Russian liquid floated gyroscope combination digital calibration algorithm establishment method

Abstract

The invention relates to the technical field of liquid floated gyroscope calibration, in particular to a Russian liquid floated gyroscope combination digital calibration algorithm establishment method. During specific use, a system identification theory is utilized to analyze the action mechanism of error environment factors such as overload, temperature and assembly; a six-position method is adopted to measure and calculate an error model, the error model is written into a programmable memory after normalization processing, and the error model is called in real time when a missile-borne computer works. The method depends on testing equipment such as a high-precision hexahedron clamp, a rate rotary table and an incubator, modeling is conducted on a high-temperature area and a low-temperature area respectively, an algorithm basis is provided for calibration equipment development, and the calibration accuracy is improved. The liquid floated gyroscope combination with insufficient performance can meet the use requirements of the system after being calibrated by the method disclosed by the invention; according to the method, the requirement for replacing and repairing the gyroscope fault is met, the repairing capacity for the Russian liquid floated gyroscope combination is greatly improved, and the method has important significance on maintenance and inverse design of an aviation equipment strapdown inertial navigation system.

Description

Technical Field

[0001] The invention relates to the technical field of liquid floating gyroscope calibration, and in particular to a method for establishing a digital calibration algorithm for a Russian-made liquid floating gyroscope combination. Background Art

[0002] At present, the calibration methods for laser gyro and fiber optic gyro inertial navigation devices are relatively mature, and corresponding calibration algorithms have been established for error models and application scenarios; there are also studies on position and rate calibration compensation based on gravity fields for mechanical platform liquid-floating gyros, but for complex liquid-floating gyro combination strapdown inertial navigation devices, there is no clear digital calibration algorithm in China; the present invention uses system identification theory to analyze the action mechanism of error environmental factors such as overload, temperature and assembly, adopts a six-position method to measure and calculate the error model and performs normalization processing, etc. to invent a method for establishing a digital calibration algorithm for a Russian-made liquid-floating gyro combination. The implementation of the present invention relies on testing equipment such as high-precision hexahedral fixtures, rate turntables and temperature chambers. The high-temperature zone and the low-temperature zone are modeled separately, the test operation steps are simple, and the parameter solution and normalization processing processes are clear. Summary of the invention

[0003] The purpose of the present invention is to provide a method for establishing a digital calibration algorithm for a Russian-made liquid-floating gyro combination. The method adopts a six-position method to the liquid-floating gyro combination strapdown inertial navigation device in advance, carries out temperature and rate tests, takes error environmental factors such as overload, temperature and installation as main parameters, and then realizes the establishment of a digital calibration algorithm for the Russian-made liquid-floating gyro combination.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A method for establishing a digital calibration algorithm for a Russian-made liquid-floating gyro combination comprises the following steps:

[0006] S1. Establish the combined error model of liquid floating gyro: The errors of the gyro combination are zero drift error, scale factor error and installation error; among them, the zero drift of the liquid-floating gyro is affected by environmental temperature, overload and time factors; the change of temperature will cause the change of the gyro floating liquid density and the float center of mass; the input axes of the three liquid-floating gyros fixed to the missile body are consistent with the three coordinate axes of the missile body coordinate system, and the relative position of the input axis direction of each gyro relative to the coordinate axis of the missile body coordinate system can be represented by two parameters, such as the relative position of the input axis direction of the Z-axis gyro relative to the X-axis and Y-axis of the missile body coordinate system can be represented by Czx and Czy respectively;

[0007] S2. Calibration algorithm:

[0008] S21, scale factor deviation algorithm;

[0009] S22, non-orthogonal angle algorithm;

[0010] S23, zero drift algorithm.

[0011] Furthermore, in step S1, the zero drift of the gyro is expressed as: Di=D0i+DAii×Ai+DAij×Aj+DAik×Ak+(DATii ×Ai+DATij×Aj+DATik×Ak)×ΔT (1) Where: Di represents the zero drift of the i-axis gyro; D0i represents the constant component of the zero drift of the i-axis gyro; DAii, DAij, DAik represent the gyro zero drift coefficient caused by overload (e.g. DAij represents the i-axis gyro zero drift coefficient caused by j-axis overload); DATii, DATij, and DATik represent the temperature-related gyro zero drift coefficients caused by overload; Ai, Aj, Ak represent the overloads in the i-axis, j-axis, and k-axis, respectively; ΔT represents the deviation of the measured temperature.

[0012] Further, in step S1, the scale factor of the liquid floating gyroscope is expressed as: K=Kd×(1-Kdc-Kdt×ΔT) (2) Where: K represents the actual value of the scale factor; Kd represents the theoretical value of the scaling factor; Kdc represents the constant error of the scale factor; Kdt represents the temperature coefficient of the scale factor; ΔT represents the deviation of the measured temperature.

[0013] Further, in step S1, the zero position error of the gyro combination is expressed as: (3) (4) (5) Where: NBX, NBY, and NBZ represent the theoretical output values ​​of the gyroscope; ΔT represents the deviation of the measured temperature; Kdcx, Kdcy, and Kdcz represent the constant errors of the gyro scale factors; Kdtx, Kdty, and Kdtz represent the temperature coefficients of the scale factors; D0x, D0y and D0z represent the constant components of gyro zero drift; Cxy, Cxz, Cyx, Cyz, Czx, and Czy represent the non-orthogonal angles of the gyro installation; DAxx, DAyx and DAzx represent the zero drift coefficients caused by overload in the x-axis direction; DAyy represents the zero position drift coefficient caused by y-axis overload; DAxz and DAzz represent the zero-position drift coefficients caused by z-axis overload; Ax, Ay and Az represent the acceleration in the x-axis, y-axis and z-axis; DAxxt, DAyxt and DAzxt represent the temperature coefficients of the x-axis overload zero position; DAyyt represents the temperature coefficient of the zero position of the y-axis overload; DAxzt and DAzzt represent the temperature coefficients of the z-axis overload zero position; Bx, By and Bz represent the actual output values ​​of the gyro.

[0014] Further, in step S21:

[0015] At room temperature T0, the theoretical value of the pulse number of the sensitive axis gyro i when the turntable rotates one circle is NN; the actual value of the pulse number of the turntable when the turntable rotates one circle is N T0 (minus the zero position error), then: , after normalization, BNi=BNT0×2 12 (6)

[0016] At high temperature T h When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Th (minus zero error), then high temperature area: , , after normalization, CNi=CNi×2 19 (7)

[0017] At low temperature T l1 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl1 (minus zero error), at low temperature T l2 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl2 (minus the zero error), then in the low temperature zone: , , after normalization, CNi=CNi×2 19 (8) In position 1, the sensitive axis is Z, Kdcz=BNz, Kdtz=CNz (9) At position 3, the sensitive axis is X, Kdcx=BNx, Kdtx=CNx (10) At position 5, the sensitive axis is Y, Kdcy=BNy, Kdty=CNy (11)

[0018] Further, in step S22:

[0019] At room temperature T0, the turntables at positions 1, 3, and 5 rotate one circle, and the pulse numbers output by the three-axis gyroscope are Nx, Ny, and Nz respectively (minus the zero position error), then: At position 1, Czx=Nx1 / NN; Czy=Ny1 / NN (12) At position 3, Cxy=Ny3 / NN; Cxz=Nz3 / NN (13) At position 5, Cyz=Nz5 / NN; Cyx=Nx5 / NN (14) After normalization, C**=C**×100×2 9 .

[0020] Further, in step S23:

[0021] At room temperature T0, the turntable is stationary and the gyro is at zero position: In position 1, (15) In position 2, (16) In position 3, (17) In position 4, (18) At position 5, (19) At position 6, (20) From the above formulas (15) to (20), we can know that: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) (28) (29) After D0x, D0y, and D0z are normalized, D0*=D0* / 1.125, and after DAXX, DAXZ, DAYX, DAYY, DAZX, and DAZZ are normalized, DA**=DA** / 0.5625; At high temperature T h When the turntable is stationary, the gyro is at zero position: In position 1, (30) In position 2, (31) In position 3, (32) In position 4, (33) At position 5, (34) At position 6, (35)

[0024] From the above formulas (30) to (35), we can know that: (36) (37) (38) (39) (40) (41)

[0025] At low temperature T l When the turntable is stationary, the gyro is at zero position: In position 1, (42) In position 2, (43) In position 3, (44) In position 4, (45) At position 5, (46) At position 6, (47)

[0026] From the above formulas (42) to (47), we can know that: (48) (49) (50) (51) (52) (53)

[0027] The temperature coefficient of the gyro's overload zero position is: DAXXT = (DAXXh-DAXXl) / (T h -T l ) (54) DAXZT = (DAXZh-DAXZl) / (T h -T l ) (55) DAYXT = (DAYXh-DAYXl) / (T h -T l ) (56) DAYYT = (DAYYh-DAYYl) / (T h -T l ) (57) DAZXT = (DAZXh-DAZXl) / (T h -T l ) (58) DAZZT = (DAZZh-DAZZl) / (T h -T l ) (59) DAXXT, DAXZT, DAYXT, DAYYT, DAZXT, DAZZT are normalized to DA**T=DA**T×2 6 / 0.5625.

[0028] The beneficial effects of the present invention are as follows: the method for establishing a digital calibration algorithm for a Russian-made liquid-floating gyro combination provided by the present invention, when used specifically, uses system identification theory to analyze the action mechanism of error environmental factors such as overload, temperature and assembly, adopts a six-position method to measure and perform normalization processing, and provides an algorithm basis for the development of calibration equipment. At the same time, for products with insufficient performance, they can meet the system use requirements after calibration by the inventive method; the need for replacement and repair of gyro faults is realized (the gyro must be calibrated after replacement), which greatly improves the repair capability for the Russian-made liquid-floating gyro group, and is of great significance to the maintenance and reverse design of the strapdown inertial navigation system of aviation equipment. DETAILED DESCRIPTION

[0029] Specific embodiment 1: The technical scheme of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention. It should be noted that: in the present invention, if there is no special description, all the embodiments and preferred implementation methods mentioned herein can be combined with each other to form a new technical scheme. In the present invention, if there is no special description, all the technical features and preferred features mentioned herein can be combined with each other to form a new technical scheme. The "scope" disclosed in the present invention is in the form of lower limit and upper limit, which can be one or more lower limits, and one or more upper limits, respectively. In the present invention, unless otherwise specified, each reaction or operation step can be performed sequentially.

[0030] In order to solve the problem that there is no clear digital calibration algorithm for complex liquid-floating gyro combination strapdown inertial navigation device, which affects the repair of Russian-made liquid-floating gyro group, the present invention provides a method for establishing a digital calibration algorithm for Russian-made liquid-floating gyro combination. The method takes error environmental factors such as overload, temperature and installation as main parameters, adopts a six-position method to establish a digital calibration algorithm for the liquid-floating gyro combination, and specifically includes the following steps:

[0031] S1. Establishing the combined error model of liquid floating gyro The main errors of the gyro combination are zero drift error, scale factor error and installation error; the zero drift of the liquid-floating gyro is affected by factors such as ambient temperature, overload, and time, especially the influence of temperature and overload on the zero error cannot be ignored. The zero drift of the gyro can be expressed as: Di=D0i+DAii×Ai+DAij×Aj+DAik×Ak+(DATii ×Ai+DATij×Aj+DATik×Ak)×ΔT (1) Where: Di represents the zero drift of the i-axis gyro; D0i represents the constant component of the zero drift of the i-axis gyro; DAii, DAij, and DAik represent the gyro zero drift coefficients caused by overload (e.g., DAij represents the i-axis gyro zero drift coefficient caused by j-axis overload); DATii, DATij, and DATik represent the temperature-related gyro zero drift coefficients caused by overload; Ai, Aj, Ak represent the overloads in the i-axis, j-axis, and k-axis, respectively; ΔT represents the deviation of the measured temperature.

[0032] Temperature changes will cause changes in the density of the gyro suspension and the center of mass of the float, which is the main reason for the error in the scale factor of the liquid-floating gyro. Therefore, the scale factor of the liquid-floating gyro can be expressed as: K=Kd×(1-Kdc-Kdt×ΔT) (2) Where: K represents the actual value of the scale factor; Kd represents the theoretical value of the scaling factor; Kdc represents the constant error of the scale factor; Kdt represents the temperature coefficient of the scale factor; ΔT represents the deviation of the measured temperature.

[0033] The input axes of the three liquid-floating gyroscopes fixed to the missile body should be consistent with the three coordinate axes of the missile body coordinate system. However, due to the existence of installation errors, the actual input axis directions of the gyroscopes always deviate from the coordinate axis directions of the missile body coordinate system. The relative position of the input axis direction of each gyroscope relative to the coordinate axis of the missile body coordinate system can be represented by two parameters. For example, the relative position of the input axis direction of the Z-axis gyroscope relative to the X-axis and Y-axis of the missile body coordinate system can be represented by Czx and Czy respectively. Therefore, the zero position error of the gyroscope combination can be expressed as: (3) (4) (5) Where: NBX, NBY, and NBZ represent the theoretical output values ​​of the gyroscope; ΔT represents the deviation of the measured temperature; Kdcx, Kdcy, and Kdcz represent the constant errors of the gyro scale factors; Kdtx, Kdty, and Kdtz represent the temperature coefficients of the scale factors; D0x, D0y and D0z represent the constant components of gyro zero drift; Cxy, Cxz, Cyx, Cyz, Czx, and Czy represent the non-orthogonal angles of the gyro installation; DAxx, DAyx and DAzx represent the zero drift coefficients caused by overload in the x-axis direction; DAyy represents the zero position drift coefficient caused by y-axis overload; DAxz and DAzz represent the zero-position drift coefficients caused by z-axis overload; Ax, Ay and Az represent the acceleration in the x-axis, y-axis and z-axis; DAxxt, DAyxt and DAzxt represent the temperature coefficients of the x-axis overload zero position; DAyyt represents the temperature coefficient of the zero position of the y-axis overload; DAxzt and DAzzt represent the temperature coefficients of the z-axis overload zero position; Bx, By and Bz represent the actual output values ​​of the gyro.

[0034] S2. Calibration algorithm

[0035] S21, Scale factor deviation algorithm

[0036] At room temperature T0, the theoretical value of the pulse number of the sensitive axis gyro i when the turntable rotates one circle is NN. The actual value of the pulse number of the turntable when the turntable rotates one circle is N T0 (minus the zero position error), then: , after normalization, BNi=BN T0 ×2 12 (6)

[0037] At high temperature T h When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Th (minus zero error), then high temperature area: , , after normalization, CNi=CNi×2 19 (7)

[0038] At low temperature T l1 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl1 (minus zero error), at low temperature T l2 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl2 (minus the zero error), then in the low temperature zone: , , after normalization, CNi=CNi×2 19 (8) In position 1, the sensitive axis is Z, Kdcz=BNz, Kdtz=CNz (9) At position 3, the sensitive axis is X, Kdcx=BNx, Kdtx=CNx (10) At position 5, the sensitive axis is Y, Kdcy=BNy, Kdty=CNy (11)

[0039] S22, non-orthogonal angle algorithm

[0040] At room temperature T0, the turntables at positions 1, 3, and 5 rotate one circle, and the number of pulses output by the three-axis gyroscope is recorded as Nx1, Ny1, Nz3, Ny3, Nx5, and Nz5 respectively (minus the zero position error), then: At position 1, Czx=Nx1 / NN; Czy=Ny1 / NN (12) At position 3, Cxy=Ny3 / NN; Cxz=Nz3 / NN (13) At position 5, Cyz=Nz5 / NN; Cyx=Nx5 / NN (14) After normalization, C**=C**×100×2 9 ;

[0041] S23, zero drift algorithm

[0042] At room temperature T0, the turntable is stationary and the gyro is at zero position: In position 1, (15) In position 2, (16) In position 3, (17) In position 4, (18) At position 5, (19) At position 6, (20) From the above formulas (15) to (20), we can know that: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) (28) (29) After D0x, D0y, and D0z are normalized, D0*=D0* / 1.125, and after DAXX, DAXZ, DAYX, DAYY, DAZX, and DAZZ are normalized, DA**=DA** / 0.5625; At high temperature T h When the turntable is stationary, the gyro is at zero position: In position 1, (30) In position 2, (31) In position 3, (32) In position 4, (33) At position 5, (34) At position 6, (35) (36) (37) (38) (39) (40) (41)

[0046] At low temperature T l When the turntable is stationary, the gyro is at zero position: In position 1, (42) In position 2, (43) In position 3, (44) In position 4, (45) At position 5, (46) At position 6, (47)

[0047] From the above formulas (42) to (47), we can know that: (48) (49) (50) (51) (52) (53)

[0048] The temperature coefficient of the gyro's overload zero position is: DAXXT = (DAXXh-DAXXl) / (T h-T l ) (54) DAXZT = (DAXZh-DAXZl) / (T h -T l ) (55) DAYXT = (DAYXh-DAYXl) / (T h -T l ) (56) DAYYT = (DAYYh-DAYYl) / (T h -T l ) (57) DAZXT = (DAZXh-DAZXl) / (T h -T l ) (58) DAZZT = (DAZZh-DAZZl) / (T h -T l ) (59) DAXXT, DAXZT, DAYXT, DAYYT, DAZXT, DAZZT are normalized to DA**T=DA**T×2 6 / 0.5625.

[0049] In summary, the Russian-made liquid-floating gyro combination digital calibration algorithm provided by the present invention uses the system identification theory to analyze the action mechanism of error environmental factors such as overload, temperature and assembly, and adopts the six-position method to measure and normalize the obtained value, which provides an algorithm basis for the development of calibration equipment, realizes the need for replacement and repair of strapdown inertial navigation device gyro faults, improves the navigation accuracy of calibrated aviation equipment, and improves the success rate of target test. The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention is disclosed as above with a preferred embodiment, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the equivalent embodiments of equivalent changes by using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belongs to the scope of the technical solution of the present invention.

Claims

1. A method for establishing a digital calibration algorithm for a Russian-made liquid-floating gyro combination, characterized in that: The steps include: S1. Establish the combined error model of liquid floating gyro: The errors of the gyro combination are zero drift error, scale factor error and installation error; among them, the zero drift of the liquid-floating gyro is affected by environmental temperature, overload and time factors; the change of temperature will cause the change of the gyro floating liquid density and the float center of mass; the input axes of the three liquid-floating gyros fixed to the missile body are consistent with the three coordinate axes of the missile body coordinate system, and the relative position of the input axis direction of each gyro relative to the coordinate axis of the missile body coordinate system can be represented by two parameters, such as the relative position of the input axis direction of the Z-axis gyro relative to the X-axis and Y-axis of the missile body coordinate system can be represented by Czx and Czy respectively; S2. Calibration algorithm: S21, scale factor deviation algorithm; S22, non-orthogonal angle algorithm; S23, zero drift algorithm.

2. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 1 is characterized in that: In step S1, the zero drift of the gyro is expressed as: Di=D0i+DAii×Ai+DAij×Aj+DAik×Ak+(DATii ×Ai+DATij×Aj+DATik×Ak)×ΔT (1) Where: Di represents the zero drift of the i-axis gyro; D0i represents the constant component of the zero drift of the i-axis gyro; DAii, DAij, and DAik represent the gyro zero drift coefficients caused by overload (e.g., DAij represents the i-axis gyro zero drift coefficient caused by j-axis overload); DATii, DATij, and DATik represent the temperature-related gyro zero drift coefficients caused by overload; Ai, Aj, Ak represent the overloads in the i-axis, j-axis, and k-axis, respectively; ΔT represents the deviation of the measured temperature.

3. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 1 is characterized in that: In step S1, the gyro's scale factor is expressed as: K=Kd×(1-Kdc-Kdt×ΔT) (2) Where: K represents the actual value of the scale factor; Kd represents the theoretical value of the scaling factor; Kdc represents the constant error of the scale factor; Kdt represents the temperature coefficient of the scale factor; ΔT represents the deviation of the measured temperature.

4. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 2 is characterized in that: In step S1, the zero position error of the gyro assembly is expressed as: （3） （4） （5） Where: NBX, NBY, and NBZ represent the theoretical output values ​​of the gyroscope; ΔT represents the deviation of the measured temperature; Kdcx, Kdcy, and Kdcz represent the constant errors of the gyro scale factors; Kdtx, Kdty, and Kdtz represent the temperature coefficients of the scale factors; D0x, D0y and D0z represent the constant components of gyro zero drift; Cxy, Cxz, Cyx, Cyz, Czx, and Czy represent the non-orthogonal angles of the gyro installation; DAxx, DAyx and DAzx represent the zero drift coefficients caused by overload in the x-axis direction; DAyy represents the zero position drift coefficient caused by y-axis overload; DAxz and DAzz represent the zero-position drift coefficients caused by z-axis overload; Ax, Ay and Az represent the acceleration in the x-axis, y-axis and z-axis; DAxxt, DAyxt and DAzxt represent the temperature coefficients of the x-axis overload zero position; DAyyt represents the temperature coefficient of the zero position of the y-axis overload; DAxzt and DAzzt represent the temperature coefficients of the z-axis overload zero position; Bx, By and Bz represent the actual output values ​​of the gyro.

5. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 1 is characterized in that: In step S21: At room temperature T0, the theoretical value of the pulse number of the sensitive axis gyro i when the turntable rotates one circle is NN; the actual value of the pulse number of the turntable when the turntable rotates one circle is N T0 (minus the zero position error), then: , after normalization, BNi=BN T0 ×2 12 (6) At high temperature T h When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Th (minus zero error), then high temperature area: , , after normalization, CNi=CNi×2 19 (7) At low temperature T l1 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl1 (minus zero error), at low temperature T l2 When the turntable rotates one circle, the number of pulses of the sensitive axis gyro is N Tl2 (minus the zero error), then in the low temperature zone: ， , after normalization, CNi=CNi×2 19 (8) In position 1, the sensitive axis is Z, Kdcz=BNz, Kdtz=CNz (9) At position 3, the sensitive axis is X, Kdcx=BNx, Kdtx=CNx (10) At position 5, the sensitive axis is Y, Kdcy=BNy, Kdty=CNy (11).

6. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 1 is characterized in that: In step S22: At room temperature T0, the turntables at positions 1, 3, and 5 rotate one circle, and the number of pulses output by the three-axis gyroscope is recorded as Nx1, Ny1, Nz3, Ny3, Nx5, and Nz5 respectively (minus the zero position error), then: At position 1, Czx=Nx1 / NN; Czy=Ny1 / NN (12) At position 3, Cxy=Ny3 / NN; Cxz=Nz3 / NN (13) At position 5, Cyz=Nz5 / NN; Cyx=Nx5 / NN (14) After normalization, C**=C**×100×2 9 .

7. The method for establishing a digital calibration algorithm for a Russian-made liquid floating gyro combination according to claim 1 is characterized in that: In step S23: At room temperature T0, the turntable is stationary and the gyro is at zero position: In position 1, (15) In position 2, (16) In position 3, (17) In position 4, (18) At position 5, (19) At position 6, (20) From the above formulas (15) to (20), we can know that: （21） （22） （23） （24） （25） （26） （27） （28） （29） After D0x, D0y, and D0z are normalized, D0*=D0* / 1.125, and after DAXX, DAXZ, DAYX, DAYY, DAZX, and DAZZ are normalized, DA**=DA** / 0.5625; At high temperature T h When the turntable is stationary, the gyro is at zero position: In position 1, (30) In position 2, (31) In position 3, (32) In position 4, (33) At position 5, (34) At position 6, (35) From the above formulas (30) to (35), we can know that: （36） （37） （38） （39） （40） （41） At low temperature T l When the turntable is stationary, the gyro is at zero position: In position 1, (42) In position 2, (43) In position 3, (44) In position 4, (45) At position 5, (46) At position 6, (47) From the above formulas (42) to (47), we can know that: （48） （49） （50） （51） （52） （53） The temperature coefficient of the gyro's overload zero position is: DAXXT=(DAXXh-DAXXl) / (T h -T l ) (54) DAXZT=(DAXZh-DAXZl) / (T h -T l ) (55) DAYXT=(DAYXh-DAYXl) / (T h -T l ) (56) DAYYT=(DAYYh-DAYYl) / (T h -T l ) (57) DAZXT=(DAZXh-DAZXl) / (T h -T l ) (58) DAZZT=(DAZZh-DAZZl) / (T h -T l ) (59) DAXXT, DAXZT, DAYXT, DAYYT, DAZXT, DAZZT are normalized to DA**T=DA**T×2 6 / 0.5625.

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