for a closed-loop fiber optic gyroscope is +20℃.

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