Automatic angular velocity conversion point identification method in gyroscope scale factor measurement

Abstract

The invention relates to an automatic identification method for an angular velocity conversion point in gyroscope scale factor measurement, belongs to the technical field of gyroscopes, solves the problem of low processing efficiency of gyroscope scale factor data in the prior art, and comprises the following steps: S1, carrying out scale factor measurement on a gyroscope through an angular velocity turntable to obtain an angular velocity conversion point; acquiring and measuring scale factor test data, and taking to-be-processed scale data from the scale factor test data; s2, calculating the difference value between the sum of the numerical values of the data points of the data in different areas in the sliding window by using a sliding window algorithm, and recording the absolute value of the difference value as a difference value; s3, setting a difference threshold matrix, comparing each difference value with a corresponding difference threshold, recording all difference values greater than the corresponding difference threshold, and recording a sliding window index corresponding to the difference value as an angular velocity conversion point; and S4, based on the obtained angular velocity conversion point, calculating to obtain a scale factor parameter which is used for evaluating the dynamic performance of the gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscopes, and in particular to a method for automatically identifying angular velocity conversion points in gyroscope scale factor measurement. Background Art

[0002] As an angular velocity sensor, the gyroscope plays an important role in both military and civilian applications. In recent years, gyroscope technology has made significant progress. With breakthroughs in new materials and quantum technology, its performance and application range will further expand. Micromechanical gyroscopes and fiber-optic gyroscopes have already entered mass production.

[0003] The scale factor is a fundamental parameter of a gyroscope and is the ratio between the gyroscope's digital output and the angular velocity of the sensitive axis. By applying different rotational speeds to the gyroscope using a precision turntable, the average gyroscope output data at each input speed is recorded and the scale factor is calculated through fitting. To examine the gyroscope's measurement performance under input speeds of varying magnitude and direction, the turntable is typically configured with multiple sets of input speeds for repeated measurements to calculate scale factor uncertainty, nonlinearity, repeatability, and other indicators. Gyroscope scale factor measurement data exhibits a step-like pattern. When the turntable switches from one input angular velocity to another, angular velocity transition points appear in the continuously measured and collected data. By identifying these transition points in the data, the average gyroscope output for a given input condition can be calculated by intercepting the data between adjacent transition points. Identifying transition points in gyroscope scale factor test data primarily relies on manual interception. However, with the growing demand for batch testing and large-scale production of gyroscopes, manual data interception becomes increasingly labor-intensive. Therefore, automated methods for identifying transition points in gyroscope scale factor measurement are necessary.

[0004] Zero-crossing detection is a commonly used method for automatically identifying transition points. When the rotational speed switches from forward to reverse, the sign of the gyroscope output data changes. The location of the transition point is determined by detecting the index of the zero-crossing point. However, the zero-crossing detection method only works if the output angular velocity of each adjacent segment crosses zero. This method limits the scenarios in which gyroscope scale factors can be measured and is not universally applicable. Summary of the Invention

[0005] In view of the above problems, the present invention provides a method for automatically identifying angular velocity conversion points in gyroscope scale factor measurement, which solves the problem of low efficiency in gyroscope scale factor data processing caused by manual interception in the prior art.

[0006] The present invention provides a method for automatically identifying angular velocity conversion points in gyroscope scale factor measurement, comprising the following steps:

[0007] Step S1: Measure the scale factor of the gyroscope through an angular rate turntable, set the measurement parameters of the gyroscope in the scale factor measurement, perform the measurement and collect the scale factor test data obtained from the measurement, and extract the scale data to be processed from it;

[0008] Step S2: For the obtained scale data to be processed, use the sliding window algorithm to calculate the difference value between the sums of the data points in different regions within each sliding window, and record the absolute value of the difference value as the differential change value;

[0009] Step S3: Set a differential change threshold matrix, including setting a corresponding differential change threshold for the differential change value of each sliding window, compare each differential change value with its corresponding differential change threshold, record all differential change values greater than their corresponding differential change thresholds, and record the index of the sliding window corresponding to this differential change value as the angular velocity conversion point;

[0010] Step S4: Based on the obtained angular velocity conversion points, perform data slicing on the gyroscope scale data to be processed corresponding to them, obtain the average output of the gyroscope under each input rotation speed condition, and calculate the scale factor parameters through fitting for the dynamic performance evaluation of the gyroscope.

[0011] Optionally, step S1 specifically includes:

[0012] Step S1.1: Measure the scale factor of the gyroscope through an angular rate turntable, install the gyroscope on the angular rate turntable, and perform preheating after turning on the power of the gyroscope;

[0013] Step S1.2: Set the measurement parameters of the gyroscope in the scale factor measurement, including programmatically setting the turntable angular velocity input matrix Ω = {Ω1, Ω2,...} of the angular rate turntable, the angular acceleration a of the angular rate turntable, the data acquisition length t of the angular velocity measurement data at each test rate point, and start the angular rate turntable for scale factor testing;

[0014] Step S1.3: During the scale factor test, for the scale factor test data output from the gyroscope, extract data with a length of N as the scale data to be processed. Among them, each data point in the scale data to be processed includes its position information in the scale data to be processed and the value at that position.

[0015] Optionally, step S2 specifically includes:

[0016] Step S2.1: For the obtained scale data to be processed with a length of N, use a sliding window to slide from the starting point to the end point in sequence with a set fixed step size S. Among them, set the sliding window length to L, and a total of sliding windows are generated;

[0017] Step S2.2: During the sliding process, divide the data in the sliding window into a left part and a right part, and compare the output features of the left part and the right part;

[0018] Step S2.3: Calculate the sum of the values of the data points within the left part window of the sliding window and the sum of the values of the data points within the right part window respectively, and calculate the absolute value of their difference, denoted as the differential change value.

[0019] Optionally, in Step S2.1: Set both the sliding window length L and the fixed step size S to be less than one-fifth of the angular velocity measurement data acquisition length t at each test rate point.

[0020] Optionally, in Step S2.1: Denote the value of the data point within the k-th sliding window as:

[0021] {y (k-1)S+1 ,y (k-1)S+2 ,…,y (k-1)S+L}

[0022] In the above formula, y (k-1)S+1 represents the value of the data point at the index (k - 1)S + 1 in the data to be processed scale data, k is the index of the sliding window and

[0023] Optionally, in Step S2.2: Divide the data within the sliding window evenly into a left part and a right part according to the sliding window length, and obtain that the length of the left part window is L / 2 and the length of the right part window is also L / 2.

[0024] Optionally, Step S2.3 specifically includes:

[0025] Calculate the difference value between the sum of the values of the data points within the left part window and the sum of the values of the data points within the right part window, and calculate the absolute value of the difference value as the differential change value:

[0026]

[0027] where, F k represents the differential change value of the k-th sliding window, w represents the position index of the data point in the data to be processed scale data, y w represents the value of the data point at the position w.

[0028] Optionally, setting the differential change threshold in Step S3 includes:

[0029] Preset the threshold coefficient η and the comparison usage data length q, and set the differential change threshold as:

[0030]

[0031] where, A kDenote the difference change value F of the k-th sliding window k The corresponding difference change threshold, i represents the index of the sliding window, and F i Denotes the difference change value in the i-th sliding window;

[0032] Set the difference change thresholds corresponding to the difference change values of all sliding windows to obtain a difference change threshold matrix.

[0033] Compared with the prior art, the automatic recognition method for the angular velocity conversion point in gyroscope scale factor measurement provided by the present invention has at least the following beneficial effects.

[0034] (1) Through the sliding window algorithm and the dynamic threshold discrimination method, the automatic and rapid recognition of the angular velocity conversion point in the scale factor measurement process is realized. This method can greatly improve the efficiency of scale factor measurement and significantly improve the accuracy of data processing. By applying the method of the present invention, the need for manual interception can be effectively reduced, which helps to meet the growing demands of batch testing and large-scale production of gyroscopes.

[0035] (2) The method provided by the present invention has better universality compared with the prior art's zero-crossing detection method. It is no longer restricted to the situation of zero-crossing, which improves the universality and efficiency of the automatic recognition of the angular velocity conversion point of the gyroscope scale factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. By referring to the drawings, the features and advantages of the present invention can be more clearly understood. The drawings are schematic and should not be construed as imposing any limitation on the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 FIG. is a flowchart of an automatic recognition method for the angular velocity conversion point in gyroscope scale factor measurement provided according to an embodiment of the present invention.

[0038] Figure 2 FIG. is a schematic diagram of the gyroscope output and a schematic diagram of the sliding window algorithm in an example of applying the automatic recognition method for the angular velocity conversion point in gyroscope scale factor measurement provided according to an embodiment of the present invention.

[0039] Figure 3 FIG. is a schematic diagram of the corresponding relationship between the scale data to be processed, the difference change value, and the dynamic threshold in an example of applying an automatic recognition method for the angular velocity conversion point in gyroscope scale factor measurement provided according to an embodiment of the present invention.

[0040] Figure 4A schematic diagram showing the correspondence between the scale data to be processed, the differential change value, and the dynamic threshold in the complete scale data of a certain gyroscope in an example of the automatic identification method for the angular velocity conversion point in gyroscope scale factor measurement provided according to an embodiment of the present invention.

[0041] Figure 5 The identification result of the angular velocity conversion point obtained in an example of the automatic identification method for the angular velocity conversion point in gyroscope scale factor measurement provided according to an embodiment of the present invention. Detailed implementation manners

[0042] In order to more clearly understand the above objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0043] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0044] The following provides a detailed description of an automatic identification method for the angular velocity conversion point in gyroscope scale factor measurement according to an embodiment of the present invention with reference to the accompanying drawings.

[0045] As Figure 1 shown, an automatic identification method for the angular velocity conversion point in gyroscope scale factor measurement according to an embodiment of the present invention includes the following steps.

[0046] Step S1: Perform scale factor measurement on the gyroscope through an angular rate turntable, set the measurement parameters in the scale factor measurement of the gyroscope, and measure the scale factor test data. The above measurement parameters are preset according to the characteristics of the gyroscope to be measured during the scale factor measurement, including the turntable angular velocity input matrix Ω = {Ω1, Ω2,...}, the angular velocity measurement time length t at each measurement rate point, and the turntable angular acceleration a. Optionally, it can be set that during the scale factor measurement, from the scale factor test data output by the gyroscope, output data with a length of N is collected as the scale data to be processed. This step S1 specifically includes the following steps.

[0047] Step S1.1: Perform scale factor measurement on the gyroscope through an angular rate turntable, install the gyroscope on the angular rate turntable, and preheat it after turning on the power of the gyroscope.

[0048] Step S1.2: Set the measurement parameters of the gyroscope in scale factor measurement, including programmatically setting the input matrix Ω = {Ω1, Ω2, …} of the turntable angular velocity of the angular rate turntable, the angular acceleration a of the angular rate turntable, the acquisition length t of the angular velocity measurement data at each test rate point, and start the angular rate turntable for scale factor testing.

[0049] Step S1.3: During the scale factor test, for the scale factor test data output from the gyroscope, take the data with a length of N as the scale data to be processed. Among them, each data point in the scale data to be processed includes the position w information in the scale data to be processed and the value y at this position. w . The scale data to be processed is the data with a length of N from the scale factor test data output from the gyroscope, indicating that the scale data to be processed includes N data points, and each data point has a corresponding value, that is, the scale data to be processed includes N values.

[0050] Step S2: For the scale data to be processed obtained by acquisition, use the sliding window algorithm to calculate the difference value of the sum of the values of the data points in different regions within the window, and record the absolute value of the difference value as the differential change value. See Figure 2 . This step S2 specifically includes the following steps.

[0051] Step S2.1: For a set of scale data to be processed with a length of N obtained, use a sliding window with a sliding window length of L, and slide from the starting point to the end point in sequence with a set fixed step size S. According to the turntable angular acceleration a and the acquisition length t of the angular velocity measurement data at each test rate point, adjust the sliding window length L and the fixed step size S to balance the sensitivity and anti-noise performance. It can be set that the sliding window length l and the fixed step size S are less than the acquisition length t of the angular velocity measurement data at each test rate point, and the fixed step size S is less than the sliding window length L. Use the sliding window algorithm to slide and scan the data points of the scale data to be processed in sequence, and a total of sliding windows are generated. Among them, the values of the data points within the k-th sliding window can be recorded as:

[0052] {y (k-1)S+1 ,y (k-1)S+2 ,…,y (k-1)S+L}

[0053] In the above formula, y (k-1)S+1 represents the value of the data point at the index (k - 1)S + 1, k is the index of the sliding window and

[0054] Optionally, according to needs, it can be set that both the sliding window length L and the fixed step size S are less than a set threshold. This threshold can be selected and set within the range of one-fifth times the acquisition length t of the angular velocity measurement data at each test rate point.

[0055] Step S2.2: During the sliding process, divide the data points in the sliding window into a left part and a right part. Among them, the flag for dividing the left and right parts of the data in the sliding window can be set according to the rotational speed input feature. By dividing the data points in the sliding window into left and right parts, the respective output features can be compared to facilitate the determination of whether there is an angular velocity conversion point in the sliding window.

[0056] For example, the left part and the right part of the sliding window can be set to be evenly distributed according to the length of the sliding window, that is, the length of the left part window is L / 2, and the length of the right part window is also L / 2.

[0057] Step S2.3: Taking the example where the lengths of the left part window and the right part window are equal. Calculate the sum of the numerical values of the data points in the left part window and the sum of the numerical values of the data points in the right part window within the sliding window respectively, and calculate the absolute value of their difference value, expressed as:

[0058]

[0059] where, F k represents the differential change value of the k-th sliding window, w represents the position index of the data point in the scale data to be processed, and y w represents the numerical value of the data point at position w.

[0060] The difference between the sum of the numerical values of the data points in the left part window and the sum of the numerical values of the data points in the right part window within the sliding window is the difference value of the sum of the numerical values of the data points in different regions of the sliding window.

[0061] Step S3: Set the differential change threshold matrix, including setting a differential change threshold A k for each differential change value F k , such that when the magnitude of the k-th differential change value F k is greater than its corresponding differential change threshold A k , it is considered that there is an angular velocity conversion point within the position index range of (k - 1)S + 1 to (k - 1)S + L in the scale data to be processed corresponding to k (i.e., the k-th sliding window). Record all the differential change values that meet this condition, that is, record all the sliding window index values whose differential change values are greater than their corresponding differential change thresholds as the obtained angular velocity conversion points. See Figure 3 .

[0062] Among them, set the threshold coefficient η and the comparison data length q, then the differential change threshold corresponding to the differential change value F k is:

[0063]

[0064] where, A k represents the differential change value fk Differential change threshold, F i represents the differential change value at index I.

[0065] Set the differential change thresholds corresponding to the differential change values of all sliding windows to obtain a differential change threshold matrix. This differential change threshold matrix is used for the determination of the above-mentioned angular velocity conversion points.

[0066] Step S4: Based on the obtained angular velocity conversion points, perform data slicing on the gyroscope scale data to be processed corresponding to them, obtain the average output of the gyroscope under each input rotation speed condition, calculate the scale factor parameter by the fitting method, and calculate indicators such as scale factor asymmetry, non-linearity, and repeatability, which are used to evaluate the dynamic performance of the gyroscope.

[0067] The following describes an embodiment of an automatic identification method for angular velocity conversion points in gyroscope scale factor measurement according to an embodiment of the present invention. Refer to Figures 2 to 5 , and the specific implementation steps of this embodiment are as follows.

[0068] Step S1: Install the gyroscope on the angular rate turntable, warm it up after turning on the gyroscope power; set the turntable angular velocity input matrix Ω (° / s) of the turntable = {0, ±0.1, ±0.5, ±1, ±5, ±13, ±20, ±60, 0}, the acquisition length t of the angular velocity measurement data at each measurement rate point = 480, and the turntable angular acceleration A = 10° / s 2 ; start the turntable for scale factor testing, and collect the output data of the gyroscope. The output data with a collection length of N = 6720 is used as the scale data to be processed. Among them, each data point in the scale data to be processed includes its relative position information w in the scale data to be processed and the numerical value y at this position w .

[0069] Step S2: As Figure 4 shown, subsequently, use the sliding window algorithm to perform point-by-point scanning from beginning to end on the scale data to be processed with a length of 6720. Set the scanning step size of the sliding window to S = 8, set the sliding window length to L = 40, and obtain a total of 836 sliding windows. Divide the sliding windows into a left part and a right part evenly according to the sliding window length, and their lengths are both 20. Calculate the sum of the data in the left part and the sum of the data in the right part within each sliding window, and calculate the differential change value F of each sliding window k .

[0070] Step S3: Set the threshold coefficient η = 10 and the comparison data length q = 10 to obtain the differential change threshold A corresponding to each differential change value F k . k For each differential change value F k, and its corresponding differential change threshold A k Compare them, and record all the differential change values F k that are greater than their corresponding differential change thresholds A k of the index k.

[0071] Each angular velocity conversion interval may contain multiple angular velocity conversion points. For each angular velocity conversion point to be recognized, there may be multiple sliding window index values recognized by the above steps. The sliding window index values within the same conversion interval are close to each other and aggregated. Take the difference between adjacent values in the obtained sliding window index values. It can be set that if the difference is much smaller than t / S, for example, less than t / 2S, it is considered that these two sliding window index values are close values, that is, the corresponding angular velocity conversion points appear in the same conversion interval. The above angular velocity conversion interval is the range from one angular velocity to another.

[0072] Among the obtained k values, take the difference between adjacent index k values. If the difference is much smaller than the acquisition length t / S, in this example, with the difference less than 30 as the limit, it is considered that two adjacent k values that satisfy the difference less than 30 are close values, that is, the angular velocity conversion points corresponding to these two adjacent k values appear in the same angular velocity conversion interval.

[0073] Step S4: As Figure 5 shown, based on the obtained angular velocity conversion points, perform data slicing on the gyroscope scale data to be processed, obtain the average output of the gyroscope under each input rotation speed condition, calculate the scale factor parameter by the fitting method, and at the same time, indicators such as scale factor asymmetry, non-linearity, and repeatability can be calculated to evaluate the dynamic performance of the gyroscope.

[0074] As Figure 5 shown, the recognition result of the angular velocity conversion points obtained in this embodiment is shown. After data slicing, the output results of the fiber optic gyroscope used in this example under each rotation speed input condition are shown in the following table. After fitting, the scale factor results are shown in the following table.

[0075]

[0076] It can be seen that according to an angular velocity conversion point automatic recognition method in gyroscope scale factor measurement provided by an embodiment of the present invention, based on the scale factor test data of the gyroscope, the specific position of the angular velocity conversion point can be processed, the implementation process is simple and reliable, the result is accurate, and it can be applied to batch testing and production of gyroscopes.

[0077] All the above optional technical solutions can be combined arbitrarily to form optional embodiments of the present application, which will not be elaborated here one by one.

[0078] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0079] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic recognition method for angular velocity conversion points in gyro scale factor measurement, characterized in that, It includes the following steps: Step S1: Measure the scale factor of the gyroscope through an angular rate turntable, set the measurement parameters of the gyroscope in the scale factor measurement, conduct the measurement and collect the scale factor test data obtained from the measurement, and extract the scale data to be processed therefrom; Step S2: For the obtained scale data to be processed, use the sliding window algorithm to calculate the difference value between the numerical sums of the data points in different regions within each sliding window, and record the absolute value of the difference value as the differential change value; Step S3: Set a differential change threshold matrix, including setting a corresponding differential change threshold for the differential change value of each sliding window, compare each differential change value with its corresponding differential change threshold, record all differential change values greater than their corresponding differential change thresholds, and record the sliding window index corresponding to the differential change value as the angular velocity conversion point; Step S4: Based on the obtained angular velocity conversion points, perform data slicing on the gyroscope scale data to be processed corresponding thereto, obtain the average output of the gyroscope under each input rotation speed condition, and obtain the scale factor parameters through fitting calculation for the dynamic performance evaluation of the gyroscope.

2. The automatic recognition method for the angular velocity conversion point in the gyro scale factor measurement according to claim 1, characterized in that Step S1 specifically includes: Step S1.1: Measure the scale factor of the gyroscope through an angular rate turntable, install the gyroscope on the angular rate turntable, and perform preheating after turning on the power of the gyroscope; Step S1.2: Set the measurement parameters of the gyroscope in the scale factor measurement, including programmatically setting the turntable angular velocity input matrix Ω = {Ω1, Ω2,...} of the angular rate turntable, the angular acceleration a of the angular rate turntable, and the angular velocity measurement data acquisition length t at each test rate point, and start the angular rate turntable for scale factor testing; Step S1.3: During the scale factor test process, for the scale factor test data output from the gyroscope, extract data with a length of N as the scale data to be processed, where each data point in the scale data to be processed includes its position information in the scale data to be processed and the value at that position.

3. The automatic recognition method for the angular velocity conversion point in the gyro scale factor measurement according to claim 2, characterized in that Step S2 specifically includes: Step S2.1: For the to-be-processed scale data with a length of N obtained, use a sliding window to slide from the starting point to the end point in sequence with a set fixed step size S. Among them, set the sliding window length to L, and a total of sliding windows are generated; Step S2.2: During the sliding process, divide the data in the sliding window into a left part and a right part, and compare the output characteristics of the left part and the right part; Step S2.3: Calculate the sum of the numerical values of the data points within the left part window of the sliding window and the sum of the numerical values of the data points within the right part window of the sliding window respectively, and calculate the absolute value of their difference value as the differential change value.

4. The automatic recognition method for the angular velocity conversion point in the gyro scale factor measurement according to claim 3, wherein In Step S2.1: Set the sliding window length L and the fixed step size S to be both less than one-fifth of the angular velocity measurement data acquisition length t at each test rate point.

5. The automatic identification method for the angular velocity conversion point in the gyro scale factor measurement according to claim 3, wherein In Step S2.1: The numerical value of the data point within the kth sliding window is denoted as: {y (k-1)S+1 ,y (k-1)S+2 ,…,y (k-1)S+L} In the above formula, y (k-1)S+1 represents the value of the data point at the index of (k - 1)S + 1 in the scale data to be processed, where k is the index of the sliding window and 6. The automatic identification method for angular velocity conversion points in gyro scale factor measurement according to claim 5, characterized in that, In Step S2.2: Divide the data in the sliding window evenly into a left part and a right part according to the sliding window length, and obtain that the length of the left part window is L / 2 and the length of the right part window is also L / 2.

7. The automatic recognition method for the angular velocity conversion point in the gyroscope scale factor measurement according to claim 6, characterized in that, Step S2.3 specifically includes: Calculate the difference value between the sum of the numerical values of the data points within the left part window and the sum of the numerical values of the data points within the right part window, and calculate the absolute value of the difference value as the differential change value: Among them, F k represents the difference change value of the k-th sliding window, w represents the position index of the data point in the scale data to be processed, and y w represents the numerical value of the data point at position w.

8. The automatic recognition method for the angular velocity conversion point in the gyro scale factor measurement according to claim 7, characterized in that The setting of the differential change threshold in Step S3 includes: Preset a threshold coefficient η and a comparison data length q, and set the differential change threshold as: Among them, A k represents the difference change value F of the k-th sliding window k corresponding difference change threshold, i represents the index of the sliding window, and F i represents the difference change value in the i-th sliding window; Set the difference change thresholds corresponding to the difference change values of all sliding windows to obtain a difference change threshold matrix.

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