A three-axis fiber-optic gyroscope synchronous output system and method
By dynamically adjusting clock distribution, temperature compensation modeling, and reference axis selection, the synchronization accuracy and stability issues of the three-axis fiber optic gyroscope system under temperature changes were solved, achieving high-precision synchronous output and long-term reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN XINHONGTU TECH CO LTD
- Filing Date
- 2025-06-30
- Publication Date
- 2026-06-12
Smart Images
Figure CN120489092B_ABST
Abstract
Description
Technical Field
[0001] This 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 Technology
[0002] Three-axis fiber optic gyroscopes, as core components of inertial navigation systems, are widely used in aerospace, ship navigation, precision measurement, and other fields. In practical applications, three orthogonal fiber optic gyroscopes are required to synchronously output angular velocity data to ensure the accuracy and reliability of navigation calculations.
[0003] Existing three-axis fiber optic gyroscope systems suffer from the following technical problems in synchronization output: First, temperature variations affect the signal processing delay characteristics of each axis. Due to differences in temperature characteristics among axes, existing systems using fixed delay compensation parameters cannot adapt to temperature changes, leading to deviations in the timing of data output across a wide temperature range and affecting synchronization accuracy. Second, existing systems typically select a single axis as the synchronization reference. However, the performance of each axis varies under different environmental conditions, and a fixed reference axis cannot achieve optimal stability under all operating conditions, impacting overall synchronization performance. Summary of the Invention
[0004] In view of the aforementioned existing problems, the present invention is proposed.
[0005] Therefore, the present invention provides a three-axis fiber optic gyroscope synchronous output system and method to solve the technical problems of temperature changes affecting the time delay characteristics of each axis and the lack of a dynamic reference axis selection mechanism.
[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:
[0007] In a first aspect, the present invention provides a three-axis fiber optic gyroscope synchronous output system, comprising:
[0008] The clock distribution module is used to generate a reference clock signal from 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 acquire test data of the three-axis fiber optic gyroscope under various environmental conditions and to establish temperature compensation models for each axis in segments according to temperature ranges.
[0010] The reference axis selection module is used to calculate the performance index of each axis based on test data and to determine the optimal reference axis in different temperature ranges using the TOPSIS multi-criteria decision method with temperature zone differential weights.
[0011] The time delay compensation configuration module is used to select the corresponding time delay characteristic model and the optimal reference axis according to the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output times are aligned.
[0012] The synchronous output control module is used to generate data update pulses based on the reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data.
[0013] As a preferred embodiment of the three-axis fiber optic gyroscope synchronous output system of the present invention, it further includes a status monitoring module for real-time monitoring of temperature changes and three-axis output timestamp deviation, and triggering reference axis weight selection and time delay weight compensation when failure conditions are met.
[0014] Failure conditions include temperature changes exceeding a preset temperature threshold or timestamp deviation exceeding a preset synchronization accuracy threshold.
[0015] As a preferred embodiment of the three-axis fiber optic gyroscope synchronous output system of the present invention, the processing flow of the clock distribution module includes:
[0016] The original clock signal generated by the external clock source is stabilized to generate a reference clock signal;
[0017] Perform signal conditioning on the reference clock signal;
[0018] The conditioned reference clock signal is divided into four reference clock signals, and the phase of each reference clock signal is calibrated.
[0019] The four reference clock signals are transmitted through transmission lines to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes and the central synchronization controller, respectively.
[0020] The clock signal quality received by each data processing unit and the central synchronization controller is detected, and an alarm signal is output when the clock signal quality is abnormal.
[0021] As a preferred embodiment 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 the temperature test parameter set;
[0023] Record the signal processing delay and corresponding temperature parameters of the X-axis, Y-axis and Z-axis fiber optic gyroscope data outputs under different temperature conditions;
[0024] The relationship between signal processing delay and temperature for each axis was fitted using piecewise least squares method, and a temperature compensation model for each axis was 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 by combining actual working conditions for verification.
[0026] As a preferred embodiment 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] The time delay stability index and temperature sensitivity index of each axis are calculated based on the test data.
[0028] Based on the temperature range division results and the relative importance of indicators within each temperature range, the differential weighting coefficients are determined.
[0029] Construct the 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 embodiment 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 based on the current ambient temperature, and select the time delay characteristic model and optimal reference axis corresponding to the temperature range.
[0033] Based on the selected delay characteristic model, calculate the signal processing delay for each axis;
[0034] Using 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] Configure the corresponding delay compensation parameters in the data output channels of non-reference axes according to the delay compensation amount.
[0036] As a preferred embodiment 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 data update pulses based on the received reference clock signal through frequency division processing;
[0038] The data update pulses are synchronously distributed to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes via a dedicated synchronization signal line;
[0039] When the data update pulse arrives, the data processing units of each axis simultaneously trigger angular velocity data acquisition and processing;
[0040] The timing of data output is controlled according to the configured delay compensation parameters, so that the three-axis fiber optic gyroscopes output angular velocity data at the same time.
[0041] Secondly, the present invention provides a method for synchronous output of a three-axis fiber optic gyroscope, comprising:
[0042] A reference clock signal is generated by an external clock source and distributed to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes;
[0043] Test data of the three-axis fiber optic gyroscope were acquired under various environmental conditions, and temperature compensation models for each axis were established in segments according to temperature ranges.
[0044] Based on test data, the performance indicators of each axis are calculated, and the TOPSIS multi-criteria decision-making method with temperature zone differential weights is used to determine the optimal reference axis in different temperature ranges; the performance indicators include time delay stability indicators and temperature sensitivity indicators.
[0045] Select the corresponding time delay characteristic model and the optimal reference axis based on the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output times are aligned.
[0046] Data update pulses are generated based on a reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data.
[0047] Real-time monitoring of temperature changes and triaxial output timestamp deviations triggers reference axis weight selection and time delay weight compensation when failure conditions are met.
[0048] Thirdly, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the three-axis fiber optic gyroscope synchronous output system as described in the first aspect of the present invention.
[0049] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any step of the three-axis fiber optic gyroscope synchronous output system as described in the first aspect of the present invention.
[0050] The beneficial effects of this invention are as follows: By employing temperature-adaptive reference axis selection and time delay compensation techniques, this invention improves the synchronization accuracy and stability of a three-axis fiber optic gyroscope under varying temperature environments, achieving high-precision synchronous output. Through a differentiated reference axis selection mechanism based on TOPSIS multi-criteria decision-making, the optimal reference axis can be automatically selected according to performance indicators in different temperature ranges, avoiding the performance degradation problem of traditional fixed reference axes under temperature changes and improving environmental adaptability. Through segmented temperature compensation modeling and real-time status monitoring techniques, dynamic adjustment of temperature compensation parameters and fault self-healing functions are achieved. When temperature changes exceed thresholds or synchronization accuracy deviations occur, compensation parameters can be automatically reconfigured, ensuring long-term operational reliability and consistency. Attached Figure Description
[0051] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0052] Figure 1 This is a module connection diagram for a three-axis fiber optic gyroscope synchronous output system.
[0053] Figure 2 This is a flowchart of the clock distribution module processing for a three-axis fiber optic gyroscope synchronous output system.
[0054] Figure 3 This is a flowchart of the reference axis selection module for a three-axis fiber optic gyroscope synchronous output system.
[0055] Figure 4 This is a flowchart of a method for synchronous output of a three-axis fiber optic gyroscope. Detailed Implementation
[0056] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0057] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.
[0058] Secondly, the term "one embodiment" or "embodiment" as used 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 different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.
[0059] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a three-axis fiber optic gyroscope synchronous output system, and the module connection diagram is shown below. Figure 1 As shown, it includes the following steps:
[0060] The clock distribution module is used to generate a reference clock signal from 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 acquire test data of the three-axis fiber optic gyroscope under various environmental conditions and to establish temperature compensation models for each axis in segments according to temperature ranges.
[0062] The reference axis selection module is used to calculate the performance index of each axis based on test data and to determine the optimal reference axis for different temperature ranges using the TOPSIS multi-criteria decision method with temperature zone differential weights.
[0063] The time delay compensation configuration module is used to select the corresponding time delay characteristic model and the optimal reference axis according to the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output time is aligned.
[0064] The synchronous output control module is used to generate data update pulses based on the reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data.
[0065] The status monitoring module is used to monitor temperature changes and triaxial output timestamp deviations in real time. When the failure conditions are met, it triggers the selection of reference axis weight and time delay weight compensation.
[0066] It should be noted that the three-axis fiber optic gyroscope synchronous output system of the present invention is suitable for applications requiring high accuracy in angular velocity measurement 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 affects the accuracy of subsequent attitude calculations.
[0067] Specifically, the clock distribution module processing flowchart is as follows: Figure 2 As shown, the process includes: 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 high-stability crystal oscillator, a clock signal output from a GPS receiver, or other high-precision clock references. The choice of external clock source depends on synchronization accuracy requirements, cost budget, environmental conditions, and application scenarios. Furthermore, the stabilization process includes phase-locked loop (PLL) processing and filtering. PLL processing 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 a limiting 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 that 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 phase calibration is performed on each reference clock signal to eliminate internal delay differences within the distributor. Phase calibration includes detecting phase differences between the reference clock signals and aligning the phases of each reference clock signal using an adjustable delay circuit. The four reference clock signals are then transmitted via transmission lines to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes, as well as the central synchronization controller. Each axis 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. These data update pulses uniformly control the data output timing of each axis.
[0070] Optionally, the quality of the clock signal 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. The abnormal clock signal quality means that the frequency deviation exceeds the preset range or the signal is lost. The preset range is determined by the synchronization accuracy index and operating frequency tolerance requirements 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, ensuring the distribution of test temperature points covers the entire operating temperature range of the fiber optic gyroscope, controlling the temperature change rate to avoid temperature shocks, and setting an appropriate temperature stabilization time to ensure measurement accuracy. 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 outputs are recorded to generate a test dataset.
[0072] Furthermore, a piecewise least squares method is used to fit the relationship between signal processing delay and temperature for each axis. Temperature compensation models are established for each axis according to temperature intervals. Specifically, this includes: analyzing the trend of delay-temperature data changes; determining the temperature interval division scheme based on the gradient of the first derivative and inflection point characteristics; performing polynomial fitting using the least squares method on the data points within each temperature interval; determining the fitting order based on the number of data points and fitting accuracy requirements; obtaining the fitting coefficients for each temperature interval; verifying the continuity of function values at the boundaries of adjacent intervals; calculating the difference in function values at the boundary temperature points of the fitted functions for adjacent temperature intervals as the continuity error; adjusting the temperature interval boundary positions and refitting when the continuity error exceeds the continuity error threshold until the continuity requirement is met. The continuity error threshold is determined based on the measurement accuracy requirements of the fiber optic gyroscope and the temperature compensation effect; and establishing temperature compensation models for each axis, including the fitting function type, fitting coefficients, and applicable temperature range.
[0073] The process for determining the temperature interval division scheme is as follows: First, the time delay-temperature data for each axis is preprocessed, and a sliding window smoothing filter is used to remove measurement noise; the first 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 change of the first derivative is analyzed, the difference of the derivative values of adjacent temperature points is calculated, and the derivative abrupt change points are identified as candidate segmentation points based on the multiple relationship of the standard deviation of the derivative; the second derivative is further calculated, and the temperature points where the second derivative is zero or the sign changes are identified as inflection points; combining the information of the gradient change of the first derivative and the inflection point position, and combined with the requirement of the balance of the number of data points within the temperature interval, the final segmentation scheme of the temperature interval is determined to ensure that the relationship between time delay and temperature has good monotonicity and linearity characteristics within each temperature interval.
[0074] It should be noted that the piecewise least squares method was chosen because the relationship between the signal processing delay and temperature of the fiber optic gyroscope exhibits nonlinear characteristics, with different variation patterns in different temperature ranges. Piecewise modeling can achieve higher fitting accuracy in each temperature range while reducing computational complexity, thus meeting the application requirements of real-time temperature compensation.
[0075] Furthermore, the model accuracy is evaluated through residual analysis and cross-validation. The optimal model parameters are selected based on actual operating conditions. Specifically, this includes: calculating the residual statistics of each axis's temperature compensation model across each temperature range, including root mean square error and maximum residual value, to assess the model's fitting quality; using K-fold cross-validation to evaluate the generalization ability and prediction accuracy of each axis's temperature compensation model, verifying model stability; verifying the model's compensation effect under actual operating conditions, comparing the time delay deviation and synchronization accuracy of each axis before and after compensation; and optimizing model parameters based on residual analysis and cross-validation results when the synchronization accuracy does not meet the preset accuracy requirements, until each axis's temperature compensation model meets the preset accuracy requirements or reaches the maximum number of optimization iterations. The preset accuracy requirements are determined based on the synchronization accuracy index of the three-axis fiber optic gyroscope.
[0076] Ideally, piecewise least squares modeling can effectively capture the nonlinear characteristic changes of fiber optic gyroscopes in different temperature ranges. Gradient analysis and inflection point identification are used to reasonably determine the boundaries of temperature ranges, resulting in good fitting characteristics and small modeling residuals within each range. Independent modeling is employed for the different temperature response characteristics of the X, Y, and Z axes, effectively eliminating inter-axis temperature sensitivity differences and improving synchronization accuracy and response consistency. A comprehensive evaluation mechanism combining residual statistical analysis, cross-validation, and practical operating condition verification ensures that the temperature compensation model possesses both good mathematical properties and stable compensation performance in real-world applications. Through a technical architecture of piecewise precise modeling, multi-dimensional independent compensation, and multi-layered verification and optimization, temperature compensation accuracy is improved, enhancing the measurement accuracy and operational stability of the three-axis fiber optic gyroscope in complex temperature environments.
[0077] Preferably, the flowchart of the reference axis selection module is as follows: Figure 3 As shown, this includes: calculating the time delay stability index and temperature sensitivity index of each axis based on test data. The time delay stability index is chosen because the stability of the reference axis directly affects the synchronization accuracy of the data of each axis. The temperature sensitivity index is chosen because axes with low temperature sensitivity are more suitable as the reference for each temperature range.
[0078] More specifically, the time delay stability indices include the time delay standard deviation and the time delay coefficient of variation, while the temperature sensitivity indices include the temperature coefficient and the time delay temperature nonlinearity. The time delay standard deviation is obtained by statistically analyzing repeated measurements of signal processing time delay for each axis under the same temperature conditions. The time delay coefficient of variation is obtained by calculating the ratio of the time delay standard deviation to the average signal processing time 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 significant nonlinearity, piecewise linear regression or calculation of the average temperature coefficient is used. The time delay temperature nonlinearity is obtained by comparing the actual signal processing time delay-temperature data points with the fitted curve and calculating the maximum relative deviation between the actual and fitted values.
[0079] Next, based on the temperature range division results and the relative importance of indicators within each temperature range, differentiated weighting coefficients are determined. Specifically, this includes analyzing the data distribution characteristics of time delay stability and temperature sensitivity indicators within each temperature range, determining the relative importance of each indicator in different temperature ranges based on the dispersion and variation of the indicator values, and calculating the weighting coefficient matrix for each temperature range accordingly. By setting differentiated weighting coefficients, adaptive optimization can be performed for the characteristics of different temperature ranges, improving the accuracy of reference axis selection and synchronization precision.
[0080] Furthermore, a TOPSIS decision matrix for each temperature range is constructed, and the comprehensive performance score of each axis under different temperature ranges is calculated. The steps are as follows: An initial decision matrix for each temperature range is constructed using the time delay stability index and temperature sensitivity index of each axis as evaluation criteria; the initial decision matrix is standardized using a vector standardization method to eliminate the influence of index dimensions; a weighted standardized decision matrix is constructed by combining differentiated weight coefficients, and the positive and negative ideal solutions are 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 are calculated, and the relative proximity is calculated based on the distance parameters. The closer the value is to 1, the better the comprehensive performance of the axis under the corresponding temperature range, and this is used as the comprehensive performance score of each axis under the corresponding temperature range. The distance parameters are calculated using Euclidean distance, which can comprehensively reflect the overall performance differences of each axis in both time delay stability and temperature sensitivity dimensions.
[0081] In particular, by comprehensively evaluating the time delay stability index and the temperature sensitivity index, and constructing the TOPSIS decision matrix with differentiated weighting coefficients, the objectivity and accuracy of the baseline selection are improved, and the complexity of manual configuration is reduced.
[0082] Furthermore, based on a 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 time delay stability and temperature sensitivity indices. Combined with differentiated weighting coefficients and the TOPSIS multi-criteria decision-making method, the optimal reference axis can be quantitatively determined. Compared to empirical selection methods, this invention avoids the accumulation of synchronization errors caused by improper reference axis selection, reduces the impact of temperature changes on the output consistency of the three-axis fiber optic gyroscope, and thus improves the measurement accuracy and long-term stability of the three-axis fiber optic gyroscope under different temperature environments.
[0083] Optionally, the processing flow of the time delay compensation configuration module includes: determining the temperature range according to the current ambient temperature, selecting the time delay characteristic model and the optimal reference axis corresponding to the temperature range; calculating the signal processing delay of each axis based on the selected time delay characteristic model; calculating the time delay compensation amount of the non-reference axis relative to the optimal reference axis with the signal processing delay of the optimal reference axis as a reference; and configuring the corresponding time delay compensation parameters in the data output channel of the non-reference axis according to the time delay compensation amount.
[0084] The delay compensation parameter is 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. Furthermore, the parameter configuration process includes: writing the control parameters to the corresponding registers according to the register write timing, and verifying the correct parameter configuration through readback. When the temperature range changes, a step-by-step gradual update strategy is adopted to adjust the compensation parameters gradually. That is, within multiple data update cycles, the parameters are gradually adjusted to the target compensation value with a preset step size to avoid data output jumps caused by parameter abrupt changes, 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 configurations for each axis.
[0086] Preferably, the delay compensation configuration module can adaptively select the optimal reference axis and delay characteristic model based on the current ambient temperature, calculate the delay compensation amount based on the accurate delay characteristic model, and achieve real-time compensation through a hardware-level adjustable delay buffer. This module employs 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 output during temperature changes, thereby improving the synchronization accuracy and long-term stability of the three-axis fiber optic gyroscope.
[0087] Specifically, the processing flow of the synchronous output control module includes: the central synchronous controller generates data update pulses based on the received reference clock signal through frequency division processing. This frequency division processing includes: calculating the appropriate frequency division ratio according to the data output frequency requirements of the three-axis fiber optic gyroscope; using a programmable frequency divider to perform integer frequency division of the reference clock signal; and, if necessary, combining phase-locked loop (PLL) technology for frequency fine-tuning to generate a stable data update pulse signal with an adjustable duty cycle. Through integer frequency division processing by the programmable frequency divider, PLL frequency fine-tuning, and adjustable duty cycle control, the frequency accuracy and signal quality of the data update pulses are ensured, improving the synchronization accuracy of three-axis data acquisition and its adaptability to different application requirements.
[0088] Furthermore, the data update pulses are synchronously distributed to the data processing units of the X-axis, Y-axis, and Z-axis fiber optic gyroscopes via dedicated synchronization signal lines. The dedicated synchronization signal lines employ impedance matching design to ensure the consistency of the received signals for each axis. Each axis data processing unit synchronously triggers angular velocity data acquisition and processing upon receiving the rising edge of the data update pulse. Based on the configured delay compensation parameters, each axis data processing unit controls the data output timing according to the corresponding delay level. That is, the output time of each axis data is controlled by adjusting the delay level of the delay buffer of each axis, so that the three-axis fiber optic gyroscopes output angular velocity data at the same time.
[0089] Preferably, the clock distribution module eliminates clock transmission path differences through a four-way parallel clock distribution and phase calibration architecture, and combines a dedicated synchronization signal line to achieve accurate distribution of data update pulses, providing a stable time reference guarantee for high-precision synchronous output of triaxial output data.
[0090] It should be noted that the failure conditions include any of the following: 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. The preset temperature threshold is determined by the device temperature characteristic calibration test, the preset synchronization accuracy threshold is determined by the decomposition of navigation accuracy requirements, and the current delay compensation parameter exceeding the physical implementation range includes, but is not limited to, a negative compensation delay, a compensation delay exceeding the data buffer capacity, and a compensation accuracy exceeding the clock resolution.
[0091] This embodiment also provides a method for synchronous output of a three-axis fiber optic gyroscope, the flowchart of which is shown below. Figure 4 As shown, the method includes:
[0092] A reference clock signal is generated by an external clock source and distributed to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes;
[0093] Test data of the three-axis fiber optic gyroscope were acquired under various environmental conditions, and temperature compensation models for each axis were established in segments according to temperature ranges.
[0094] Based on test data, the performance indicators of each axis are calculated, and the TOPSIS multi-criteria decision-making method with temperature zone differential weights is used to determine the optimal reference axis in different temperature ranges; the performance indicators include time delay stability indicators and temperature sensitivity indicators.
[0095] Select the corresponding time delay characteristic model and the optimal reference axis based on the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output times are aligned.
[0096] Data update pulses are generated based on a reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data.
[0097] Real-time monitoring of temperature changes and triaxial output timestamp deviations triggers reference axis weight selection and time delay weight compensation when failure conditions are met.
[0098] This embodiment also provides a computer device suitable for 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 realize the three-axis fiber optic gyroscope synchronous output system as proposed in the above embodiment.
[0099] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.
[0100] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the three-axis fiber optic gyroscope synchronous output system as proposed in the above embodiments. 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 Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.
[0101] In summary, this invention improves the synchronization accuracy and stability of a three-axis fiber optic gyroscope under varying temperature environments through temperature-adaptive reference axis selection and time delay compensation techniques, achieving high-precision synchronous output. By employing a differentiated reference axis selection mechanism based on TOPSIS multi-criteria decision-making, the optimal reference axis can be automatically selected according to performance indicators in different temperature ranges, avoiding the performance degradation problem of traditional fixed reference axes under temperature changes and improving environmental adaptability. Through segmented temperature compensation modeling and real-time status monitoring techniques, dynamic adjustment of temperature compensation parameters and fault self-healing functions are achieved. When temperature changes exceed thresholds or synchronization accuracy deviations occur, compensation parameters can be automatically reconfigured, ensuring long-term operational reliability and consistency.
[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 it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A three-axis fiber optic gyroscope synchronous output system, characterized in that: include: The clock distribution module is used to generate a reference clock signal from 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 acquire test data of the three-axis fiber optic gyroscope under various environmental conditions and to establish temperature compensation models for each axis in segments according to temperature ranges. The reference axis selection module is used to calculate the performance index of each axis based on test data and to determine the optimal reference axis in different temperature ranges using the TOPSIS multi-criteria decision method with temperature zone differential weights. The time delay compensation configuration module is used to select the corresponding time delay characteristic model and the optimal reference axis according to the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output times are aligned. The synchronous output control module is used to generate data update pulses based on the reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data. The processing flow of the reference axis selection module includes: The time delay stability index and temperature sensitivity index of each axis are calculated based on the test data. Based on the temperature range division results and the relative importance of indicators within each temperature range, differentiated weighting coefficients are determined, including: The data distribution characteristics of time delay stability index and temperature sensitivity index in each temperature range are analyzed. The relative importance of each index in different temperature ranges is determined based on the dispersion and variation of the index values, and the weight coefficient matrix of each temperature range is calculated accordingly. Construct the 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.
2. The three-axis fiber optic gyroscope synchronous output system as described in claim 1, characterized in that: Also includes: The status monitoring module is used to monitor temperature changes and triaxial output timestamp deviations in real time. When the failure conditions are met, it triggers the selection of reference axis weight and time delay compensation. The failure conditions include temperature changes exceeding a preset temperature threshold or timestamp deviation exceeding a preset synchronization accuracy threshold.
3. The three-axis fiber optic gyroscope synchronous output system as described in claim 1, characterized in that: The processing flow of the clock distribution module includes: The original clock signal generated by the external clock source is stabilized to generate a reference clock signal; The reference clock signal is conditioned. The conditioned reference clock signal is divided into four reference clock signals, and the phase of each reference clock signal is calibrated. 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 and the central synchronization controller, respectively. The clock signal quality received by each data processing unit and the central synchronization controller is detected, and an alarm signal is output when the clock signal quality is abnormal.
4. The three-axis fiber optic gyroscope synchronous output system as described in claim 1, characterized in that: The processing flow of the temperature compensation modeling module includes: Configure the temperature test parameter set; Record the signal processing delay and corresponding temperature parameters of the X-axis, Y-axis and Z-axis fiber optic gyroscope data outputs under different temperature conditions; The relationship between signal processing delay and temperature for each axis was fitted using piecewise least squares method, and a temperature compensation model for each axis was 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 by combining actual working conditions for verification.
5. The three-axis fiber optic gyroscope synchronous output system as described in claim 1, characterized in that: The processing flow of the delay compensation configuration module includes: Determine the temperature range based on the current ambient temperature, and select the time delay characteristic model and optimal reference axis corresponding to the temperature range. Based on the selected delay characteristic model, calculate the signal processing delay for each axis; Using 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; Based on the time delay compensation amount, configure the corresponding time delay compensation parameters in the data output channel of the non-reference axis.
6. The three-axis fiber optic gyroscope synchronous output system as described in claim 1, characterized in that: The processing flow of the synchronous output control module includes: The central synchronization controller generates data update pulses based on the received reference clock signal through frequency division processing; The data update pulses are synchronously distributed to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes via a synchronization signal line; When the data update pulse arrives, the data processing units of each axis simultaneously trigger angular velocity data acquisition and processing; The timing of data output is controlled according to the configured delay compensation parameters, so that the three-axis fiber optic gyroscopes output angular velocity data at the same time.
7. A method for synchronous output of a three-axis fiber optic gyroscope, based on the synchronous output system of a three-axis fiber optic gyroscope according to any one of claims 1 to 6, characterized in that: include: A reference clock signal is generated by an external clock source and distributed to the data processing units of the X-axis, Y-axis and Z-axis fiber optic gyroscopes; Test data of the three-axis fiber optic gyroscope were acquired under various environmental conditions, and temperature compensation models for each axis were established in segments according to temperature ranges. Based on test data, the performance indicators of each axis are calculated, and the TOPSIS multi-criteria decision-making method with temperature zone differential weights is used to determine the optimal reference axis in different temperature ranges; the performance indicators include time delay stability indicators and temperature sensitivity indicators. Select the corresponding time delay characteristic model and the optimal reference axis based on the current ambient temperature, calculate and configure the time delay compensation parameters to ensure that the three-axis data output times are aligned. Data update pulses are generated based on a reference clock signal. When the data update pulses arrive, the three-axis fiber optic gyroscope is triggered to synchronously output angular velocity data. Real-time monitoring of temperature changes and triaxial output timestamp deviations triggers reference axis weight selection and time delay weight compensation when failure conditions are met.
8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the three-axis fiber optic gyroscope synchronous output system according to any one of claims 1 to 6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the three-axis fiber optic gyroscope synchronous output system according to any one of claims 1 to 6.