Three-axis fiber-optic gyroscope synchronous output system and method

Abstract

The invention discloses a triaxial fiber-optic gyroscope synchronous output system and method, and relates to the technical field of inertial navigation, and the triaxial fiber-optic gyroscope synchronous output system comprises a clock distribution module, a temperature compensation modeling module, a reference axis selection module, a time delay compensation configuration module, a synchronous output control module and a state monitoring module. The clock distribution module generates a reference clock signal and distributes the reference clock signal to the three-axis data processing unit; the temperature compensation modeling module establishes temperature compensation models of all axes in a segmented mode according to temperature intervals. The reference axis selection module adopts a TOPSIS multi-criterion decision-making method to determine optimal reference axes in different temperature intervals; the time delay compensation configuration module calculates and configures time delay compensation parameters, so that the output moments of the three-axis data are aligned; and the synchronous output control module generates a data updating pulse to trigger three-axis synchronous output. According to the invention, through a temperature-adaptive reference axis selection and time delay compensation technology, the synchronization precision and stability of the three-axis fiber-optic gyroscope in a temperature change environment are improved, and high-precision synchronous output is realized.

Description

Technical Field

[0001] The present invention relates to the field of inertial navigation technology, and in particular to a three-axis fiber optic gyroscope synchronous output system and method. Background Art

[0002] As a core component of inertial navigation systems, three-axis fiber optic gyroscopes (FOGs) are widely used in aerospace, ship navigation, precision measurement, and other fields. In practical applications, three orthogonal FOGs are required to synchronously output angular velocity data to ensure the accuracy and reliability of navigation solutions.

[0003] Existing three-axis fiber optic gyroscope (FOG) systems face the following technical challenges regarding synchronization output: First, temperature fluctuations affect the signal processing delay characteristics of each axis. Due to the varying temperature characteristics of each axis, the existing system's fixed delay compensation parameters are unable to adapt to temperature variations. This results in deviations in the data output timing of each axis when operating over a wide temperature range, affecting synchronization accuracy. Second, existing systems typically select a fixed axis as the synchronization reference. However, the performance of each axis varies under different environmental conditions, making it difficult to maintain optimal stability under all operating conditions for a fixed reference axis, impacting overall synchronization performance. Summary of the Invention

[0004] In view of the above existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides a three-axis fiber optic gyroscope synchronous output system and method for solving the technical problems of temperature changes affecting the delay characteristics of each axis and the lack of a dynamic reference axis selection mechanism.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a three-axis fiber optic gyroscope synchronous output system, comprising:

[0008] A clock distribution module is used to generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes;

[0009] The temperature compensation modeling module is used to obtain the test data of the three-axis fiber optic gyroscope under various environmental conditions and establish the temperature compensation model of each axis in sections according to the temperature range;

[0010] The reference axis selection module is used to calculate the performance indicators of each axis based on test data and determine the optimal reference axis in different temperature ranges using the TOPSIS multi-criteria decision-making method with differentiated weights for temperature zones;

[0011] The delay compensation configuration module is used to select the corresponding delay characteristic model and optimal reference axis according to the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time;

[0012] The synchronous output control module is used to generate a data update pulse according to the reference clock signal. When the data update pulse arrives, it triggers the three-axis fiber optic gyroscope to synchronously output angular velocity data.

[0013] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, it further includes: a state monitoring module for real-time monitoring of temperature changes and three-axis output time stamp deviations, and triggering reference axis reselection and delay recompensation when failure conditions are met;

[0014] Failure conditions include temperature variation exceeding a preset temperature threshold or timestamp deviation exceeding a preset synchronization accuracy threshold.

[0015] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the clock distribution module includes:

[0016] Stabilize the original clock signal generated by the external clock source to generate a reference clock signal;

[0017] Performing signal conditioning on the reference clock signal;

[0018] Distributing the conditioned reference clock signal into four reference clock signals, and performing phase calibration on each reference clock signal;

[0019] The four reference clock signals are transmitted to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes and the central synchronization controller respectively through the transmission line;

[0020] Detect the quality of the clock signals received by each data processing unit and the central synchronization controller, and output an alarm signal when the clock signal quality is abnormal.

[0021] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the temperature compensation modeling module includes:

[0022] Configure temperature test parameter set;

[0023] Under different temperature conditions, the signal processing delay and corresponding temperature parameters of the X-axis, Y-axis, and Z-axis fiber optic gyroscope data output were recorded;

[0024] The relationship between the signal processing delay and temperature of each axis is fitted by the piecewise least squares method, and the temperature compensation model of each axis is established according to the temperature range.

[0025] The accuracy of the temperature compensation model was evaluated through residual analysis and cross-validation, and the model parameters with the best fitting effect were selected based on actual working conditions.

[0026] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the reference axis selection module includes:

[0027] Calculate the delay stability index and temperature sensitivity index of each axis based on the test data;

[0028] Determine the differentiation weight coefficient based on the temperature range division results and the relative importance of indicators in each temperature range;

[0029] Construct a TOPSIS decision matrix for each temperature range and calculate the comprehensive performance score of each axis in different temperature ranges;

[0030] Based on the comparison of the comprehensive performance scores of each axis, the optimal reference axis for each temperature range is determined.

[0031] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the delay compensation configuration module includes:

[0032] Determine the temperature range according to the current ambient temperature, and select the delay characteristic model and optimal reference axis corresponding to the temperature range;

[0033] Calculate the signal processing delay of each axis based on the selected delay characteristic model;

[0034] Taking the signal processing delay of the reference axis as a reference, calculate the delay compensation amount of the non-reference axis relative to the optimal reference axis;

[0035] According to the delay compensation amount, configure the corresponding delay compensation parameters in the data output channel of the non-reference axis.

[0036] As a preferred solution of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the synchronous output control module includes:

[0037] The central synchronization controller generates a data update pulse by frequency division based on the received reference clock signal;

[0038] Synchronously distribute the data update pulses to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes through dedicated synchronization signal lines;

[0039] When the data update pulse arrives, each axis data processing unit simultaneously triggers angular velocity data acquisition and processing;

[0040] The data output timing is controlled according to the configured delay compensation parameters so that the three-axis fiber optic gyroscope outputs angular velocity data at the same time.

[0041] In a second aspect, the present invention provides a three-axis fiber optic gyroscope synchronous output method, comprising:

[0042] Generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes;

[0043] Acquire test data of a three-axis fiber optic gyroscope under various environmental conditions and establish temperature compensation models for each axis in sections according to temperature ranges;

[0044] The performance indicators of each axis are calculated based on test data, and the TOPSIS multi-criteria decision-making method with differentiated weights for temperature zones is used to determine the optimal reference axis in different temperature ranges. The performance indicators include time delay stability and temperature sensitivity.

[0045] Select the corresponding delay characteristic model and optimal reference axis based on the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time.

[0046] Generate a data update pulse based on the reference clock signal, and when the data update pulse arrives, trigger the three-axis fiber optic gyroscope to synchronously output angular velocity data;

[0047] Real-time monitoring of temperature changes and three-axis output timestamp deviations, triggering reference axle reselection and delay recompensation when failure conditions are met.

[0048] In a third aspect, the present invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, any step of the three-axis fiber optic gyroscope synchronous output system as in the first aspect of the present invention is implemented.

[0049] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the three-axis fiber optic gyroscope synchronous output system as in the first aspect of the present invention is implemented.

[0050] The beneficial effects of the present invention are as follows: the present invention improves the synchronization accuracy and stability of the three-axis fiber optic gyroscope in a temperature-changing environment through temperature-adaptive reference axis selection and time delay compensation technology, and realizes high-precision synchronization output. Through the differentiated reference axis selection mechanism based on TOPSIS multi-criteria decision-making, the optimal reference axis can be automatically selected according to the performance indicators of different temperature ranges, avoiding the problem of performance degradation of the traditional fixed reference axis when the temperature changes, and improving environmental adaptability. Through segmented temperature compensation modeling and real-time status monitoring technology, dynamic adjustment of temperature compensation parameters and fault self-healing functions are realized. When the temperature change exceeds the threshold or the synchronization accuracy deviation, the compensation parameters can be automatically reconfigured, ensuring the reliability and consistency of long-term operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 This is the module connection diagram of the three-axis fiber optic gyroscope synchronous output system.

[0053] Figure 2 This is the processing flow chart of the clock distribution module of the three-axis fiber optic gyroscope synchronous output system.

[0054] Figure 3 This is the processing flow chart of the reference axis selection module of the three-axis fiber optic gyroscope synchronous output system.

[0055] Figure 4 Flowchart of the three-axis fiber optic gyroscope synchronous output method. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0057] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0058] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0059] Reference Figures 1 to 4 , is an embodiment of the present invention, which provides a three-axis fiber optic gyroscope synchronous output system, the module connection diagram is as follows Figure 1 As shown, the following steps are included:

[0060] The clock distribution module is used to generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes.

[0061] The temperature compensation modeling module is used to obtain the test data of the three-axis fiber optic gyroscope under various environmental conditions and establish the temperature compensation model of each axis in sections according to the temperature range.

[0062] The reference axis selection module is used to calculate the performance indicators of each axis based on the test data, and use the TOPSIS multi-criteria decision-making method with differentiated weights of temperature zones to determine the optimal reference axis in different temperature ranges.

[0063] The delay compensation configuration module is used to select the corresponding delay characteristic model and optimal reference axis according to the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time.

[0064] The synchronous output control module is used to generate a data update pulse according to the reference clock signal. When the data update pulse arrives, it triggers the three-axis fiber optic gyroscope to synchronously output angular velocity data.

[0065] The condition monitoring module is used to monitor temperature changes and three-axis output timestamp deviations in real time, and trigger reference axle reselection and delay recompensation when failure conditions are met.

[0066] It should be noted that the three-axis fiber optic gyroscope synchronized output system of the present invention is suitable for applications with high requirements for angular velocity measurement accuracy and data synchronization, such as inertial navigation systems, attitude measurement devices, and platform stability control systems. In these applications, the time synchronization of the three-axis data can affect the accuracy of the subsequent attitude solution.

[0067] Specifically, the clock distribution module processing flow chart is as follows: Figure 2 As shown, this involves stabilizing the raw clock signal generated by an external clock source to generate a reference clock signal. The external clock source can be an atomic clock, a highly stable crystal oscillator, a clock signal output by a GPS receiver, or other high-precision clock references. The choice of external clock source depends on the synchronization accuracy requirements, cost budget, environmental conditions, and application scenario. Furthermore, stabilization processing includes phase-locked loop (PLL) processing and filtering. The PLL process improves the frequency stability of the clock signal and reduces phase noise, while filtering suppresses high-frequency noise and phase jitter.

[0068] Furthermore, the reference clock signal undergoes signal conditioning, including signal amplitude adjustment and signal edge shaping. Signal amplitude adjustment uses an adjustable gain circuit to adjust the amplitude of the reference clock signal to the rated input level of each axis' fiber optic gyroscope data processing unit, and sets limiter protection to prevent signal overload. Signal edge shaping uses a comparator circuit to shape the rising and falling edges of the clock signal, eliminating edge jitter during transmission and ensuring the clock signal has clear transition characteristics and a stable duty cycle.

[0069] Next, the conditioned reference clock signal is distributed into four reference clock signals, and each reference clock signal is phase-calibrated to eliminate internal delay differences in the distributor. Phase calibration involves detecting the phase differences between the reference clock signals and aligning them using an adjustable delay circuit. The four reference clock signals are transmitted via transmission lines to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes, as well as to a central synchronization controller. Each axis's data processing unit uses the reference clock signal to drive its internal data acquisition and processing circuits, while the central synchronization controller uses the reference clock signal to generate data update pulses, which uniformly control the data output timing of each axis.

[0070] Optionally, the quality of the clock signals received by each data processing unit and the central synchronization controller is detected. When the clock signal quality is abnormal, an alarm signal is output and the abnormal information is recorded. Abnormal clock signal quality means that the frequency deviation exceeds a preset range or the signal is lost. The preset range is determined by the synchronization accuracy index and the operating frequency tolerance requirement of the fiber optic gyroscope.

[0071] Preferably, the processing flow of the temperature compensation modeling module includes: configuring a temperature test parameter set, setting test temperature points to cover the operating temperature range, the distribution of test temperature points should cover the entire operating temperature range of the fiber optic gyroscope, controlling the temperature change rate to avoid temperature shock, setting an appropriate temperature stabilization time to ensure measurement accuracy, and controlling the temperature change rate and stabilization time. Under different temperature conditions, the signal processing delay and corresponding temperature parameters of the X-axis, Y-axis, and Z-axis fiber optic gyroscope data output are recorded to generate a test data set.

[0072] Furthermore, the piecewise least squares method is used to fit the relationship between the signal processing delay and temperature of each axis, and the temperature compensation model of each axis is established according to the temperature interval, specifically including: analyzing the change trend of the delay-temperature data, and determining the temperature interval division scheme according to the first-order derivative change gradient and inflection point characteristics; using the least squares method to perform polynomial fitting on the data points in each temperature interval, determining the fitting order according to the number of data points and the fitting accuracy requirements, and obtaining the fitting coefficient of each temperature interval; verifying the continuity of the function value at the boundary of adjacent intervals, calculating the function value difference of the fitting function of adjacent temperature intervals at the boundary temperature points as the continuity error, and when the continuity error exceeds the continuity error threshold, adjusting the temperature interval boundary position and refitting until the continuity requirements are met. The continuity error threshold is determined according to the fiber optic gyroscope measurement accuracy requirements and the temperature compensation effect; establishing a temperature compensation model for each axis, including the fitting function type, fitting coefficient and applicable temperature range.

[0073] The temperature interval division scheme is determined as follows: first, the time delay-temperature data of each axis is preprocessed, and a sliding window smoothing filter is used to remove measurement noise; the first-order derivative of the time delay with respect to temperature is calculated, and the slope value of each temperature point is obtained using the central difference method or the forward difference method; the gradient of the first-order derivative is analyzed, and the difference between the derivative values of adjacent temperature points is calculated. The derivative mutation points are identified as candidate segmentation points based on the multiple relationship of the derivative standard deviation; the second-order derivative is further calculated, and the temperature points where the second-order derivative is zero or changes in sign are identified as inflection points; the first-order derivative gradient change and inflection point location information are integrated, combined with the requirement for the balance of the number of data points within the temperature interval, and the temperature interval segmentation scheme is finally determined to ensure that the relationship between the time delay and temperature in each temperature interval has good monotonicity and linear characteristics.

[0074] It should be noted that the segmented least squares method is chosen because the relationship between the signal processing delay and temperature of the fiber optic gyroscope is nonlinear, and has different changing patterns in different temperature ranges. The use of segmented modeling can obtain higher fitting accuracy in each temperature range, while reducing the computational complexity and meeting the application requirements of real-time temperature compensation.

[0075] Furthermore, the model accuracy was evaluated through residual analysis and cross-validation, and the model parameters with the best fitting effect were selected based on actual operating conditions. Specifically, the residual statistics of each axis temperature compensation model in each temperature range, including the root mean square error and the maximum residual value, were calculated to evaluate the model fitting quality. The generalization ability and prediction accuracy of each axis temperature compensation model were evaluated using the K-fold cross-validation method to verify the model stability. The model compensation effect was verified under actual operating conditions, and the time delay deviation and synchronization accuracy of each axis before and after compensation were compared. If the synchronization accuracy did not meet the preset accuracy requirements, the model parameters were optimized based on the residual analysis and cross-validation results until the temperature compensation model of each axis met the preset accuracy requirements or the maximum number of optimization attempts was reached. The preset accuracy requirements were determined based on the synchronization accuracy indicators of the three-axis fiber optic gyroscope.

[0076] Preferably, the segmented least squares modeling can effectively capture the changes in the nonlinear characteristics of the fiber optic gyroscope in different temperature ranges, and reasonably determine the boundaries of the temperature range through gradient analysis and inflection point identification, so that each range has good fitting characteristics and small modeling residuals. Independent modeling is used for the different temperature response characteristics of the three axes X, Y, and Z to effectively eliminate the temperature sensitivity differences between the axes and improve the synchronization accuracy and response consistency. The comprehensive evaluation mechanism combined with residual statistical analysis, cross-validation and actual working condition verification makes the temperature compensation model have good mathematical properties and can play a stable compensation effect in the actual application environment. Through the technical architecture of segmented precise modeling, multi-dimensional independent compensation, and multi-layer verification optimization, the temperature compensation accuracy is improved, and the measurement accuracy and working stability of the three-axis fiber optic gyroscope in complex temperature environments are improved.

[0077] Preferably, the reference axis selection module processing flow chart is as follows Figure 3 As shown, it includes: calculating the delay stability index and temperature sensitivity index of each axis based on the test data. The delay stability index is selected because the stability of the reference axis directly affects the synchronization accuracy of the data of each axis. The temperature sensitivity index is selected because the axis with low temperature sensitivity is more suitable as the benchmark for each temperature range.

[0078] More specifically, the delay stability indicators include the delay standard deviation and the delay coefficient of variation, and the temperature sensitivity indicators include the temperature coefficient and the delay temperature nonlinearity. The delay standard deviation is obtained by statistically analyzing repeated measurement data of the signal processing delay of each axis under the same temperature conditions. The delay coefficient of variation is obtained by calculating the ratio of the delay standard deviation to the average signal processing delay value. The temperature coefficient is obtained by performing linear regression analysis on the test data to obtain the slope of the regression line. For cases with obvious nonlinear relationships, piecewise linear regression or calculation of the average temperature coefficient is used. The delay temperature nonlinearity is obtained by comparing the actual signal processing delay-temperature data points with the fitted curve and calculating the maximum relative deviation between the actual value and the fitted value.

[0079] Next, based on the temperature range division results and the relative importance of the indicators within each temperature range, differentiated weight coefficients were determined. This involved analyzing the data distribution characteristics of the delay stability and temperature sensitivity indicators within each temperature range, determining the relative importance of each indicator in different temperature ranges based on the degree of dispersion and variation of the indicator values, and calculating the weight coefficient matrix for each temperature range. By setting differentiated weight coefficients, adaptive optimization can be performed based on the characteristics of different temperature ranges, improving the accuracy of reference axis selection and synchronization precision.

[0080] Furthermore, a TOPSIS decision matrix was constructed for each temperature range, and the comprehensive performance score of each axis in different temperature ranges was calculated. The steps are as follows: Using each axis's delay stability index and temperature sensitivity index as evaluation criteria, an initial decision matrix was constructed for each temperature range; the initial decision matrix was normalized using a vector normalization method to eliminate the influence of the index dimensions; a weighted standardized decision matrix was constructed using differentiated weight coefficients, and the positive and negative ideal solutions were determined based on the weighted standardized decision matrix; the distance parameters from the X-axis, Y-axis, and Z-axis to the positive and negative ideal solutions were calculated, and the relative closeness was calculated based on the distance parameters. The closer the value is to 1, the better the comprehensive performance of the axis in the corresponding temperature range. This is used as the comprehensive performance score of each axis in the corresponding temperature range. The distance parameter is calculated using Euclidean distance, which can comprehensively reflect the overall performance differences of each axis in terms of delay stability and temperature sensitivity.

[0081] In particular, through the comprehensive evaluation of the time delay stability index and the temperature sensitivity index, combined with the construction of the TOPSIS decision matrix with differentiated weight coefficients, the objectivity and accuracy of the reference axis selection are improved, and the complexity of manual configuration is reduced.

[0082] Furthermore, based on the comparison of the comprehensive performance scores of each axis, the optimal reference axis for each temperature range is determined. Through the reference axis selection module, each axis is quantitatively evaluated using the time delay stability index and the temperature sensitivity index. Combined with the differentiated weight coefficient and the TOPSIS multi-criteria decision-making method, the optimal reference axis can be quantitatively determined. Compared with the empirical selection method, the present invention can avoid the accumulation of synchronization errors caused by improper reference axis selection, reduce the impact of temperature changes on the output consistency of the three-axis fiber optic gyroscope, and thus improve the measurement accuracy and long-term stability of the three-axis fiber optic gyroscope in different temperature environments.

[0083] Optionally, the processing flow of the delay compensation configuration module includes: determining the temperature range according to the current ambient temperature, selecting the delay characteristic model and optimal reference axis corresponding to the temperature range; calculating the signal processing delay of each axis based on the selected delay characteristic model; calculating the delay compensation amount of the non-reference axis relative to the optimal reference axis with reference to the signal processing delay of the optimal reference axis; and configuring corresponding delay compensation parameters in the data output channel of the non-reference axis according to the delay compensation amount.

[0084] The delay compensation parameters are implemented by setting an adjustable delay buffer in the data output channel of the non-reference axis. The delay compensation amount is converted into the corresponding buffer delay level according to the preset accuracy requirements. In addition, the parameter configuration process includes: writing the control parameters to the corresponding registers according to the register write timing, and ensuring the correct parameter configuration through readback verification. When the temperature range changes, a step-by-step gradual update strategy is adopted to gradually adjust the compensation parameters. That is, the target compensation value is gradually adjusted with a preset step size within multiple data update cycles to avoid data output jumps caused by parameter mutations, ensuring the continuity and stability of the three-axis fiber optic gyroscope output.

[0085] It should be noted that the register write timing must ensure the synchronization and timing consistency of the parameter configuration of each axis.

[0086] Ideally, the delay compensation configuration module adaptively selects the optimal reference axis and delay characteristic model based on the current ambient temperature, calculates the delay compensation based on the precise delay characteristic model, and implements real-time compensation via a hardware-level adjustable delay buffer. This module utilizes a smooth parameter update mechanism and a reliable configuration verification process to ensure the timing consistency and data continuity of the three-axis fiber optic gyroscope's output during temperature changes, thereby improving the synchronization accuracy and long-term stability of the three-axis fiber optic gyroscope.

[0087] Specifically, the synchronous output control module's processing flow includes: a central synchronous controller generates data update pulses through frequency division based on the received reference clock signal. This frequency division process includes calculating the corresponding frequency division ratio according to the data output frequency requirements of the three-axis fiber optic gyroscope, using a programmable frequency divider to divide the reference clock signal by integers, and, when necessary, combining phase-locked loop (PLL) technology for frequency fine-tuning to generate a data update pulse signal with a stable frequency and adjustable duty cycle. The programmable frequency divider's integer division processing, PLL frequency fine-tuning, and adjustable duty cycle control ensure the frequency accuracy and signal quality of the data update pulses, improving the synchronization accuracy of three-axis data acquisition and its adaptability to diverse application requirements.

[0088] Furthermore, the data update pulse is synchronously distributed to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes through dedicated synchronization signal lines. The dedicated synchronization signal lines adopt an impedance matching design to ensure the consistency of the received signals of each axis; the data processing units of each axis synchronously trigger angular velocity data acquisition and processing when receiving the rising edge of the data update pulse; according to the configured delay compensation parameters, the data processing units of each axis control the data output timing according to the corresponding delay level, that is, by adjusting the delay level of the delay buffer of each axis to control the output time of the data of each axis, so that the three-axis fiber optic gyroscope outputs angular velocity data at the same time.

[0089] Preferably, the clock distribution module eliminates the differences in clock transmission paths through a four-way parallel clock distribution and phase calibration architecture, and combines dedicated synchronization signal lines to achieve precise distribution of data update pulses, providing a stable time base guarantee for the high-precision synchronous output of three-axis output data.

[0090] It should be noted that failure conditions include any of the following situations: the temperature change exceeds the preset temperature threshold, the timestamp deviation exceeds the preset synchronization accuracy threshold, or the current delay compensation parameter exceeds the physical implementation range, where the preset temperature threshold is determined by the device temperature characteristic calibration test, and the preset synchronization accuracy threshold is determined by the navigation accuracy requirement decomposition. The current delay compensation parameter exceeds the physical implementation range, including but not limited to the compensation delay being a negative value, the compensation delay exceeding the data buffer capacity, and the compensation accuracy exceeding the clock resolution.

[0091] This embodiment also provides a three-axis fiber optic gyroscope synchronous output method, the flow chart is as follows Figure 4 As shown, the method includes:

[0092] Generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes;

[0093] Acquire test data of a three-axis fiber optic gyroscope under various environmental conditions and establish temperature compensation models for each axis in sections according to temperature ranges;

[0094] The performance indicators of each axis are calculated based on test data, and the TOPSIS multi-criteria decision-making method with differentiated weights for temperature zones is used to determine the optimal reference axis in different temperature ranges. The performance indicators include time delay stability and temperature sensitivity.

[0095] Select the corresponding delay characteristic model and optimal reference axis based on the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time.

[0096] Generate a data update pulse based on the reference clock signal, and when the data update pulse arrives, trigger the three-axis fiber optic gyroscope to synchronously output angular velocity data;

[0097] Real-time monitoring of temperature changes and three-axis output timestamp deviations, triggering reference axle reselection and delay recompensation when failure conditions are met.

[0098] This embodiment also provides a computer device suitable for the case of a three-axis fiber optic gyroscope synchronous output system, including: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the three-axis fiber optic gyroscope synchronous output system proposed in the above embodiment.

[0099] The computer device may be a terminal, comprising a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse.

[0100] This embodiment also provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the three-axis fiber optic gyroscope synchronous output system proposed in the above embodiment; the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0101] In summary, the present invention improves the synchronization accuracy and stability of the three-axis fiber optic gyroscope in a temperature-changing environment through temperature-adaptive reference axis selection and time delay compensation technology, and realizes high-precision synchronous output. Through the differentiated reference axis selection mechanism based on TOPSIS multi-criteria decision-making, the optimal reference axis can be automatically selected according to the performance indicators of different temperature ranges, avoiding the problem of performance degradation of the traditional fixed reference axis when the temperature changes, and improving environmental adaptability. Through segmented temperature compensation modeling and real-time status monitoring technology, dynamic adjustment of temperature compensation parameters and fault self-healing functions are realized. When the temperature change exceeds the threshold or the synchronization accuracy deviation, the compensation parameters can be automatically reconfigured, ensuring the reliability and consistency of long-term operation.

[0102] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A three-axis fiber optic gyroscope synchronous output system, characterized by: include: A clock distribution module is used to generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes; The temperature compensation modeling module is used to obtain the test data of the three-axis fiber optic gyroscope under various environmental conditions and establish the temperature compensation model of each axis in sections according to the temperature range; The reference axis selection module is used to calculate the performance indicators of each axis based on test data and determine the optimal reference axis in different temperature ranges using the TOPSIS multi-criteria decision-making method with differentiated weights for temperature zones; The delay compensation configuration module is used to select the corresponding delay characteristic model and optimal reference axis according to the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time; The synchronous output control module is used to generate a data update pulse according to the reference clock signal. When the data update pulse arrives, it triggers the three-axis fiber optic gyroscope to synchronously output angular velocity data.

2. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: Also includes: The condition monitoring module is used to monitor temperature changes and three-axis output time stamp deviations in real time, and trigger reference axle reselection and time delay recompensation when failure conditions are met; The failure condition includes that the temperature change exceeds a preset temperature threshold or the timestamp deviation exceeds a preset synchronization accuracy threshold.

3. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: The processing flow of the clock distribution module includes: Stabilize the original clock signal generated by the external clock source to generate a reference clock signal; performing signal conditioning on the reference clock signal; Distributing the conditioned reference clock signal into four reference clock signals, and performing phase calibration on each reference clock signal; The four reference clock signals are transmitted to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes and the central synchronization controller respectively through transmission lines; Detect the quality of the clock signals received by each data processing unit and the central synchronization controller, and output an alarm signal when the clock signal quality is abnormal.

4. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: The processing flow of the temperature compensation modeling module includes: Configure temperature test parameter set; Under different temperature conditions, the signal processing delay and corresponding temperature parameters of the X-axis, Y-axis, and Z-axis fiber optic gyroscope data output were recorded; The relationship between the signal processing delay and temperature of each axis is fitted by the piecewise least squares method, and the temperature compensation model of each axis is established according to the temperature range. The accuracy of the temperature compensation model was evaluated through residual analysis and cross-validation, and the model parameters with the best fitting effect were selected based on actual working conditions.

5. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: The processing flow of the reference axis selection module includes: Calculate the delay stability index and temperature sensitivity index of each axis based on the test data; Determine the differentiation weight coefficient based on the temperature range division results and the relative importance of indicators in each temperature range; Construct a TOPSIS decision matrix for each temperature range and calculate the comprehensive performance score of each axis in different temperature ranges; Based on the comparison of the comprehensive performance scores of each axis, the optimal reference axis for each temperature range is determined.

6. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: The processing flow of the delay compensation configuration module includes: Determine the temperature range according to the current ambient temperature, and select the delay characteristic model and optimal reference axis corresponding to the temperature range; Calculate the signal processing delay of each axis based on the selected delay characteristic model; Taking the signal processing delay of the reference axis as a reference, calculate the delay compensation amount of the non-reference axis relative to the optimal reference axis; According to the delay compensation amount, corresponding delay compensation parameters are configured in the data output channel of the non-reference axis.

7. The three-axis fiber optic gyroscope synchronous output system according to claim 1, wherein: The processing flow of the synchronous output control module includes: The central synchronization controller generates a data update pulse by frequency division based on the received reference clock signal; Synchronously distributing the data update pulses to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes via dedicated synchronization signal lines; When the data update pulse arrives, each axis data processing unit simultaneously triggers angular velocity data acquisition and processing; The data output timing is controlled according to the configured delay compensation parameters so that the three-axis fiber optic gyroscope outputs angular velocity data at the same time.

8. A three-axis fiber optic gyroscope synchronous output method, based on the three-axis fiber optic gyroscope synchronous output system according to any one of claims 1 to 7, characterized in that: include: Generate a reference clock signal through an external clock source and distribute it to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes; Acquire test data of a three-axis fiber optic gyroscope under various environmental conditions and establish temperature compensation models for each axis in sections according to temperature ranges; Based on the test data, the performance indicators of each axis are calculated, and the optimal reference axis in different temperature ranges is determined using the TOPSIS multi-criteria decision-making method with differentiated weights for temperature zones; the performance indicators include a time delay stability indicator and a temperature sensitivity indicator; Select the corresponding delay characteristic model and optimal reference axis based on the current ambient temperature, calculate and configure the delay compensation parameters, and align the three-axis data output time. Generate a data update pulse based on the reference clock signal, and when the data update pulse arrives, trigger the three-axis fiber optic gyroscope to synchronously output angular velocity data; Real-time monitoring of temperature changes and three-axis output timestamp deviations, triggering reference axle reselection and delay recompensation when failure conditions are met.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the three-axis fiber optic gyroscope synchronous output system according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-axis fiber optic gyroscope synchronous output system according to any one of claims 1 to 7 are implemented.

Images