Automatic processing system for test data of laser inertial measurement unit

Abstract

The invention discloses a laser inertial measurement unit test data automatic processing system, which comprises a data processing module used for processing test data to obtain gyro accelerometer pulse data and analog quantity data; the precision judgment module is used for judging the precision of the gyroscope and the accelerometer according to the gyroscope pulse data and the accelerometer pulse data; the analog quantity judging module is used for judging the actual working state of the gyroscope according to the analog quantity data; the aging test module is used for recording each test time of the laser inertial measurement unit and judging whether the aging test is completed or not; the ex-factory demand module is used for judging whether the laser inertial measurement unit meets ex-factory conditions or not; and the file storage module is used for recording and storing data in the working process of each module. According to the system disclosed by the invention, the automatic processing and discrimination of the test data of the laser inertial measurement unit can be completed through simple key operation, the corresponding file is generated, the operation is simple, and a tester can conveniently use the system in different occasions and among test equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial navigation, and particularly relates to an automatic processing system for laser inertial unit test data. Background Art

[0002] A laser inertial unit is an important precision instrument for measuring the speed, position, and attitude of a carrier. The laser inertial unit mainly consists of an inertial measurement sensitive component, a power supply circuit, a indexing mechanism and a locking mechanism, a navigation computer circuit, etc. The key part is the inertial unit measurement sensitive component, which calculates the actual position and attitude of the carrier by obtaining the data of the gyroscope and accelerometer, so as to achieve precise navigation.

[0003] During the actual test of the laser inertial unit, the accuracy and working state of the gyroscope and accelerometer of the laser inertial unit are judged by powering on and calibrating the laser inertial unit. Especially after the test, by comparing the data before and after the test, the influence of the test on the laser inertial unit can be grasped, and it can also help to discover problems in time, such as the test has damaged the laser inertial unit, or the laser inertial unit has a weak tolerance under this test condition, etc.

[0004] Laser inertial units of different types have different compositions. The inertial unit measurement sensitive component mainly consists of three gyroscopes and three accelerometers, and the inertial unit measurement sensitive component consisting of five gyroscopes and five accelerometers. Even if the instrument compositions of the required laser inertial units are the same, due to the different file definitions and stored data types specified in the overall task book among various projects, a large amount of cumbersome and repetitive sorting work is generated during the data sorting process. The power-on and calibration tests of the laser inertial unit are key test experiments for the accuracy assessment and overall machine aging of the instrument, and the time is at least more than 4 hours, and even up to more than 24 hours. After the power-on is completed, many files are generated. There is a huge amount of data in a single file, but the effective data is scattered. Therefore, the test personnel need to extract the required data types one by one for calculation and graphing, which brings heavy work to the test personnel. There may be a certain error rate in manual judgment, and the data comparison situation is not intuitive, and the storage of effective data will occupy a large space. Summary of the Invention

[0005] The technical problem to be solved by the present invention: Overcoming the deficiencies of the prior art, providing an automatic processing system for laser inertial unit test data, which can complete the automatic processing and discrimination of laser inertial unit test data through simple button operations, generate corresponding files, with simple operations and being convenient for test personnel to use in different occasions and between different test devices.

[0006] To solve the above technical problems, the present invention discloses an automatic processing system for laser inertial unit test data, including:

[0007] A data processing module, which is used to process the test data generated after the laser inertial unit is powered on once or calibrated, so as to obtain gyro pulse data, accelerometer pulse data and analog data;

[0008] An accuracy discrimination module, which is used to discriminate the accuracy of the gyro and accelerometer respectively according to the gyro pulse data and accelerometer pulse data;

[0009] An analog discrimination module, which is used to judge the actual working state of the gyro according to the analog data;

[0010] An aging test module, which is used to record the time of each test of the laser inertial unit and judge whether the aging test is completed;

[0011] A factory requirement module, which is used to judge whether the laser inertial unit meets the factory conditions;

[0012] A file storage module, which is used to record and store the data in the working processes of the data processing module, accuracy discrimination module, analog discrimination module, aging test module and factory requirement module.

[0013] In the above-mentioned automatic laser inertial unit test data processing system, it is characterized in that the gyro pulse data includes: gyro pulse full amount data and gyro pulse increment data; the accelerometer pulse data includes: accelerometer pulse full amount data and accelerometer pulse increment data.

[0014] In the above-mentioned automatic laser inertial unit test data processing system, the data processing module is used for:

[0015] Extract the gyro pulse full amount data, accelerometer pulse full amount data and analog data from the test data generated after the laser inertial unit is powered on once or calibrated;

[0016] Extract the gyro pulse increment data and accelerometer pulse increment data within the corresponding test time period from the gyro pulse full amount data and accelerometer pulse full amount data.

[0017] In the above-mentioned automatic laser inertial unit test data processing system, the accuracy discrimination module is used for:

[0018] Discriminate the accuracy of the gyro power-on once according to the gyro pulse full amount data and gyro pulse increment data, in combination with the preset gyro zero bias accuracy;

[0019] Discriminate the accuracy of the accelerometer power-on once according to the accelerometer pulse full amount data and gyro pulse increment data, in combination with the preset accelerometer zero bias accuracy.

[0020] In the above-mentioned automatic processing system for laser inertial unit test data, when the accuracy discrimination module discriminates the accuracy of the gyroscope during the first power-on according to the full amount of gyroscope pulse data and the incremental gyroscope pulse data, in combination with the preset gyroscope zero bias accuracy, it includes:

[0021] S11, perform a 100-second smoothing process on the incremental gyroscope pulse data, and draw a 100-second smoothed image of the gyroscope;

[0022] S12, judge the accuracy of the gyroscope during the first power-on by calculating the range of the 100-second smoothed image of the gyroscope; among them, if the range of the 100-second smoothed image of the gyroscope is less than the preset gyroscope zero bias accuracy, it is determined that the accuracy of the gyroscope during the first power-on meets the requirements; otherwise, it is determined that the accuracy of the gyroscope during the first power-on does not meet the requirements;

[0023] S13, judge the gyroscope zero drift trend through the trend of the 100-second smoothed image of the gyroscope; among them, if the trend of the 100-second smoothed image of the gyroscope shows a polynomial linear relationship, it is considered that the gyroscope zero drift trend is obvious, and the gyroscope zero bias accuracy can be improved by means of gyroscope compensation; otherwise, it is considered that the gyroscope zero drift trend is not obvious, and the gyroscope zero bias accuracy cannot be improved by means of gyroscope compensation;

[0024] S14, calculate the 100-second standard deviation and random walk coefficient of the gyroscope according to the full amount of gyroscope pulse data;

[0025] S15, judge the accuracy of the gyroscope during the first power-on according to the calculated 100-second standard deviation of the gyroscope; among them, if the 100-second standard deviation of the gyroscope is less than the preset gyroscope zero bias accuracy, it is determined that the accuracy of the gyroscope during the first power-on meets the requirements; otherwise, it is determined that the accuracy of the gyroscope during the first power-on does not meet the requirements;

[0026] S16, judge the accuracy of the gyroscope during the first power-on according to the calculated random walk coefficient of the gyroscope; among them, if the random walk coefficient of the gyroscope is less than the random walk coefficient threshold of the corresponding type of gyroscope, it is determined that the accuracy of the gyroscope during the first power-on meets the requirements; otherwise, it is determined that the accuracy of the gyroscope during the first power-on does not meet the requirements;

[0027] S17, determine the final judgment result of the accuracy of the gyroscope during the first power-on according to the judgment results of S12, S15 and S16; among them, if the judgment results of S12, S15 and S16 are all that the accuracy of the gyroscope during the first power-on meets the requirements, it is determined that the final judgment result of the accuracy of the gyroscope during the first power-on is: the accuracy of the gyroscope during the first power-on meets the requirements; otherwise, it is determined that the final judgment result of the accuracy of the gyroscope during the first power-on is: the accuracy of the gyroscope during the first power-on does not meet the requirements.

[0028] In the above-mentioned automatic processing system for laser inertial unit test data, when the accuracy discrimination module discriminates the accuracy of the accelerometer during the first power-on according to the full amount of accelerometer pulse data and the incremental gyroscope pulse data, in combination with the preset accelerometer zero bias accuracy, it includes:

[0029] S21. Smooth the accelerometer pulse increment data over 100 seconds and plot the 100 - second smoothed accelerometer image;

[0030] S22. Judge the accuracy of the accelerometer during one - time power - on by calculating the range of the 100 - second smoothed accelerometer image. Specifically, if the range of the 100 - second smoothed accelerometer image is less than the preset accelerometer zero - bias accuracy, it is determined that the accuracy of the accelerometer during one - time power - on meets the requirements; otherwise, it is determined that the accuracy of the accelerometer during one - time power - on does not meet the requirements;

[0031] S23. Judge the trend of the accelerometer zero - bias or the first - order coefficient through the trend of the 100 - second smoothed accelerometer image. Specifically, if the trend of the 100 - second smoothed accelerometer image shows a polynomial linear relationship, it is considered that the trend of the accelerometer zero - bias or the first - order coefficient is obvious, and the accuracy of the accelerometer zero - bias or the first - order coefficient can be improved through accelerometer compensation means; otherwise, it is considered that the trend of the accelerometer zero - bias or the first - order coefficient is not obvious, and the accuracy of the accelerometer zero - bias or the first - order coefficient cannot be improved through accelerometer compensation means;

[0032] S24. Calculate the 100 - second standard deviation of the accelerometer based on the full - volume accelerometer pulse data;

[0033] S25. If the calculated 100 - second standard deviation of the accelerometer is less than the preset accelerometer zero - bias accuracy, it is determined that the accuracy of the accelerometer during one - time power - on meets the requirements; otherwise, it is determined that the accuracy of the accelerometer during one - time power - on does not meet the requirements;

[0034] S26. Determine the final judgment result of the accuracy of the accelerometer during one - time power - on according to the judgment results of S22 and S25. Specifically, if the judgment results of both S22 and S25 are that the accuracy of the accelerometer during one - time power - on meets the requirements, it is determined that the final judgment result of the accuracy of the accelerometer during one - time power - on is: the accuracy of the accelerometer during one - time power - on meets the requirements; otherwise, it is determined that the final judgment result of the accuracy of the accelerometer during one - time power - on is: the accuracy of the accelerometer during one - time power - on does not meet the requirements.

[0035] In the above - mentioned automatic processing system for laser inertial unit test data, the preset gyro zero - bias accuracy is 0.03° / h, and the preset accelerometer zero - bias accuracy is 0.00003m / s 2 .

[0036] In the above - mentioned automatic processing system for laser inertial unit test data, the analog - quantity discrimination module is used for:

[0037] Extract the maximum light intensity, minimum light intensity, maximum piezoelectric value, and minimum piezoelectric value of the gyro within one test period from the analog - quantity data;

[0038] Judge the actual working state of the gyro according to the difference between the maximum light intensity and the minimum light intensity of the gyro, and the difference between the maximum piezoelectric value and the minimum piezoelectric value of the gyro; wherein, if the difference between the maximum light intensity and the minimum light intensity of the gyro is not greater than 0.3 and the difference between the maximum piezoelectric value and the minimum piezoelectric value of the gyro is not greater than 0.3, it is determined that the gyro is in a normal working state; otherwise, it is determined that the gyro is in a fault state.

[0039] In the above laser inertial unit test data automatic processing system, the aging test module is used for:

[0040] Record the time of each test of the laser inertial unit to obtain the sum of the test durations;

[0041] Compare the obtained sum of the test durations with the total aging time specified in the overall task book; wherein, if the sum of the test durations is less than the total aging time specified in the overall task book, it is considered that the aging test is not completed, the remaining aging time is displayed, and the subsequent aging test is continued; if the sum of the test durations is not less than the total aging time specified in the overall task book, it is considered that the aging test is completed, and the next stage of testing is carried out.

[0042] In the above laser inertial unit test data automatic processing system, the factory requirement module is used for:

[0043] Obtain the data values of key parameters at the 900th second when the laser inertial unit is powered on; wherein, the key parameters include: ±5V voltage, ±15V voltage, light intensity value and piezoelectric value of the gyro, temperature of the I / F conversion circuit, gyro temperature and accelerometer temperature;

[0044] Judge whether the data values of the key parameters at the 900th second when the laser inertial unit is powered on meet the output numerical range specified in the overall task book; wherein, if the data values of each key parameter at the 900th second when the laser inertial unit is powered on all meet the output numerical range specified in the overall task book, it is determined that the running state of the laser inertial unit is normal and it can be shipped; otherwise, it is determined that the running state of the laser inertial unit is abnormal and it is returned for recheck.

[0045] The present invention has the following advantages:

[0046] (1) The present invention discloses a laser inertial unit test data automatic processing system, which realizes integrated data processing. By performing hundred-second smoothing processing, standard deviation and random walk coefficient calculation on the pulse data of the gyro and the accelerometer, and drawing images, the purpose of deeply judging the accuracy of the gyro and the accelerometer is achieved.

[0047] (2) The present invention discloses a laser inertial unit test data automatic processing system, which realizes data visualization processing. The images of the change of the light intensity and piezoelectric value of the gyro with time, as well as the change of temperature and sum frequency with time are classified and displayed in the interface frame, and further the index and accuracy compliance of the gyro can be visualized in the interface.

[0048] (3) The present invention discloses an automatic processing system for laser inertial measurement unit (IMU) test data, which realizes one-key data storage. It stores the data and images on the interface, generates a Word document for saving, and updates the data stored in the Excel document, thus achieving effective, fast, and accurate data storage work. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a block diagram of an automatic processing system for laser IMU test data in an embodiment of the present invention;

[0050] Figure 2 is a schematic diagram of the interface of an automatic processing system for laser IMU test data in an embodiment of the present invention;

[0051] Figure 3 is a schematic diagram of the function interface corresponding to a data processing module in an embodiment of the present invention;

[0052] Figure 4 is a schematic diagram of an image drawing and display interface in an embodiment of the present invention;

[0053] Figure 5 is a schematic diagram of the function interface corresponding to an aging test module in an embodiment of the present invention;

[0054] Figure 6 is a schematic diagram of the function interface corresponding to an analog quantity discrimination module in an embodiment of the present invention;

[0055] Figure 7 is a schematic diagram of a function interface for reasonable judgment of time parameters in an embodiment of the present invention;

[0056] Figure 8 is a schematic diagram of the function interface corresponding to an accuracy discrimination module in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe in detail the disclosed embodiments of the present invention with reference to the accompanying drawings.

[0058] One of the core ideas of the present invention is to disclose an automatic processing system for laser IMU test data. This system is developed based on the MATLAB platform and can complete the automatic processing and discrimination of laser IMU test data through simple button operations, generating corresponding files. The operation is simple and convenient for testers to use in different scenarios and between different test devices.

[0059] Refer to Figure 1, in this embodiment, the automatic processing system for laser inertial measurement unit test data includes: a data processing module, an accuracy discrimination module, an analog quantity discrimination module, an aging test module, a factory requirement module, and a file storage module.

[0060] The data processing module is used to process the test data generated after the laser inertial measurement unit is powered on or calibrated once, and obtain gyro pulse data, accelerometer pulse data, and analog quantity data.

[0061] In this embodiment, the gyro pulse data mainly includes: gyro pulse full quantity data and gyro pulse increment data; the accelerometer pulse data mainly includes: accelerometer pulse full quantity data and accelerometer pulse increment data.

[0062] Preferably, the data processing module is specifically used to: extract the gyro pulse full quantity data, accelerometer pulse full quantity data, and analog quantity data from the test data generated after the laser inertial measurement unit is powered on or calibrated once; extract the corresponding gyro pulse increment data and accelerometer pulse increment data within the corresponding test time period from the gyro pulse full quantity data and accelerometer pulse full quantity data.

[0063] The accuracy discrimination module is used to discriminate the accuracy of the gyro and accelerometer respectively according to the gyro pulse data and accelerometer pulse data.

[0064] In this embodiment, the accuracy discrimination module is specifically used to: discriminate the accuracy of the gyro during the first power-on according to the gyro pulse full quantity data and gyro pulse increment data, combined with the preset gyro zero bias accuracy; and discriminate the accuracy of the accelerometer during the first power-on according to the accelerometer pulse full quantity data and gyro pulse increment data, combined with the preset accelerometer zero bias accuracy. Among them, the preset gyro zero bias accuracy is 0.03° / h, and the preset accelerometer zero bias accuracy is 0.00003m / s 2 。

[0065] Preferably, when the accuracy discrimination module discriminates the accuracy of the gyro during the first power-on according to the gyro pulse full quantity data and gyro pulse increment data, combined with the preset gyro zero bias accuracy, it includes:

[0066] S11, perform a 100-second smoothing process on the gyro pulse increment data, and draw a 100-second smoothed image of the gyro.

[0067] S12, judge the accuracy of the gyro during the first power-on by calculating the range of the 100-second smoothed image of the gyro. Among them, if the range of the 100-second smoothed image of the gyro is less than the preset gyro zero bias accuracy, it is determined that the accuracy of the gyro during the first power-on meets the requirements; otherwise, it is determined that the accuracy of the gyro during the first power-on does not meet the requirements.

[0068] S13. Determine the gyro zero-drift trend by judging the trend of the gyro's hundred-second smoothed image. Among them, if the trend of the gyro's hundred-second smoothed image shows a polynomial linear relationship, it is considered that the gyro zero-drift trend is obvious, and the gyro zero-bias accuracy can be improved by gyro compensation means; otherwise, it is considered that the gyro zero-drift trend is not obvious, and the gyro zero-bias accuracy cannot be improved by gyro compensation means.

[0069] S14. Calculate the hundred-second standard deviation and random walk coefficient of the gyro based on the full amount of gyro pulse data.

[0070] S15. Judge the gyro's first-power-on accuracy according to the calculated hundred-second standard deviation of the gyro. Among them, if the hundred-second standard deviation of the gyro is less than the preset gyro zero-bias accuracy, it is determined that the gyro's first-power-on accuracy meets the requirements; otherwise, it is determined that the gyro's first-power-on accuracy does not meet the requirements.

[0071] S16. Judge the gyro's first-power-on accuracy according to the calculated random walk coefficient of the gyro. Among them, if the random walk coefficient of the gyro is less than the random walk coefficient threshold of the corresponding type of gyro, it is determined that the gyro's first-power-on accuracy meets the requirements; otherwise, it is determined that the gyro's first-power-on accuracy does not meet the requirements. It should be noted that the random walk coefficient thresholds of different types of gyroscopes are different. For example, the random walk coefficient threshold of the 50 gyro is h represents hours.

[0072] S17. Determine the final judgment result of the gyro's first-power-on accuracy according to the judgment results of S12, S15, and S16. Among them, if the judgment results of S12, S15, and S16 are all that the gyro's first-power-on accuracy meets the requirements, it is determined that the final judgment result of the gyro's first-power-on accuracy is: the gyro's first-power-on accuracy meets the requirements; otherwise, it is determined that the final judgment result of the gyro's first-power-on accuracy is: the gyro's first-power-on accuracy does not meet the requirements, and troubleshooting or gyro replacement treatment solutions need to be carried out in a timely manner.

[0073] Preferably, when the accuracy discrimination module discriminates the first-power-on accuracy of the accelerometer according to the full amount of accelerometer pulse data and the incremental gyro pulse data, in combination with the preset accelerometer zero-bias accuracy, it includes:

[0074] S21. Perform a hundred-second smoothing process on the incremental accelerometer pulse data and draw the hundred-second smoothed image of the accelerometer.

[0075] S22. Judge the first-power-on accuracy of the accelerometer by calculating the range of the hundred-second smoothed image of the accelerometer. Among them, if the range of the hundred-second smoothed image of the accelerometer is less than the preset accelerometer zero-bias accuracy, it is determined that the first-power-on accuracy of the accelerometer meets the requirements; otherwise, it is determined that the first-power-on accuracy of the accelerometer does not meet the requirements.

[0076] S23. Determine the zero bias or first-order coefficient trend of the accelerometer by judging the trend of the hundred-second smoothed image of the accelerometer through the accelerometer. Among them, if the trend of the hundred-second smoothed image of the accelerometer shows a polynomial linear relationship, it is considered that the zero bias or first-order coefficient trend of the accelerometer is obvious, and the zero bias or first-order coefficient accuracy of the accelerometer can be improved through accelerometer compensation means. Otherwise, it is considered that the zero bias or first-order coefficient trend of the accelerometer is not obvious, and the zero bias or first-order coefficient accuracy of the accelerometer cannot be improved through accelerometer compensation means.

[0077] S24. Calculate the hundred-second standard deviation of the accelerometer based on the full amount of accelerometer pulse data.

[0078] S25. If the calculated hundred-second standard deviation of the accelerometer is less than the preset accelerometer zero bias accuracy, it is determined that the first-power-on accuracy of the accelerometer meets the requirements; otherwise, it is determined that the first-power-on accuracy of the accelerometer does not meet the requirements.

[0079] S26. Determine the final judgment result of the first-power-on accuracy of the accelerometer according to the judgment results of S22 and S25. Among them, if the judgment results of S22 and S25 are both that the first-power-on accuracy of the accelerometer meets the requirements, it is determined that the final judgment result of the first-power-on accuracy of the accelerometer is: the first-power-on accuracy of the accelerometer meets the requirements; otherwise, it is determined that the final judgment result of the first-power-on accuracy of the accelerometer is: the first-power-on accuracy of the accelerometer does not meet the requirements, and it is necessary to troubleshoot in time or replace the accelerometer processing plan.

[0080] Through the above discrimination of the first-power-on accuracy of the gyroscope and the accelerometer, instrument problems can be discovered in time and treatment plans can be given, laying a foundation for the normal operation of the subsequent laser inertial assembly.

[0081] The analog quantity discrimination module is used to judge the actual working state of the gyroscope according to the analog quantity data.

[0082] In this embodiment, the analog quantity discrimination module is specifically used to: extract the maximum light intensity, minimum light intensity, maximum piezoelectricity, and minimum piezoelectricity of the gyroscope within a test period from the analog quantity data; judge the actual working state of the gyroscope according to the difference between the maximum light intensity and the minimum light intensity of the gyroscope and the difference between the maximum piezoelectricity and the minimum piezoelectricity of the gyroscope; among them, if the difference between the maximum light intensity and the minimum light intensity of the gyroscope is not greater than 0.3 and the difference between the maximum piezoelectricity and the minimum piezoelectricity of the gyroscope is not greater than 0.3, it is determined that the gyroscope is in a normal working state; otherwise, it is determined that the gyroscope is in a fault state.

[0083] The aging test module is used to record the time of each test of the laser inertial assembly and judge whether the aging test is completed.

[0084] In this embodiment, before the product leaves the factory, an aging test needs to be carried out on the laser inertial unit. The aging test is carried out in multiple tests. Since the overall task book has requirements for the total aging time, it is necessary to record the time of each test to determine whether the aging test duration is completed.

[0085] Preferably, the aging test module is specifically used for: recording the time of each test of the laser inertial unit to obtain the sum of the test durations; comparing the obtained sum of the test durations with the total aging time specified in the overall task book; wherein, if the sum of the test durations is less than the total aging time specified in the overall task book, it is considered that the aging test is not completed, the remaining aging time is displayed, and the subsequent aging test is continued; if the sum of the test durations is not less than the total aging time specified in the overall task book, it is considered that the aging test is completed, and the next stage of testing is carried out.

[0086] The factory-out requirement module is used to judge whether the laser inertial unit meets the factory-out conditions.

[0087] In this embodiment, the factory-out requirement module is specifically used for: obtaining the data values of the key parameters at the 900th second when the laser inertial unit is powered on; wherein, the key parameters include: ±5V voltage, ±15V voltage, light intensity value and piezoelectric value of the gyroscope, temperature of the I / F conversion circuit, gyroscope temperature and accelerometer temperature. Judge whether the data values of the key parameters at the 900th second when the laser inertial unit is powered on meet the output numerical range specified in the overall task book; wherein, if the data values of each key parameter at the 900th second when the laser inertial unit is powered on all meet the output numerical range specified in the overall task book, it is determined that the operation state of the laser inertial unit is normal and it can leave the factory; otherwise, it is determined that the operation state of the laser inertial unit is abnormal and it is returned for recheck.

[0088] The file storage module is used to record and store the data in the working processes of the data processing module, accuracy discrimination module, analog quantity discrimination module, aging test module, and factory-out requirement module.

[0089] In this embodiment, the file storage module is mainly used to record, store, and backup the data generated in the working processes of each module. The data recorded, stored, and backed up includes but is not limited to: gyro pulse data, accelerometer pulse data, analog quantity data, gyro hundred-second smoothed image, accelerometer hundred-second smoothed image, light intensity value of the gyroscope, piezoelectric value of the gyroscope, temperature of the I / F conversion circuit, gyroscope temperature, and accelerometer temperature, etc.; these data can be stored in any one of the ways of documents, images, tables, etc., which is convenient for subsequent recheck work.

[0090] Based on the above embodiments, a specific example is described below.

[0091] Example 1

[0092] The interface of the automatic processing system for laser inertial unit test data described in the present invention is asFigure 2 As shown, the processing and discrimination of the test data of the laser inertial unit can be completed through simple button operations on the interface, which is convenient for testers to use in different scenarios and between different test devices.

[0093] The automatic processing system for the test data of the laser inertial unit mainly includes the following functions:

[0094] 1) The parameter processing function of the gyroscope and accelerometer implemented based on the data processing module

[0095] After the laser inertial unit is powered on and calibrated once, multiple files are generated. The pulse data of the gyroscope and accelerometer, the light intensity, piezoelectricity, sum frequency, and instrument temperature data of the gyroscope are extracted respectively, and four files are generated and stored in the document. The data processing module supports the function of extracting documents with different inertial unit numbers of different models, and its interface is as Figure 3 shown.

[0096] 2) The function of judging the accuracy of the gyroscope and accelerometer after one power-on implemented based on the accuracy discrimination module

[0097] The extracted pulse data of the gyroscope and accelerometer, the light intensity, piezoelectricity, sum frequency, and instrument temperature data of the gyroscope are further processed.

[0098] As Figure 3 shown, there is an option bar in the interface, namely N, LP, H, wd. N represents pulse processing. Select this option and press the "Parameter Accuracy" button. The function is to perform 100-second smoothing processing on the pulse data of the gyroscope and accelerometer, and the 100-second smoothed image is presented in the interface frame, as Figure 4 shown; LP represents light intensity piezoelectricity processing. Select this option and press the "Parameter Accuracy" button. The function is to plot the light intensity piezoelectricity data with time as the horizontal axis, and the light intensity piezoelectricity data graph is presented in the interface frame; H represents the sum frequency of the gyroscope. By observing whether the sum frequency data has a jump, the working state of the gyroscope is judged, and the graph is presented in the interface frame. wd represents the temperature measurement results of each temperature measurement point in the laser inertial unit. By plotting, the change of the gyroscope, accelerometer, and IF temperature with time can be observed, and the graph is presented in the interface frame.

[0099] As Figure 8 shown, calculate the 100-second standard deviation of the gyroscope and accelerometer pulses and the gyro random walk coefficient. Before calculating the random walk, it is necessary to judge whether the time period obtained by the allan standard deviation curve meets the 0.01 magnitude, as Figure 7 shown. If it does not meet, the time period needs to be changed, and then the random walk coefficient is calculated. The calculated 100-second standard deviation and random walk value are presented in the table in this function, which is used to judge whether the instrument accuracy meets the index.

[0100] 3) Judgment of Analog Quantity Specific Time Parameters Based on the Analog Quantity Discrimination Module

[0101] As Figure 6 shown, this function is to select the maximum and minimum values of light intensity and piezoelectricity within a specific time period, and present the maximum and minimum light intensity and piezoelectricity values in the table within this function. If the selected time period exceeds the experimental time, the software will report an error and require re - input.

[0102] 4) Calculation of Laser Inertial Unit Aging Time Based on the Aging Test Module

[0103] To calculate the aging time of the laser inertial unit, it is necessary to select the original generated file. Since the number of aging test times for different laser inertial unit numbers is different, the aging time can be calculated for different laser inertial unit numbers. Update the file to import the 1s file data of the new test. The software reads the time when the test in the file is carried out, imports it into the original file for file generation, updates the excel table for storing aging files, and displays the aged time and remaining aging time in the interface, as Figure 5 shown.

[0104] 5) Judgment of Factory - Out Conditions Based on the Factory - Out Requirements Module

[0105] Extract the data values of key parameters at the 900th second when the laser inertial unit is powered on from the stored analog quantity data, save them in a word document, and attach the form - filling person and inspection information to generate a document for factory - out inspection.

[0106] 6) Storage Function Based on the File Storage Module

[0107] The "Generate Document" button stores the gyro - accelerometer pulse hundred - second smoothed processing diagram, light intensity piezoelectric diagram, and temperature data diagram made, as well as the generated maximum and minimum light intensity piezoelectricity table within a specific time period and the hundred - second standard deviation and random walk table, generates a document, and can be saved in the device for subsequent review and recalculation.

[0108] In summary, the automatic processing system for laser inertial unit test data described in the present invention can meet the needs of testers, realize the collation and extraction of factory - out data of laser inertial units, facilitate testers to conduct laser inertial unit tests and judge the accuracy of laser inertial units, effectively, quickly, and accurately obtain effective data results, check for product factory - out, and reduce the phenomenon of data errors caused by human influence. The storage function of this system will provide a test basis for subsequent inertial unit review and recalculation by making the data traceable.

[0109] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0110] The content not detailedly described in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. A laser inertial group test data automatic processing system, characterized in that: include: The data processing module is used to process the test data generated after the laser inertial group is powered on or calibrated once, and obtain the gyro pulse data, accelerometer pulse data and analog data; The accuracy determination module is used to determine the accuracy of the gyroscope and the accelerometer respectively according to the gyroscope pulse data and the accelerometer pulse data; The analog quantity determination module is used to determine the actual working state of the gyroscope according to the analog quantity data; Aging test module, used to record each test time of the laser inertial group and determine whether the aging test is completed; The factory requirement module is used to determine whether the laser inertial group meets the factory conditions; The file storage module is used to record and store data during the working process of the data processing module, the accuracy determination module, the analog quantity determination module, the aging test module, and the factory demand module.

2. The laser inertial group test data automatic processing system according to claim 1 is characterized in that: Gyro pulse data, including: gyro pulse full data and gyro pulse incremental data; accelerometer pulse data, including: accelerometer pulse full data and accelerometer pulse incremental data.

3. The laser inertial group test data automatic processing system according to claim 2 is characterized in that: Data processing module for: Extract the gyro pulse full data, accelerometer pulse full data and analog data from the test data generated after the laser inertial group is powered on or calibrated once; The gyro pulse increment data and the accelerometer pulse increment data within the corresponding test time period are extracted from the gyro pulse full data and the accelerometer pulse full data.

4. The laser inertial group test data automatic processing system according to claim 2 is characterized in that: Accuracy determination module, used for: According to the full data of gyro pulse and the incremental data of gyro pulse, combined with the preset gyro zero bias accuracy, the accuracy of gyro power-on is judged; According to the accelerometer pulse full data and gyro pulse increment data, combined with the preset accelerometer zero bias accuracy, the accelerometer power-on accuracy is judged.

5. The laser inertial group test data automatic processing system according to claim 4 is characterized in that: The accuracy determination module determines the accuracy of the gyro power-on according to the full gyro pulse data and the gyro pulse increment data, combined with the preset gyro zero bias accuracy, including: S11, performing hundred-second smoothing processing on the gyro pulse increment data, and drawing a hundred-second smoothed image of the gyro; S12, determining the gyro power-on accuracy by calculating the gyro 100-second smoothed image range; wherein, if the gyro 100-second smoothed image range is less than the preset gyro zero bias accuracy, it is determined that the gyro power-on accuracy meets the requirement; otherwise, it is determined that the gyro power-on accuracy does not meet the requirement; S13, judging the gyro zero drift trend by the gyro 100-second smoothed image trend; wherein, if the gyro 100-second smoothed image trend is in a polynomial linear relationship, it is considered that the gyro zero drift trend is obvious, and the gyro zero bias accuracy can be improved by gyro compensation means; otherwise, it is considered that the gyro zero drift trend is not obvious, and the gyro zero bias accuracy cannot be improved by gyro compensation means; S14, calculating the 100-second standard deviation and random walk coefficient of the gyro according to the full amount of gyro pulse data; S15, judging the accuracy of the gyro's one-time power-on according to the calculated 100-second standard deviation of the gyro; if the 100-second standard deviation of the gyro is less than the preset gyro zero bias accuracy, it is determined that the gyro's one-time power-on accuracy meets the requirement; otherwise, it is determined that the gyro's one-time power-on accuracy does not meet the requirement; S16, judging the accuracy of the gyro's one-time power-on according to the calculated random walk coefficient of the gyro; if the random walk coefficient of the gyro is less than the threshold value of the random walk coefficient of the corresponding type of gyro, it is determined that the accuracy of the gyro's one-time power-on meets the requirement; otherwise, it is determined that the accuracy of the gyro's one-time power-on does not meet the requirement; S17, based on the judgment results of S12, S15 and S16, determine the final judgment result of the gyroscope's one-time power-on accuracy; if the judgment results of S12, S15 and S16 are all that the gyroscope's one-time power-on accuracy meets the requirements, then the final judgment result of the gyroscope's one-time power-on accuracy is determined to be: the gyroscope's one-time power-on accuracy meets the requirements; otherwise, the final judgment result of the gyroscope's one-time power-on accuracy is determined to be: the gyroscope's one-time power-on accuracy does not meet the requirements.

6. The laser inertial group test data automatic processing system according to claim 4 is characterized in that: The accuracy determination module determines the accuracy of the accelerometer once powered on based on the full pulse data of the accelerometer and the incremental pulse data of the gyroscope, combined with the preset zero bias accuracy of the accelerometer, including: S21, performing hundred-second smoothing processing on the accelerometer pulse increment data, and drawing a hundred-second smoothing image of the accelerometer; S22, determining the one-time power-on accuracy of the accelerometer by calculating the 100-second smoothed image range of the accelerometer; wherein, if the 100-second smoothed image range of the accelerometer is less than the preset accelerometer zero bias accuracy, it is determined that the one-time power-on accuracy of the accelerometer meets the requirement; otherwise, it is determined that the one-time power-on accuracy of the accelerometer does not meet the requirement; S23, judging the trend of the accelerometer zero bias or the linear term coefficient by the trend of the 100-second smoothed image of the accelerometer; wherein, if the trend of the 100-second smoothed image of the accelerometer is in a polynomial linear relationship, it is considered that the trend of the accelerometer zero bias or the linear term coefficient is obvious, and the accuracy of the accelerometer zero bias or the linear term coefficient can be improved by the accelerometer compensation means; otherwise, it is considered that the trend of the accelerometer zero bias or the linear term coefficient is not obvious, and the accuracy of the accelerometer zero bias or the linear term coefficient cannot be improved by the accelerometer compensation means; S24, calculating the hundred-second standard deviation of the accelerometer according to the full pulse data of the accelerometer; S25, if the calculated 100-second standard deviation of the accelerometer is less than the preset accelerometer zero bias accuracy, it is determined that the accelerometer single power-on accuracy meets the requirement; otherwise, it is determined that the accelerometer single power-on accuracy does not meet the requirement; S26, based on the judgment results of S22 and S25, determine the final judgment result of the accelerometer's one-time power-on accuracy; if the judgment results of S22 and S25 are both that the accelerometer's one-time power-on accuracy meets the requirements, then the final judgment result of the accelerometer's one-time power-on accuracy is determined to be: the accelerometer's one-time power-on accuracy meets the requirements; otherwise, the final judgment result of the accelerometer's one-time power-on accuracy is determined to be: the accelerometer's one-time power-on accuracy does not meet the requirements.

7. The laser inertial group test data automatic processing system according to claim 4 is characterized in that: The preset gyro bias accuracy is 0.03° / h, and the preset accelerometer bias accuracy is 0.00003m / s 2 .

8. The laser inertial group test data automatic processing system according to claim 1 is characterized in that: Analog quantity discrimination module, used for: The maximum light intensity, minimum light intensity, maximum piezoelectricity and minimum piezoelectricity of the gyroscope within a test cycle are extracted from the analog data; The actual working state of the gyroscope is judged according to the difference between the maximum light intensity and the minimum light intensity of the gyroscope and the difference between the maximum piezoelectric value and the minimum piezoelectric value of the gyroscope; if the difference between the maximum light intensity and the minimum light intensity of the gyroscope is not greater than 0.3 and the difference between the maximum piezoelectric value and the minimum piezoelectric value of the gyroscope is not greater than 0.3, it is determined that the gyroscope is in a normal working state; otherwise, it is determined that the gyroscope is in a fault state.

9. The laser inertial group test data automatic processing system according to claim 1, characterized in that: Aging test module for: Record the test time of each laser inertia group and obtain the total test time; The sum of the test durations obtained is compared with the total aging time specified in the overall task book; if the sum of the test durations is less than the total aging time specified in the overall task book, the aging test is considered to be incomplete, the remaining aging time is displayed, and subsequent aging tests are continued; if the sum of the test durations is not less than the total aging time specified in the overall task book, the aging test is considered to be completed and the next stage of testing is carried out.

10. The automatic processing system for laser inertial group test data according to claim 1, characterized in that: Factory requirements module for: Obtain the data values ​​of key parameters at the 900th second of the laser inertial group power-on; the key parameters include: ±5V voltage, ±15V voltage, gyro light intensity value and piezoelectric value, I / F conversion circuit temperature, gyro temperature and accelerometer temperature; Determine whether the data values ​​of key parameters at the 900th second after the laser inertial group is powered on meet the output value range specified in the overall task book; if the data values ​​of key parameters at the 900th second after the laser inertial group is powered on all meet the output value range specified in the overall task book, then the laser inertial group is determined to be operating normally and can be shipped; otherwise, the laser inertial group is determined to be operating abnormally and is returned for review.

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