Comprehensive test system and method for gas three-degree-of-freedom gyroscope

Abstract

The invention discloses a fuel gas three-degree-of-freedom gyroscope comprehensive test system and method, and relates to the field of gyroscope testing, and a hardware part of the system comprises a gas source, a test cabinet, a double-shaft sine swing table, a detection tool and an interconnection cable; wherein the test cabinet comprises an industrial personal computer, a display, a power supply module and a signal processing and collecting module; the software part is borne by an industrial personal computer and comprises a test condition setting module, a function test module and a data processing module; according to the system, the working environment of the gyroscope is simulated through the double-shaft sine swing table and the air source, the detection tool fixes the gyroscope to be tested on a swing table body of the double-shaft sine swing table for testing, and test data is transmitted to the signal processing and collecting module through an interconnection cable between the gyroscope to be tested and the test cabinet; and after being processed by the data processing module, the data are visualized through the display screen. Compared with a traditional manual testing method, the system has the advantages of being small in error, high in efficiency and easy to operate.

Description

Technical Field

[0001] The present invention relates to the field of gyroscope testing, and in particular, to a comprehensive testing system and method for a gas three-degree-of-freedom gyroscope. Background Art

[0002] As a key navigation and attitude control component, gyroscopes play a crucial role in the fields of aviation, aerospace, navigation, etc. At present, in the production process of domestic equipment with gas three-degree-of-freedom gyroscopes, the accurate detection of parameters such as zero position, drift, and drift rate is a key link to ensure the stable and reliable performance of the gyroscope. However, there are many deficiencies in traditional detection methods.

[0003] Traditional gyroscope detection methods mainly use a manual swing table in cooperation with a pen recorder to collect and record the angle information of the gyroscope. This detection method is complex to operate and requires three people to cooperate to complete. It is not only time-consuming and laborious, but also has a large test error. The specific operation timing includes starting the recorder as the time zero point, collecting the initial zero position output voltage at 0.8S, unlocking the externally supplied gas gyroscope at 1S, collecting the initial voltage of the potentiometer after startup at 1.8S, starting the rotation of the swing table at 2S (initial phase 0°, swing amplitude 7°, frequency 1Hz, swing time 35S), then manually selecting points for measurement, and finally manually calculating the zero position, drift, and drift rate of the gyroscope according to the corresponding calculation formulas. This method has high requirements for the skills of operators, and due to the uncertainty and errors of manual operations, the test results are not accurate and stable enough. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a gyroscope comprehensive testing system and method with higher accuracy, small error, labor saving, and simple operation.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A comprehensive testing system for a gas three-degree-of-freedom gyroscope, the key technology of which lies in that the system includes a hardware part and a software part; wherein the hardware part includes a gas source, a test cabinet, a two-axis sine swing table, a detection tooling, and an interconnection cable; the test cabinet includes an industrial control computer and a display, a power module, and a signal processing and acquisition module; the two-axis sine swing table includes a mechanical table body and a control cabinet.

[0007] The gas source is connected to the detection tooling through a gas path; the industrial control computer in the test cabinet is connected to the control cabinet of the two-axis sine swing table through a serial port, and the detection tooling is installed on the mechanical table body of the two-axis sine swing table; the gyroscope to be tested is connected to the signal processing and acquisition module in the test cabinet through an interconnection cable.

[0008] The software part includes a test condition setting module, a function test module, and a data processing module; the function test module includes a system self-check module, an ignition test module, and an external gas supply test module.

[0009] Preferably, a multi-channel data acquisition card is used in the signal processing and acquisition module to collect test signals; the power supply module outputs 10V and 24V voltages. 10V is the power supply for the equipment inside the test cabinet, and 24V is the power supply for ignition test and solenoid valve control.

[0010] Preferably, the gas source provides high-purity nitrogen gas for the external gas supply test. The gas source is connected to the detection tooling through a pressure reducing valve and a solenoid valve gas path. The pressure reducing valve adjusts the supply pressure to 5MPa ± 0.5MPa. The industrial control computer controls the opening and closing of the solenoid valve through the signal processing and acquisition module to control the opening and closing time of the gas path.

[0011] Preferably, the mechanical table body is of a horizontal structure, including two inner and outer frames, a base, and a shaft system; among them, the outer frame makes a pitching motion, the inner frame makes an azimuth motion, and a load fixture is installed on the inner frame; the mechanical table body is directly driven by a torque motor; the control cabinet includes power amplifiers, transformers, industrial control computers, monitors, control buttons, and indicator lights for the inner and outer frames; the detection tooling is installed in the inner frame of the two-axis sine swing table.

[0012] Preferably, the test system conducts an external gas supply test and an ignition test on the gyroscope to be tested; the external gas supply test includes an external gas supply test for the yaw gyroscope and an external gas supply test for the tilt and pitch gyroscopes; the ignition test includes an ignition test for the yaw gyroscope and an ignition test for the tilt and pitch gyroscopes.

[0013] A comprehensive test method for a gas three-degree-of-freedom gyroscope, the method is completed by the test system, and the key technology lies in the following steps:

[0014] S1: Test condition setting. First, fix the gyroscope on the tabletop of the two-axis sine swing table through the detection tooling at a specific installation angle; through the test condition setting module of the software, complete the setting of test conditions such as gyroscope number, test temperature, humidity, test personnel, and test date.

[0015] S2: System self-check. Before detecting the product, start the self-check module to conduct self-checks on the external gas supply signal, ignition signal, turntable, and acquisition card of the system to ensure that the instrument is in a normal working state; if multiple consecutive detections are carried out, only conduct self-check before the first detection.

[0016] S3: External gas supply test. The external gas supply test module controls the external gas supply test parameters and test process. The gas source provides high-purity nitrogen for the gyroscope. The gas supply pressure is regulated through a pressure reducing valve, and the gas supply time is precisely controlled by an industrial control computer in the test cabinet through a solenoid valve. The two-axis sine swing table operates according to preset parameters. The swing amplitude, frequency, initial phase, and swing time are configured through the external gas supply test module in the function test module of the software part. The signal processing and acquisition module collects the voltage and voltage pulse signals during the gyroscope test, and generates test results including zero position output, initial drift, and drift rate after being processed by the data processing module of the software part, and finally displays the data in a graphical manner in real time;

[0017] S4: Ignition test. When conducting the ignition test, the ignition test module controls the ignition test parameters and test process. The DC regulated power supply provides the ignition voltage for the gyroscope. The two-axis sine swing table maintains the corresponding working state. The test data is collected through the signal processing and acquisition module, and the test results are generated after being processed by the data processing module. The test results cover the zero position output, initial drift, and drift rate of the gyroscope, and are displayed graphically in real time;

[0018] S5: System calibration. Combining the usage duration and test effect, the metrology center calibrates the system through the function test module.

[0019] The beneficial effects of adopting the above technical solutions are as follows:

[0020] The present invention adopts an industrial control computer for full-process automated testing. The entire test process is controlled by the industrial control computer. Only the staff needs to set the test conditions before the test starts. Compared with the traditional method, the number of operators is reduced from 3 to 1, and there is no need for multiple people to cooperate. The influence of human factors is reduced, labor is saved, the operation is simple, and the error rate is reduced.

[0021] The data processing module in the present invention can automatically generate test results based on the test data, without the need for manual calculation of the zero position, drift, and drift rate parameters of the gyroscope, and automatically interprets the data, improving the detection efficiency and meeting the requirements of large-scale production and detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0023] Figure 1 is the structural schematic diagram of the comprehensive test system proposed by the present invention;

[0024] Figure 2 is the schematic diagram of the comprehensive test system proposed by the present invention;

[0025] Figure 3 is the schematic diagram of the mechanical table body in the comprehensive test system proposed by the present invention;

[0026] Figure 4 It is a schematic diagram of the control cabinet in the comprehensive test system proposed by the present invention;

[0027] Figure 5 It is a schematic diagram of the detection tooling in the comprehensive test system proposed by the present invention;

[0028] Figure 6 It is a schematic diagram of the functional part of the software in the comprehensive test system proposed by the present invention;

[0029] Figure 7 It is a schematic diagram of the self - test interface of the display screen in the comprehensive test system proposed by the present invention;

[0030] Figure 8 It is a schematic diagram of the external air supply test structure of the yaw gyroscope in the comprehensive test system proposed by the present invention;

[0031] Figure 9 It is a schematic diagram of the external air supply test structure of the tilt - pitch gyroscope in the comprehensive test system proposed by the present invention;

[0032] Figure 10 It is a schematic diagram of the solenoid valve control circuit in the comprehensive test system proposed by the present invention;

[0033] Figure 11 It is a schematic diagram of the test result interface of the display screen for the external air supply of the yaw gyroscope in the comprehensive test system proposed by the present invention;

[0034] Figure 12 It is a schematic diagram of the test result interface of the display screen for the external air supply of the tilt - pitch gyroscope in the comprehensive test system proposed by the present invention;

[0035] Figure 13 It is a schematic diagram of the ignition test structure of the yaw gyroscope in the comprehensive test system proposed by the present invention;

[0036] Figure 14 It is a schematic diagram of the ignition test structure of the tilt - pitch gyroscope in the comprehensive test system proposed by the present invention;

[0037] Figure 15 It is a schematic diagram of the test result interface of the display screen for the ignition of the yaw gyroscope in the comprehensive test system proposed by the present invention;

[0038] Figure 16 It is a schematic diagram of the test result interface of the display screen for the ignition of the tilt - pitch gyroscope in the comprehensive test system proposed by the present invention;

[0039] Figure 17 It is a schematic diagram of the system calibration and metrology interface of the display screen in the comprehensive test system proposed by the present invention. Detailed implementation manners

[0040] To make the above objects, features, and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific implementation manners in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0041] A comprehensive test system for a gas three-degree-of-freedom gyroscope proposed by the present invention, as Figure 1-2 , this system includes a hardware part and a software part. The hardware components include: a test cabinet, a two-axis sine swing table, a gas source, a detection tooling, and an interconnecting cable; the test cabinet includes an industrial control computer and a display, a power module, and a signal processing and acquisition module; the software part includes a test condition setting module, a function test module, and a data processing module; the function test module includes a system calibration module, a system self-check module, an ignition test module, and an external gas supply test module;

[0042] The gas source is used as a gas supply to provide high-purity nitrogen for the external gas supply test of the test system and is connected to the detection tooling, which is used to simulate the external environment when the gyroscope works. A pressure reducing valve and a solenoid valve are provided in the gas pipeline connecting the gas source and the detection tooling; among them, the pressure reducing valve is responsible for adjusting the nitrogen pressure in the high-pressure gas source to a suitable working pressure. In actual use, the supply pressure can be adjusted to the range of 5MPa ± 0.5MPa. The solenoid valve receives the signal from the signal processing and acquisition module to control the quick on-off of the gas path. The industrial control computer controls the solenoid valve through the signal processing and acquisition module to control the on-off of the gas path, so as to achieve precise control of the gas supply time.

[0043] The test cabinet is the control and data core in the test system proposed by the present invention. Among them, the power module in the test cabinet is the power supply unit of the test system, which is responsible for converting the external power supply into the +24V and ±10V DC power supplies required by the system. Among them, ±10V is the system power supply, which is responsible for the power supply inside the test cabinet, and +24V is the ignition voltage and the solenoid valve control power supply; the signal processing and acquisition module is the signal processing center of the test system, and its functions include: one is to select and output control signals; the second is to amplify the signals from the industrial control computer in terms of power to drive the solenoid valve to work and control the gas source; the third is to process the gyroscope signals for the industrial control computer to collect; the industrial control computer, as the main body carrying the software part and also the core of this system, is responsible for controlling test settings, system self-checks, system calibrations, and test result analyses through the built-in software. The test cabinet is equipped with a display screen, which is connected to the industrial control computer, responsible for visualizing the test results and allowing the staff to operate the relevant functions of the industrial control computer through the display screen.

[0044] The biaxial sine swing table includes a swing table body and a control cabinet, which are responsible for simulating the working environment of the gyroscope, such as Figure 3 , the mechanical table body is a horizontal turntable structure, including two inner and outer frames, a base and a shafting. The outer frame is responsible for pitching motion, and the inner frame is responsible for azimuth motion. Both are directly driven by torque motors, and high-precision encoders are used as angular position feedback elements. The gyroscope to be tested is installed on the inner frame; such as Figure 4 , the control cabinet includes power amplifiers, transformers, industrial computers, monitors, control buttons, and indicator lights for the inner and outer frames. The industrial computer in the control cabinet is connected to the industrial computer in the test cabinet through a serial port; the power amplifier is used to amplify the control signal and then drive the torque motor to work; the transformer provides power for the control cabinet and the swing table body; the industrial computer is responsible for communicating with the test cabinet and adjusting and monitoring the parameters of the swing table body.

[0045] The gyroscope to be tested is installed in the inner frame of the mechanical table body and is connected to the signal processing and acquisition module in the test cabinet through an interconnection cable to collect test data.

[0046] Such as Figure 5 , the detection tooling is responsible for fixing the gyroscope on the tabletop of the swing table body at a certain angle to complete subsequent tests.

[0047] The software part includes a test condition setting module, a function test module, and a data storage module. The test condition setting module is used to complete the setting of test conditions such as gyroscope number, test temperature, humidity, test personnel, and test date; the function test module is used to set the parameter test items of the gyroscope to be tested and the self-check and calibration measurement of the equipment; the data storage and processing module saves, calls, and reads the detection data, and automatically judges the test data results through a preset software algorithm to ensure the authenticity and accuracy of the data results.

[0048] Such as Figure 6 , the functions executed by the software part include system self-check, system calibration, external gas supply test, and ignition test, and the function calls are operated by the staff through the display screen, which is intuitive and convenient; the software display is in the form of a block diagram, and the system calibration is divided into ignition signal calibration, external gas supply calibration, and voltage acquisition accuracy calibration; the system self-check is divided into turntable self-check, ignition signal self-check, acquisition card self-check, and external gas supply signal self-check functions; the ignition test is divided into drift rate, initial drift, and zero output; the external gas supply test is divided into drift rate, initial drift, and zero output.

[0049] In the embodiment, an external gas supply test is performed on the gyroscope to be tested.

[0050] The external gas supply test includes: external gas supply test for yaw gyroscopes, external gas supply test for tilt and pitch gyroscopes

[0051] First step: Fix the gyroscope on the tabletop of the two-axis sine swing table at a specific installation angle through a detection tooling. Complete the setting of test conditions such as gyroscope number, test temperature, humidity, test personnel, and test date through the test condition setting module of the software. These information are simultaneously recorded in the test report by the industrial control computer in the test cabinet, facilitating subsequent data analysis and traceability.

[0052] Second step: System self-check. Before detecting the product, such as Figure 7 , control the industrial control computer to start the self-check module through the display screen to conduct self-checks on the external gas supply signal, ignition signal, turntable, and acquisition card of the system to ensure that the instrument is in a normal working state. The self-check of the external gas supply signal is responsible for checking whether the gas supply pressure and flow of the gas source are stable and whether the gas supply time can be accurately controlled according to the control requirements of the software. By monitoring the output signals of the pressure sensor and flow sensor on the gas supply pipeline, judge whether the external gas supply system is working properly; the self-check of the ignition signal is responsible for checking whether the DC regulated power supply can provide a stable ignition voltage for the gyroscope and whether the transmission of the ignition signal is normal. By monitoring the voltage and current signals in the ignition circuit, judge whether there is a fault in the ignition system; the self-check of the turntable is responsible for checking whether the movement of the two-axis sine swing table is normal and whether parameters such as swing amplitude, frequency, and initial phase can be accurately controlled according to the preset values. By monitoring the encoder output signal of the turntable, judge whether the movement accuracy of the turntable meets the requirements; the self-check of the acquisition card is responsible for checking whether the acquisition card can accurately acquire test signals and whether the data transmission is normal. By inputting known standard signals to the acquisition card, check whether the output result of the acquisition card is consistent with the standard value. The test system software must perform a self-check before each product detection to ensure that the instrument is in a normal state; during multiple consecutive detections, only a self-check is required before the first detection.

[0053] If it is found that there are abnormalities or faults in the system, the software will automatically prompt the user through the display screen and display the specific fault information. After the fault is resolved, perform a self-check again.

[0054] Third step: External gas supply test. First, set the gas supply parameters through the external gas supply test module in the industrial control computer and start the external gas supply test process. Such as Figure 8-9 The gas source provides high-purity nitrogen for this test. Adjust the gas pressure to 5MPa ± 0.5MPa through a pressure reducing valve to ensure that the gyroscope can work in a suitable gas pressure environment. Precise control of the gas supply time is achieved by controlling the solenoid valve. Such as Figure 10The control circuit includes resistor R1, R2, optocoupler T1, P-channel MOSFET Q1, and solenoid valve. The optocoupler model is TLP521. The positive pole of the diode terminal of T1 is connected to the industrial control computer, and the negative pole of the diode terminal is grounded through resistor R1. The collector of the triode terminal of T1 is connected to a 12V voltage, and the emitter is connected to both resistor R2 and the gate of Q1 respectively. The other end of R2 is grounded. The drain of Q1 is connected to the solenoid valve, and the source is grounded. The other end of the solenoid valve is connected to a 24V power supply. By controlling the duration of the pulse given by the industrial control computer, the conduction time of Q1 is controlled, thereby controlling the opening and closing of the solenoid valve to accurately supply gas time. Different gas supply times are set according to the test requirements to simulate different working scenarios of the gyroscope in actual applications. The parameters of the swing table are adjusted. The preset parameters of the two-axis sine swing table, including swing amplitude, frequency, initial phase, and swing time, are configured through software. In specific implementation, the swing amplitude is set to 5° - 7°, and the frequency is set to 1Hz - 2Hz to simulate the dynamic environment of the gyroscope in actual applications. During the test, the two-axis sine swing table will perform precise swing motion according to the preset parameters, providing dynamic test conditions for the gyroscope. At the same time, the test data is collected in real time, including voltage, voltage pulse signals, etc. The collected signals will be transmitted through the interconnection cable to the signal processing and acquisition module in the test cabinet. The signal processing and acquisition module will preliminarily process the collected signals and then transmit them to the industrial control computer. The data processing module in the industrial control computer will perform real-time processing and analysis on the processed signals, automatically generating test results including zero position output, initial drift, and drift rate, such as Figure 11-12 and display the collected data in a graphical manner in real time. Users can intuitively observe the performance changes of the gyroscope during the test. These test results will be saved in the database for subsequent data analysis and comparison.

[0055] In the embodiment, an ignition test is performed on the gyroscope to be tested;

[0056] The first step is the same as the external gas supply test, and the second step, the system self-check is the same as the external gas supply test;

[0057] The third step is the ignition test, including the yaw gyroscope ignition test and the tilt and pitch gyroscope ignition test. First, before conducting the ignition experiment, set an appropriate ignition voltage value to ensure that the gyroscope can be normally ignited and started, such as Figure 13-14The power supply module in the test cabinet serves as a DC regulated power supply to provide the ignition voltage for the gyroscope. The working parameters of the two-axis sine swing table are set through the function test module of the industrial control computer in the test cabinet to simulate the external dynamic ignition environment during the actual use of the gyroscope. Then, the signal processing and acquisition module collects test data through the interconnection cable, including signals such as voltage, current, and angular velocity of the gyroscope during the ignition process. The collected data is processed and then transmitted into the industrial control computer, where it is processed and analyzed by the data processing module of the software part. The software automatically generates test results, such as Figure 15-16 , and the test results cover key performance indicators such as the zero output, initial drift, and drift rate of the gyroscope. After that, the data is displayed in a graphical manner in real time.

[0058] System calibration. Regular calibration of the test system is an important measure to ensure the accuracy and reliability of test results. After long-term use, problems such as a decrease in the accuracy of sensors and zero drift of the acquisition card may occur in the performance of the test system. Therefore, for this system, the calibration interface of the test chassis is used to calibrate the system regularly by the metrology center through the metrology function of the function test module to ensure the accuracy of the test system. Mainly, the external gas supply signal, the voltage and pulse width of the ignition signal are measured, and the acquisition accuracy of the voltage signal is measured to verify whether the system accuracy meets the requirements; such as Figure 17 , the calibration parameters include gas supply pressure, ignition voltage, external gas supply signal, etc., and the calibration period can be changed according to the usage frequency and usage effect of the equipment.

[0059] This comprehensive test method for the gyroscope conducts a comprehensive and accurate test and evaluation of various performance indicators of the gyroscope through a complete set of test systems and processes. From test preparation, system self-check, external gas supply test, ignition test to data processing and result interpretation, as well as system calibration, each link has been carefully designed and strictly controlled to ensure the reliability and accuracy of the test results. This test method can not only provide strong technical support for the production and research and development of gyroscopes, but also provide an important basis for the performance evaluation and fault diagnosis of gyroscopes in actual applications. With the continuous development of technology and the continuous improvement of application requirements, this test method can also be optimized and improved in the software part to meet the test requirements of other gyroscopes.

[0060] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gas three-degree-of-freedom gyroscope comprehensive test system, characterized in that: The system includes a hardware part and a software part; the hardware part includes an air source, a test cabinet, a dual-axis sinusoidal swing table, a detection tooling and interconnection cables; the test cabinet includes an industrial control computer and a display, a power module and a signal processing and acquisition module; the dual-axis sinusoidal swing table includes a mechanical table body and a control cabinet; The gas source is connected to the gas circuit of the detection tooling; the industrial control computer in the test cabinet is connected to the control cabinet of the dual-axis sine swing stage through the serial port, and the detection tooling is installed on the mechanical table body of the dual-axis sine swing stage; the gyroscope to be tested is connected to the signal processing and acquisition module in the test cabinet through an interconnection cable; The software part includes a test condition setting module, a function test module and a data processing module; the function test module includes a system self-check module, an ignition test module and an external gas supply test module.

2. A gas three-degree-of-freedom gyroscope comprehensive test system according to claim 1, characterized in that: The signal processing and acquisition module uses a multi-channel data acquisition card to collect test signals; the power supply module outputs 10V and 24V voltages, 10V is the power supply for the equipment in the test cabinet, and 24V is the power supply for ignition test and solenoid valve control.

3. A gas three-degree-of-freedom gyroscope comprehensive test system according to claim 1, characterized in that: The gas source for external gas supply test is high-purity nitrogen. The gas source is connected to the detection tooling through a pressure reducing valve and a solenoid valve gas circuit. The pressure reducing valve adjusts the gas supply pressure to 5MPa±0.5MPa. The industrial control computer controls the opening and closing of the solenoid valve through a signal processing and acquisition module, and controls the opening and closing time of the gas circuit.

4. A gas three-degree-of-freedom gyroscope comprehensive test system according to claim 1, characterized in that: The mechanical platform is a horizontal structure, including two inner and outer frames, a base and an axis system; the outer frame performs pitch motion, the inner frame performs azimuth motion, and the inner frame is installed with a load fixture; the mechanical platform is directly driven by a torque motor; the control cabinet includes power amplifiers, transformers, industrial computers, displays, control buttons and indicator lights in the inner and outer frames; the detection tooling is installed in the inner frame of the dual-axis sinusoidal rocking platform.

5. A gas three-degree-of-freedom gyroscope comprehensive test system according to claim 1, characterized in that: The test system performs an external air supply test and an ignition test on the gyroscope to be tested; the external air supply test includes an external air supply test for a yaw gyroscope and an external air supply test for a tilt-pitch gyroscope; the ignition test includes an ignition test for a yaw gyroscope and an ignition test for a tilt-pitch gyroscope.

6. A comprehensive test method for a gas three-degree-of-freedom gyroscope, the method being accomplished by a test system as described in any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Test condition setting: first fix the gyroscope on the dual-axis sinusoidal rocking table at a specific installation angle through the detection fixture; complete the setting of the gyroscope number, test temperature, humidity, test personnel and test date test conditions through the test condition setting module of the software; S2: System self-test. Before testing the product, start the self-test module to perform self-tests on the external gas supply signal, ignition signal, turntable, and acquisition card to ensure that the instrument is in normal working condition. If multiple consecutive tests are performed, self-tests are performed only before the first test. S3: External gas supply test, the external gas supply test parameters and test process are controlled by the external gas supply test module. The gas source provides high-purity nitrogen for the gyroscope, and the gas supply pressure is adjusted by the pressure reducing valve. The industrial control computer in the test cabinet controls the solenoid valve to accurately control the gas supply time. The dual-axis sinusoidal swing table works according to the preset parameters. The swing amplitude, frequency, initial phase and swing time are configured by the external gas supply test module in the functional test module of the software part. The signal processing and acquisition module collects the voltage and voltage pulse signals during the gyroscope test, and generates test results including zero output, initial drift and drift rate after processing by the data processing module of the software part. Finally, the data is displayed in real time in a graphical manner. S4: Ignition test. During the ignition test, the ignition test parameters and test process are controlled by the ignition test module. The DC regulated power supply provides the ignition voltage for the gyroscope. The dual-axis sinusoidal swing table maintains the corresponding working state. The signal processing and acquisition module collects the test data, and the data processing module generates the test results after processing. The test results cover the zero position output, initial drift, and drift rate of the gyroscope, and are displayed graphically in real time. S5: System calibration: Based on the usage time and test results, the measurement center calibrates the system through the functional test module.

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