Device and method for full-automatic testing of fiber-optic gyroscope

Abstract

The invention discloses a full-automatic testing device and method for a fiber-optic gyroscope, and belongs to the field of ground testing of fiber-optic gyroscopes. Comprising a base, a mounting flat plate and a single-shaft tool, the base is connected with the three-axis rotary table surface base and the mounting flat plate or the single-axis tool in the same reference and same base manner, so that three-dimensional alignment is ensured, and influence factors such as mounting errors are reduced; according to the invention, the base of the table-board of the three-axis turntable is connected with the base in design, so that under the condition that the table body is consistent with the base surface, the single-axis tool and the mounting flat plate under different test working conditions are respectively subjected to benchmark alignment mounting, and the lifelong use of one-time clamping and trimming is realized. The three different types of products are subjected to different tests, the final precision of the tested products is obtained by aligning the base, the mounting flat plate, the single-axis tool and the three-axis turntable platform base through the reference surfaces, a large amount of production time is saved, the product test precision is ensured, and the production efficiency is improved under the condition of limited human resources. The development progress of the medium-precision fiber-optic gyroscope is accelerated, the product node completion rate is improved, and the cost is reduced and the efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of fiber optic gyroscope testing, and involves the installation and testing of various fiber optic gyroscope single axes and components. Background Art

[0002] In recent years, as the technology for space-use fiber optic gyroscopes has matured, an increasing number of satellites are using them to measure angular velocity. Fiber optic gyroscopes do not require complex machining processes, making them easy to mass-produce and well-suited to the rapidly developing aerospace industry. With the widespread adoption of automated fiber optic gyroscope testing systems, their inner frame mounting systems are expected to become increasingly widespread. Appropriate system design can reduce labor intensity, increase product testing reliability, and ultimately enhance product competitiveness. Summary of the Invention

[0003] The technical problem addressed by this application is to overcome the shortcomings of existing technologies by providing a method and key device for fully automated testing of fiber optic gyroscopes (FOGs), enabling a three-axis test system to be easily compatible with three types of products: single-axis FOGs, 3S+1 FOG assemblies, and 3S FOG assemblies. This eliminates the need to rebalance the inner frame of the three-axis turntable when switching between products, simplifying the use of the three-axis turntable and lowering the barrier to entry, effectively improving the testing efficiency of various FOG products.

[0004] The technical solutions provided in this application are as follows:

[0005] A fully automatic testing device for a fiber optic gyroscope includes a base, a mounting plate, and a single-axis system. The three-axis turntable includes a turntable body and an inner frame rotatably connected to the turntable body. The base is fixedly connected to the inner frame and is located on one side of the inner frame's rotation axis. The inner frame is equipped with a counterweight on the other side of its own rotation axis.

[0006] The single-axis system is used to install a single-axis fiber optic gyroscope. The single-axis system can be detachably installed on the base;

[0007] The mounting plate is used to install the fiber optic gyroscope assembly. The fiber optic gyroscope assembly is a 3S+1 fiber optic gyroscope assembly or a 3S fiber optic gyroscope assembly. The mounting plate can be detachably mounted on the base.

[0008] The difference between the maximum and minimum values of the sum of the masses of the single-axis fiber optic gyroscope and the single-axis system, the sum of the masses of the 3S+1 fiber optic gyroscope assembly and the mounting plate, and the sum of the masses of the 3S fiber optic gyroscope assembly and the mounting plate is not greater than 0.5 kg.

[0009] When the mass difference between the 3S+1 fiber optic gyroscope assembly and the 3S fiber optic gyroscope assembly exceeds 0.5 kg, a counterweight is provided, and the counterweight and the lighter fiber optic gyroscope assembly are connected to the mounting plate.

[0010] The base is provided with at least two first protrusions, and the base is provided with multiple first base mounting holes on one side of the first protrusion. The side of the first protrusion facing the first base mounting hole is the first mounting surface, and one end of the mounting plate is the plate reference mounting surface. The plate reference mounting surface contacts the first mounting surface for positioning, and screws are passed through the connecting base mounting holes of the mounting plate and the first base mounting holes of the base to fix the base and the mounting plate.

[0011] The mounting plate is provided with a fiber optic gyroscope assembly mounting hole, and the fiber optic gyroscope assembly mounting hole is used to connect the assembly bracket of the 3S+1 fiber optic gyroscope assembly or the 3S fiber optic gyroscope assembly.

[0012] At least two second protrusions are provided on the base, and a plurality of second base mounting holes are provided on one side of the second protrusion. The side of the second protrusion facing the second base mounting hole is a second mounting surface. A single-axis reference mounting surface is provided on one side of the single-axis system. The single-axis reference mounting surface contacts the second mounting surface for positioning, and a screw is passed through the connection base mounting hole of the single-axis system and the second base mounting hole of the base to fix the single-axis system to the base.

[0013] The single-axis system is provided with a weight-reducing hole, which is used to reduce the weight of the single-axis system; the single-axis system is provided with a single-axis fiber optic gyroscope mounting hole and a fiber optic gyroscope connecting screw mounting hole, which is used to install the single-axis fiber optic gyroscope. The screw passes through the fixing hole on the single-axis fiber optic gyroscope and the fiber optic gyroscope connecting screw mounting hole to install and fix the single-axis fiber optic gyroscope on the single-axis system.

[0014] The single-axis system is provided with a connector pre-tightening hole seat, which is used to fix the connecting cable connected to the single-axis fiber optic gyroscope on the single-axis system.

[0015] The first mounting surface and the second mounting surface on the base have a verticality of 0.01 and a parallelism of 0.01; the flat plate reference mounting surface of the mounting plate has a verticality of 0.01 and a parallelism of 0.01; the single-axis reference mounting surface of the single-axis system has a verticality of 0.01 and a parallelism of 0.01.

[0016] A method for testing a device for fully automatic testing of a fiber optic gyroscope, comprising:

[0017] S1. Fiber optic gyroscope test items include scale factor test, zero bias test, installation error test, static test, and dead zone test. Different test items require the input axis of the fiber optic gyroscope to be in the direction of the set requirements. The fiber optic gyroscope is a single-axis fiber optic gyroscope or a fiber optic gyroscope assembly. The fiber optic gyroscope is mounted on the base through a mounting plate or a single-axis system, and the base is fixed to the inner frame of the turntable. For different test items, the target direction of the middle frame and the inner frame is adjusted to make the corresponding input axis of the fiber optic gyroscope meet the set requirements. The scale factor and zero bias tests require the fiber optic gyroscope input axis to be in a vertical state, while the installation error test and dead zone test require the corresponding axis of the fiber optic gyroscope to be pointed in the horizontal direction.

[0018] S2. When the outer frame, middle frame, and inner frame of the turntable are in their initial positions, the rotation axis of the outer frame is vertical, and the rotation axes of the middle frame and inner frame are horizontal;

[0019] S3. When testing the scale factor and zero bias of a single-axis fiber optic gyroscope, the middle frame of the three-axis turntable needs to be rotated 90°. Therefore, the initial positions of the outer frame, middle frame, and inner frame of the turntable can be 0°, 270.0°, 0° or 0°, 90.0°, 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame rotates to complete the test of each rate point. When testing the installation error and dead zone of a single-axis fiber optic gyroscope, the initial positions of the outer frame, middle frame, and inner frame are 0°, 0°, and 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame rotates to complete the rotation test.

[0020] S4. When testing the scale factor and zero bias of the fiber optic gyroscope assembly, G1, G2, and G3 need to be rotated to vertical positions respectively to test the single-axis fiber optic gyroscopes with the input axes pointing to G1, G2, and G3 in the fiber optic gyroscope assembly respectively.

[0021] Given that: the Y axis of the turntable zero coordinate system is parallel to the middle frame rotation axis; the inner frame mounting surface is parallel to the inner frame rotation axis; the normal of the inner frame mounting surface is in the same direction as G4 and has the same angle with G1, G2, and G3; G1, G2, and G3 are perpendicular to each other;

[0022] When G1 is adjusted to vertical, the angle the turntable needs to rotate is obtained by the following method:

[0023] The angle between the input axis of G1, G2, and G3 and the X axis is 54.73°; the three direction vectors obtained are:

[0024] G1=(x1,y1,z1);

[0025] G2=(x2,y2,z2);

[0026] G3=(x3,y3,z3);

[0027] The initial positions of the outer frame, middle frame, and inner frame are 0°, 270.0°, and 0°, respectively. The fiber optic gyroscope assembly is rotated 54.73° around the Y-axis of the turntable's zero-position coordinate system so that G1 points parallel to the X-axis. At this point, G1 points to the sky, and the initial positions of the outer frame, middle frame, and inner frame are 0°, 215.27°, and 0°, respectively. The turntable is rotated according to the initial positions of the outer frame, middle frame, and inner frame, and then the single-axis fiber optic gyroscope with the input axis pointing to G1 is tested.

[0028] When G2 and G3 are adjusted to vertical, the angles that the turntable needs to rotate are calculated based on the direction cosine matrix;

[0029] For G2, assuming that the fiber optic gyro assembly rotates by angle θ around the X-axis and by angle γ around the Y-axis, we have:

[0030]

[0031] Among them, * represents any value on the X-axis;

[0032] The values of θ and γ are obtained by solving the problem, and the turntable is rotated according to the values of θ and γ to make G2 vertical. Then, the single-axis fiber optic gyroscope with the input axis pointing to G2 is tested.

[0033] The base must be connected to the inner frame and mounting plate of the three-axis turntable or the single-axis system with the same datum and base to ensure three-dimensional alignment and reduce factors affecting installation errors. On the one hand, the base of the three-axis turntable table is connected to the base so that the table body and the base surface are consistent. Then, the single-axis system and mounting plate for different test conditions are aligned and installed with the same datum, achieving the goal of once-installed balancing and lifelong use. This installation method is particularly suitable for products produced in large batches. Different tests are performed on three different types of products. In layman's terms, the ultimate accuracy of the test product is achieved by aligning the base, mounting plate, single-axis system, and three-axis turntable platform base through the datum surface. In addition, the single-axis system can perform four single-axis fiber optic gyroscope tests simultaneously.

[0034] The beneficial effects of the present invention compared with the prior art are:

[0035] During the technical transformation of the three-axis turntable, a series of technological achievements were developed. One key technology was the development of a multifunctional shared system. This successful development enabled the three-axis test system to be easily compatible with three types of products: single-axis fiber optic gyroscopes, 3S+1 fiber optic gyroscope assemblies, and 3S fiber optic gyroscope assemblies. Due to the rational design of the system, the inner frame of the three-axis turntable does not need to be re-balanced when switching between products. This simplifies the use of the three-axis turntable, lowers the entry level for its use, and effectively improves the testing efficiency of various fiber optic gyroscope products. This significantly enhances the delivery capabilities of the single-axis team, reduces the impact of manpower shortages, increases production capacity, and reduces labor costs. Utilizing a shared system for the fiber optic gyroscope automated test system, this testing approach can accelerate the development of medium-precision fiber optic gyroscopes, improve product node completion rates, reduce costs, increase efficiency, and enhance the competitiveness of the inertial sensitivity center's products, even with limited human resources.

[0036] It has strong versatility and can be applied to a variety of test situations. It can perfectly handle complex and diverse test tasks, integrate and upgrade single test systems into comprehensive test systems, and improve test efficiency on the basis of reducing production costs. It can realize the testing of multiple products on one turntable, and comprehensively improve test capacity.

[0037] Simple operation reduces the workload of disassembly and assembly, and avoids the risk of product collision during system replacement. This multi-purpose system realizes multiple uses with one product. After installation, there is no need to disassemble or replace it. Simply install the corresponding product into the test hole of the corresponding model to start testing.

[0038] Save costs, save time to dismantle and replace different models of systems and calibrate flatness. Economically, by replacing four traditional test systems with one multi-purpose system, production costs are saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the base;

[0040] Figure 2 Installation diagram of flat panel combination for 3S / 3S+1;

[0041] Figure 3 Schematic diagram of assembling the 3S / 3S+1 mounting plate on the base;

[0042] Figure 4 It is a schematic diagram of a single-axis system;

[0043] Figure 5 This is a schematic diagram of the installation of a single shaft and a base;

[0044] Figure 6 This is a schematic diagram of the input axis pointing direction of a single-meter configuration gyroscope;

[0045] Figure 7 This is a schematic diagram of the orientation of the input axes of each gyroscope in the 3S fiber optic gyroscope assembly;

[0046] Figure 8 Schematic diagram of the orientation of the input axes of each gyroscope in the 3S+1 fiber optic gyroscope assembly.

[0047] Description of reference numerals: 1. base; 2. mounting plate; 3. single-axis system;

[0048] 11. First base mounting hole; 12. Second base mounting hole; 13. First mounting surface; 14. Second mounting surface; 15. Turntable base mounting hole;

[0049] 21. Flat plate reference mounting surface; 22. Connection base mounting hole; 23. Fiber optic gyroscope assembly mounting hole;

[0050] 31. Single-axis reference mounting surface; 32. Connection base mounting hole; 33. Weight reduction hole; 34. Connector pre-tightening hole seat; 35. Single-axis fiber optic gyroscope mounting hole; 36. Fiber optic gyroscope connection screw mounting hole. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of this application clearer, the embodiments disclosed in this application will be described in further detail below with reference to the accompanying drawings.

[0052] The embodiment of the present application discloses a fully automatic testing device for fiber optic gyroscopes, which enables the three-axis test system to be conveniently compatible with three types of products, including single-axis fiber optic gyroscopes, 3S+1 fiber optic gyroscope components, and 3S fiber optic gyroscope components. The input axis direction of the single-axis fiber optic gyroscope is shown as follows: Figure 6 As shown. Figure 8 As shown, the 3S+1 fiber optic gyroscope assembly includes an assembly bracket and four single-axis fiber optic gyroscopes connected to the assembly bracket, wherein the input axes of three of the single-axis fiber optic gyroscopes are perpendicular to each other, and the fourth single-axis fiber optic gyroscope has the same angle as the input axes of the other three single-axis fiber optic gyroscopes. The input axes of the four single-axis fiber optic gyroscopes are G1, G2, G3 and G4 respectively, G1, G2, G3 are perpendicular to each other, and G4 has the same angle with G1, G2, G3; as shown in FIG. Figure 7 As shown, the 3S fiber optic gyroscope assembly includes an assembly bracket and three single-axis fiber optic gyroscopes connected to the assembly bracket. The input axes of the three single-axis fiber optic gyroscopes are perpendicular to each other, and the input axes of the three single-axis fiber optic gyroscopes are G1, G2 and G3 respectively. Figure 1 、 Figure 2 and Figure 4 As shown, the device includes a base 1, a mounting plate 2 and a single-axis system 3.

[0053] The three-axis turntable consists of a turntable body, an outer frame, a middle frame, and an inner frame. The outer frame is rotatably connected to the turntable body, the middle frame is rotatably connected to the outer frame, and the inner frame is rotatably connected to the middle frame. The rotation axes of the outer, middle, and inner frames are perpendicular to each other. The base 1 is fixedly connected to the inner frame and located on one side of the inner frame's rotation axis. The inner frame is equipped with a counterweight on the other side of its own rotation axis.

[0054] The single-axis fiber optic gyroscope is mounted on the single-axis system 3, which is mounted on the base 1. The 3S+1 fiber optic gyroscope assembly and the 3S fiber optic gyroscope assembly are each mounted on the mounting plate 2, which is mounted on the base 1. The difference between the maximum and minimum values of the sum of the mass of the single-axis fiber optic gyroscope and the single-axis system, the sum of the mass of the 3S+1 fiber optic gyroscope assembly and the mounting plate, and the sum of the mass of the 3S fiber optic gyroscope assembly and the mounting plate is no more than 0.5 kg, so that the counterweight on the inner frame of the three-axis turntable does not need to be adjusted, and the three types of products (single-axis fiber optic gyroscope, 3S+1 fiber optic gyroscope assembly, and 3S fiber optic gyroscope assembly) can be tested. If the mass difference between the 3S+1 fiber optic gyroscope assembly and the 3S fiber optic gyroscope assembly exceeds 0.5 kg, an additional counterweight block needs to be provided, and the counterweight block and the lighter fiber optic gyroscope assembly are connected to the mounting plate to ensure the mass difference. If the mass difference is too large, it will make it difficult for the drive mechanism of the three-axis turntable to bear the load.

[0055] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the base 1 is provided with a first base mounting hole 11, a second base mounting hole 12, a first mounting surface 13, a second mounting surface 14 and a turntable base mounting hole 15; the mounting plate 2 is provided with a plate reference mounting surface 21, a connecting base mounting hole 22 and a fiber optic gyroscope assembly mounting hole 23; the single-axis system 3 is provided with a single-axis reference mounting surface 31, a connecting base mounting hole 32, a weight reduction hole 33, a connector pre-tightening hole seat 34, a single-axis fiber optic gyroscope mounting hole 35, and a fiber optic gyroscope connecting screw mounting hole 36.

[0056] The base 1 is fixedly connected to the inner frame via the turntable base mounting holes 15. The base 1 is provided with at least two first protrusions and at least two second protrusions. Multiple first base mounting holes 11 are provided on one side of the first protrusion. The side of the first protrusion facing the first base mounting holes 11 serves as a first mounting surface 13. One end of the mounting plate 2 serves as a plate reference mounting surface 21. The plate reference mounting surface 21 contacts the first mounting surface 13 for positioning. Screws passing through the connecting base mounting holes 22 of the mounting plate and the first base mounting holes 11 of the base secure the base 1 to the mounting plate 2. The FOG assembly mounting holes 23 are used to connect the assembly bracket of a 3S+1 FOG assembly or a 3S FOG assembly. The base 1 is provided with a plurality of second base mounting holes 12 on one side of the second protrusion. The side of the second protrusion facing the second base mounting hole 12 is a second mounting surface 14. A single-axis reference mounting surface 31 is provided on one side of the single-axis system 3. The single-axis reference mounting surface 31 contacts the second mounting surface 14 for positioning, and screws are passed through the connection base mounting hole 32 of the single-axis system 3 and the second base mounting hole 12 of the base 1 to fix the single-axis system 3 to the base 1. Figure 5 shown.

[0057] The weight-reducing hole 33 is an elongated or circular through-hole used to reduce the weight of the single-axis system 3. The single-axis fiber optic gyroscope mounting hole 35 and the fiber optic gyroscope connecting screw mounting hole 36 are used to secure the single-axis fiber optic gyroscope to the single-axis system 3. Four single-axis fiber optic gyroscope mounting holes 35 are provided, allowing the single-axis system 3 to accommodate four single-axis fiber optic gyroscopes. When four single-axis fiber optic gyroscopes are installed in the single-axis system 3, the input axes of the four single-axis fiber optic gyroscopes point in the same direction. The connector preload hole 34 is used to secure the connecting cable of the single-axis fiber optic gyroscope to the single-axis system 3 to prevent problems such as cable pulling.

[0058] The base 1 is connected to the reference surface of the inner frame of the three-axis turntable through the support surface 2-0, and the reference surface design of the mounting plate 2 and the single-axis system 3 is completed on the base 1. The verticality of the first mounting support surface 13 and the second mounting support surface 14 of the base 1 is 0.01, and the parallelism is 0.01; the verticality of the plate reference mounting support surface 21 of the mounting plate 2 is 0.01, and the parallelism is 0.01; the verticality of the single-axis reference mounting support surface 31 of the single-axis system is 0.01, and the parallelism is 0.01.

[0059] This patent utilizes a three-axis turntable and base 1 for benchmark alignment, which is then secured via eight turntable base mounting holes 15. This provides a reliable and suitable benchmark for the automated test system. The mounting plate is aligned and leveled using the plate base mounting surface 21 and the connection base mounting holes 22, forming a stable test platform on the base 1. The product is then installed via the fiber optic gyroscope assembly mounting holes 23, creating a closed-loop test system. The system is tightly connected, ensuring controllable errors through verticality and flatness. The single-axis system 3 is aligned and leveled using the single-axis base mounting surface 31 and the connection base mounting holes 32, forming a stable test platform on the base 1. The single-axis fiber optic gyroscope is then secured to the single-axis system 3 via the single-axis fiber optic gyroscope mounting holes 35 and the fiber optic gyroscope connection screw mounting holes 36. The connecting cable for the single-axis fiber optic gyroscope is secured to the single-axis system 3 via the connector preload hole 34, preventing low-level issues such as cable pulling and avoiding quality issues. At the same time, system-wide weight reduction through weight-reduction holes 33 effectively ensures the integrity of the test system. The system's weight reduction is outstanding, maintaining consistent quality control with the mounting plate, enabling single-step assembly and balancing, reducing repetitive operations and improving efficiency. Furthermore, a single platform can be used to test a wide range of product types through different system adapters, lowering the barrier to entry for three-axis turntables and effectively improving the testing efficiency of various fiber optic gyroscope products.

[0060] The present application also discloses a method for fully automatic testing of a fiber gyroscope. The method uses the above-mentioned fully automatic testing device for fiber gyroscopes to perform scale factor testing, zero bias testing, installation error testing, static testing, and dead zone testing, including:

[0061] S1. Fiber optic gyroscope tests include scale factor test, zero bias test, installation error test, static test, and dead zone test. The scale factor test, zero bias test, installation error test, and dead zone test require the input axis of the fiber optic gyroscope to be pointed in the right direction to meet certain requirements. Therefore, the key to using a three-axis turntable is that different test items require the corresponding test axis to be pointed to the target direction through the middle frame and inner frame. The scale factor and zero bias tests require the fiber optic gyroscope input axis to point to the sky or the ground, while the installation error test and dead zone test require the corresponding axis of the fiber optic gyroscope to point to the horizontal direction.

[0062] S2. When the outer frame, middle frame, and inner frame of the turntable are in their initial positions, the rotation axis of the outer frame is vertical, and the rotation axes of the middle frame and inner frame are horizontal;

[0063] S3. When testing the scale factor and zero bias of a single meter, the middle frame of the three-axis turntable needs to be rotated 90°. Therefore, the initial positions of the outer frame, middle frame, and inner frame of the turntable can be 0°, 270.0°, 0° or 0°, 90.0°, 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame completes the test of each rate point. When testing the installation error and dead zone of a single meter, the initial positions of the outer frame, middle frame, and inner frame are 0°, 0°, 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame completes the rotation test.

[0064] S4. When testing 3S or 3S+1, since the three axes G1, G2, and G3 are tilted, you need to rotate G1, G2, and G3 to the vertical or horizontal direction respectively.

[0065] exist Figure 7 In the coordinate system, it is known that the X-axis of the turntable zero-position coordinate system is parallel to the rotation axis of the outer frame, the X-axis is fixed and points to the sky, and the Y-axis of the turntable zero-position coordinate system is parallel to the rotation axis of the middle frame; the mounting surface of the inner frame is parallel to the rotation axis of the inner frame, and the normal of the mounting surface of the inner frame is in the same direction as G4 and has the same angle with G1, G2, and G3; G1, G2, and G3 are perpendicular to each other, and the angle between the input axes of the three axes and the X-axis is 54.73°, so the three direction vectors are:

[0066] G1=(x1,y1,z1);

[0067] G2=(x2,y2,z2);

[0068] G3=(x3,y3,z3);

[0069] G1 can be directed parallel to the X-axis by simply rotating the fiber optic gyroscope assembly 54.73° around the Y-axis. When X points to the sky, the initial positions of the outer frame, middle frame, and inner frame can be 0°, 270.0°, and 0°. Therefore, after rotating the fiber optic gyroscope assembly 54.73° around the Y-axis (the turntable middle frame), the initial positions of the outer frame, middle frame, and inner frame can be 0°, 215.27°, and 0°.

[0070] For G2 and G3, we need to use the direction cosine matrix to complete it. Here we take G2 as an example. Assume that the fiber optic gyroscope rotates around the X axis by an angle of θ and around the Y axis by an angle of γ, then:

[0071]

[0072] Among them, * represents the value on the X-axis, and * is an arbitrary value;

[0073] The solution is:

[0074]

[0075] It can be solved that when the G2 input axis is required to be in the vertical direction, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 294.09°, 309.23°; when the channel G3 input axis is vertical, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 294.09°, 50.73°. During the rate test, only the outer frame rotates;

[0076] Similarly, for the 3S+1 component test, when the input axis of channel G1 is vertical, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 144.73°, 0°; when the input axis of channel G2 is vertical, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 65.91°, 309.23°; when the input axis of channel G3 is vertical, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 65.91°, 50.77°; when the input axis of channel G4 is vertical, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 270.0°, 0°. During the rate test, only the outer frame rotates.

[0077] For each of the above situations, according to the general national military standard test method, complete 0° / s, ±0.001° / s, ±0.005° / s, ±0.01° / s, ±0.05° / s, ±0.1° / s, ±0.5° / s, ±1° / s, ±5° / s, ±10° / s, and ±20° / s in sequence.

[0078] During testing, if you need to set the input axis of each channel to point horizontally, use a similar angle determination method, and the details will not be repeated here.

[0079] Specifically, for scale factor testing, after the three-axis turntable is reset to zero, the outer, middle, and inner frames are positioned at 0°, 0°, and 0°, with the FOG's angle input axis horizontal. When testing a single-axis FOG, the outer, middle, and inner frames of the three-axis turntable are initially positioned at 0°, 270.0°, and 0°, pointing the FOG's input axis upward. During the rate test, only the outer frame rotates.

[0080] The 3S gyro assembly test is divided into three steps. When testing channel G1, the initial positions of the three-axis turntable's outer, middle, and inner frames are: 0°, 215.27°, 0°; when testing channel G2, the initial positions of the three-axis turntable's outer, middle, and inner frames are: 0°, 294.09°, 309.23°; when testing channel G3, the initial positions of the three-axis turntable's outer, middle, and inner frames are: 0°, 294.09°, 50.73°. During the rate test, only the outer frame rotates.

[0081] The 3S+1 component test is divided into four steps. When testing channel G1, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 144.73°, 0°; when testing channel G2, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 65.91°, 309.23°; when testing channel G3, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 65.91°, 50.77°; when testing channel G4, the initial positions of the outer frame, middle frame, and inner frame of the three-axis turntable are: 0°, 270.0°, 0°. During the rate test, only the outer frame rotates.

[0082] For each of the above situations, according to the general national military standard test method, complete 0° / s, ±0.001° / s, ±0.005° / s, ±0.01° / s, ±0.05° / s, ±0.1° / s, ±0.5° / s, ±1° / s, ±5° / s, ±10° / s, and ±20° / s in sequence.

[0083] The test is achieved by adjusting the rotation of the outer frame, the middle frame and the inner frame without adjusting the position of the single-axis fiber optic gyroscope or the fiber optic gyroscope assembly.

[0084] The testing method and device of this application can accelerate the development of medium-precision fiber optic gyroscopes (FOGs) under limited human resources, improve product node completion rates, and reduce costs and increase efficiency. This system is highly efficient, offers excellent and reliable positioning accuracy, and can also reduce worker labor intensity, making it widely applicable for testing.

[0085] The contents not described in detail in this application specification are common knowledge to those skilled in the art.

[0086] The present application has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present application. Those skilled in the art will appreciate that, without departing from the spirit and scope of the present application, various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present application, all of which fall within the scope of the present application. The scope of protection of the present application shall be determined by the appended claims.

Claims

1. A fully automatic testing device for a fiber optic gyroscope, characterized by: The three-axis turntable comprises a base (1), a mounting plate (2) and a single-axis system (3); the three-axis turntable comprises a turntable body and an inner frame rotatably connected to the turntable body, the base (1) is fixedly connected to the inner frame and is located on one side of the inner frame's rotation axis, and the inner frame is provided with a counterweight on the other side of its own rotation axis; The single-axis system (3) is used to install the single-axis fiber optic gyroscope, and the single-axis system (3) can be detachably installed on the base (1); The mounting plate (2) is used for mounting a fiber optic gyroscope assembly, wherein the fiber optic gyroscope assembly is a 3S+1 fiber optic gyroscope assembly or a 3S fiber optic gyroscope assembly. The mounting plate (2) is detachably mounted on the base (1).

2. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The difference between the maximum and minimum values of the sum of the masses of the single-axis fiber optic gyroscope and the single-axis system, the sum of the masses of the 3S+1 fiber optic gyroscope assembly and the mounting plate, and the sum of the masses of the 3S fiber optic gyroscope assembly and the mounting plate is not greater than 0.5 kg.

3. The device for fully automatic testing of a fiber optic gyroscope according to claim 2, characterized in that: When the mass difference between the 3S+1 fiber optic gyroscope assembly and the 3S fiber optic gyroscope assembly exceeds 0.5 kg, a counterweight is provided, and the counterweight and the lighter fiber optic gyroscope assembly are connected to the mounting plate.

4. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The base (1) is provided with at least two first protrusions, and the base (1) is provided with a plurality of first base mounting holes (11) on one side of the first protrusion, and the side of the first protrusion facing the first base mounting hole (11) is a first mounting support surface (13), and one end of the mounting plate (2) is a plate reference mounting support surface (21), and the plate reference mounting support surface (21) contacts the first mounting support surface (13) for positioning, and screws are passed through the connecting base mounting hole (22) of the mounting plate (2) and the first base mounting hole (11) of the base to fix the base (1) and the mounting plate (2).

5. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The mounting plate (2) is provided with a fiber optic gyroscope assembly mounting hole (23), and the fiber optic gyroscope assembly mounting hole (23) is used for connecting an assembly bracket of a 3S+1 fiber optic gyroscope assembly or a 3S fiber optic gyroscope assembly.

6. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The base (1) is provided with at least two second protrusions, and the base (1) is provided with a plurality of second base mounting holes (12) on one side of the second protrusions. The side of the second protrusion facing the second base mounting hole (12) is a second mounting surface (14). A single-axis reference mounting surface (31) is provided on one side of the single-axis system (3). The single-axis reference mounting surface (31) contacts the second mounting surface (14) for positioning, and a screw is passed through the connection base mounting hole (32) of the single-axis system (3) and the second base mounting hole (12) of the base (1) to fix the single-axis system (3) to the base (1).

7. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The single-axis system (3) is provided with a weight-reducing hole (33), and the weight-reducing hole (33) is used to reduce the weight of the single-axis system (3); The single-axis system (3) is provided with a single-axis fiber optic gyroscope mounting hole (35) and a fiber optic gyroscope connecting screw mounting hole (36). The single-axis fiber optic gyroscope mounting hole (35) is used to mount the single-axis fiber optic gyroscope. A screw passes through the fixing hole on the single-axis fiber optic gyroscope and the fiber optic gyroscope connecting screw mounting hole (36) to mount and fix the single-axis fiber optic gyroscope on the single-axis system (3).

8. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The single-axis system (3) is provided with a connector pre-tightening hole seat (34), and the connector pre-tightening hole seat (34) is used to fix a connecting cable connected to the single-axis fiber optic gyroscope on the single-axis system (3).

9. The device for fully automatic testing of a fiber optic gyroscope according to claim 1, characterized in that: The verticality of the first mounting surface (13) and the second mounting surface (14) on the base (1) is 0.01, and the parallelism is 0.01; the verticality of the flat plate reference mounting surface (21) of the mounting plate (2) is 0.01, and the parallelism is 0.01; the verticality of the single-axis reference mounting surface (31) of the single-axis system is 0.01, and the parallelism is 0.

01.

10. The method for testing a fiber optic gyroscope fully automatic testing device according to any one of claims 1 to 9, characterized in that: include: S1. The test items of fiber optic gyroscope include scale factor test, zero bias test, installation error test, static test, and dead zone test; Different test items require that the input axis of the fiber optic gyroscope be directed to meet set requirements; the fiber optic gyroscope is a single-axis fiber optic gyroscope or a fiber optic gyroscope assembly; the fiber optic gyroscope is mounted on a base (1) via a mounting plate (2) or a single-axis system (3), and the base (1) is fixed to an inner frame of a turntable; for different test items, the target direction of the middle frame and the inner frame is adjusted so that the input axis corresponding to the fiber optic gyroscope is directed to meet set requirements; the scale factor and zero bias test require that the input axis of the fiber optic gyroscope be in a vertical state, and the installation error test and the dead zone test require that the corresponding axis of the fiber optic gyroscope be directed to a horizontal direction; S2. When the outer frame, middle frame, and inner frame of the turntable are in their initial positions, the rotation axis of the outer frame is vertical, and the rotation axes of the middle frame and inner frame are horizontal; S3. When testing the scale factor and zero bias of a single-axis fiber optic gyroscope, the middle frame of the three-axis turntable needs to be rotated 90°. Therefore, the initial positions of the outer frame, middle frame, and inner frame of the turntable can be 0°, 270.0°, 0° or 0°, 90.0°, 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame rotates to complete the test of each rate point. When testing the installation error and dead zone of a single-axis fiber optic gyroscope, the initial positions of the outer frame, middle frame, and inner frame are 0°, 0°, and 0°. During the test, the middle frame and inner frame do not rotate, and the outer frame rotates to complete the rotation test. S4. When testing the scale factor and zero bias of the fiber optic gyroscope assembly, G1, G2, and G3 need to be rotated to vertical positions respectively to test the single-axis fiber optic gyroscopes with the input axes pointing to G1, G2, and G3 in the fiber optic gyroscope assembly respectively. Given that: the Y axis of the turntable zero coordinate system is parallel to the middle frame rotation axis; the inner frame mounting surface is parallel to the inner frame rotation axis; the normal of the inner frame mounting surface is in the same direction as G4 and has the same angle with G1, G2, and G3; G1, G2, and G3 are perpendicular to each other; When G1 is adjusted to vertical, the angle that the turntable needs to rotate is obtained by the following method: The angles between the input axes of G1, G2, and G3 and the X-axis are all 54.73°; the three direction vectors obtained are: G1=(x1,y1,z1); G2=(x2,y2,z2); G3=(x3,y3,z3); The initial positions of the outer frame, middle frame, and inner frame are 0°, 270.0°, and 0°, respectively. The fiber optic gyroscope assembly is rotated 54.73° around the Y-axis of the turntable's zero-position coordinate system so that G1 points parallel to the X-axis. At this point, G1 points to the sky, and the initial positions of the outer frame, middle frame, and inner frame are 0°, 215.27°, and 0°, respectively. The turntable is rotated according to the initial positions of the outer frame, middle frame, and inner frame, and then the single-axis fiber optic gyroscope with the input axis pointing to G1 is tested. When G2 and G3 are adjusted to vertical, the angles that the turntable needs to rotate are calculated based on the direction cosine matrix; For G2, assuming that the fiber optic gyro assembly rotates by angle θ around the X-axis and by angle γ around the Y-axis, we have: Among them, * represents any value on the X-axis; The values of θ and γ are obtained by solving the problem, and the turntable is rotated according to the values of θ and γ to make G2 vertical. Then, the single-axis fiber optic gyroscope with the input axis pointing to G2 is tested.

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