Automatic measurement and compensation method for installation error of optical gyroscope goniometer

Abstract

The invention provides an automatic measurement and compensation method for an installation error of an optical gyroscope goniometer. The method comprises the following steps: fixing the optical gyroscope goniometer on a rotary table in advance to complete calibration of a scale factor of a single-axis optical gyroscope; mounting an optical gyroscope goniometer on a mounting plane of a rotating shaft of a measured carrier, synchronously electrifying and preheating a single-axis optical gyroscope and a double-axis tilt angle sensor, and finishing offset calibration; controlling the rotating shaft of the measured carrier to rotate step by step according to a preset angle interval, measuring an angular rate and an angle increment value of the rotating shaft of the measured carrier in real time through a single-axis optical gyroscope, when the rotating shaft is judged to be static, obtaining an output inclination angle of a double-axis inclination angle sensor at a current angle position, and determining the target angle position of the measured carrier based on obtained inclination angle data of multiple target angle positions. Calculating the installation error angle of the optical gyroscope goniometer and the inclination angle and the orientation angle of the rotating shaft of the measured carrier by using a least square method; and the angular rate and the angle increment value are compensated in real time according to the installation error angle, so that the measurement precision and stability of the optical gyroscope goniometer are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of high-precision measurement technology, and in particular to a method for automatically measuring and compensating installation errors of an optical gyroscope goniometer. Background Art

[0002] An optical gyroscope (such as a laser gyroscope or fiber gyroscope) is an instrument for measuring relative angles based on the Sagnac effect. By attaching the optical gyroscope to the mounting surface of the measured carrier (a turntable or other rotating mechanism), ensuring that the gyroscope's sensitive axis is strictly parallel to the axis of rotation, the optical gyroscope effectively measures the carrier's angular velocity relative to inertial space as the carrier rotates with the axis. The angular velocity can also be integrated to calculate relative angular increments between fixed time periods or fixed angular positions. This is the basic application of an optical gyroscope.

[0003] When optical gyroscopes are used for angle measurement, their misalignment can significantly impact calibration and measurement results. The main sources of misalignment are manufacturing misalignment and installation errors. Manufacturing misalignment is typically less than 5 arc minutes and can be measured and compensated for using a combination of inclination sensors and manual attitude adjustment devices. However, due to variations in the structural design and machining of the mounting surfaces of the measured carriers, installation errors are common and represent a major source of error in optical gyroscope calibration and measurement, requiring compensation. Summary of the Invention

[0004] The present invention provides a method for automatically measuring and compensating for installation errors of an optical gyroscope goniometer. This method addresses the drawback of the prior art, which is that it is unable to effectively compensate for and eliminate the misalignment angle caused by installation errors of the optical gyroscope goniometer. The method significantly reduces the misalignment angle caused by installation errors of the optical gyroscope goniometer, thereby improving the accuracy of calibration and measurement. The technical solutions proposed by the present invention are as follows: In a first aspect, the present invention provides a method for automatically measuring and compensating for installation errors of an optical gyroscope goniometer, wherein the optical gyroscope goniometer includes a single-axis optical gyroscope and a dual-axis tilt sensor mounted on the same mounting plane, wherein the sensitive axis of the single-axis optical gyroscope is parallel to the normal direction of the mounting plane, and the sensitive axis of the dual-axis tilt sensor is parallel to the mounting plane; the optical gyroscope goniometer is pre-fixed on a turntable to complete single-axis optical gyroscope scale factor calibration; the optical gyroscope goniometer is mounted on the mounting plane of the rotation axis of the measured carrier, and the single-axis optical gyroscope and the dual-axis tilt sensor are simultaneously powered on and preheated to complete bias calibration; the method comprises: The rotation axis of the measured carrier is controlled to rotate stepwise at preset angle intervals, and the angular rate and angle increment of the rotation axis of the measured carrier are measured in real time by a single-axis optical gyroscope. When the rotation axis of the measured carrier is determined to be stationary, the output tilt angle of the dual-axis tilt sensor at the current angular position is obtained to obtain tilt angle data for multiple target angular positions; Based on the inclination data of the multiple target angular positions, the least square method is used to calculate the installation error angle of the optical gyro goniometer and the inclination angle and orientation angle of the rotation axis of the measured carrier; The angular rate and the angle increment are compensated in real time according to the installation error angle of the optical gyro goniometer.

[0005] Optionally, when the inclination angle of the rotation axis of the measured carrier is a first preset angle, the installation error angle is determined according to the output inclination angle of the dual-axis inclination sensor.

[0006] Optionally, when the inclination angle of the rotation axis of the measured carrier is not the first preset angle, the installation error angle is determined by: Determining the optical gyroscope sensitive axis vector according to the output tilt angle of the dual-axis tilt sensor; Obtain the coordinates of the unit vector of the rotation axis of the measured carrier in the basic coordinate system, and determine the installation error based on the coordinates of the optical gyroscope sensitive axis vector and the unit vector of the rotation axis of the measured carrier in the basic coordinate system; wherein, the basic coordinate system is established in advance with the celestial direction and the horizontal plane, and the carrier coordinate system is established with the optical gyroscope sensitive axis direction and the installation plane.

[0007] Optionally, the condition for determining that the rotation axis of the measured carrier is stationary is that the angular rate continuously output by the single-axis optical gyroscope is lower than a preset threshold value and lasts for a set time period.

[0008] Optionally, the preset angle interval is n positions that equally divide 360°, and n≥4.

[0009] Optionally, the angular rate and the angle increment are compensated by the following formula: Where, is the angular rate after compensation, is the angular rate, is the installation error angle of the optical gyro goniometer, is the angle increment value after compensation, is the angle increment value, and cos is the cosine function.

[0010] In a second aspect, the present invention further provides an automatic measurement and compensation device for installation errors of an optical gyroscope goniometer, wherein the optical gyroscope goniometer includes a single-axis optical gyroscope and a dual-axis tilt sensor mounted on the same mounting plane, wherein the sensitive axis of the single-axis optical gyroscope is parallel to the normal direction of the mounting plane, and the sensitive axis of the dual-axis tilt sensor is parallel to the mounting plane; the optical gyroscope goniometer is pre-fixed on a turntable to complete single-axis optical gyroscope scale factor calibration; the optical gyroscope goniometer is mounted on the mounting plane of the rotation axis of the measured carrier, and the single-axis optical gyroscope and the dual-axis tilt sensor are simultaneously powered on and preheated to complete bias calibration; the device comprises: a control module for controlling the rotation axis of the measured carrier to rotate in steps according to a preset angle interval, measuring the angular rate and angle increment of the rotation axis of the measured carrier in real time through a single-axis optical gyroscope, and obtaining the output tilt angle of the dual-axis tilt sensor at the current angular position when the rotation axis of the measured carrier is determined to be stationary, thereby obtaining tilt angle data for multiple target angular positions; a calculation module, configured to calculate, based on the inclination data of the plurality of target angular positions, an installation error angle of the optical gyro goniometer and an inclination angle and an orientation angle of a rotation axis of a measured carrier using a least squares method; A compensation module is used to compensate the angular rate and the angle increment value in real time according to the installation error angle of the optical gyro goniometer.

[0011] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer as described in the first aspect above is implemented.

[0012] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer as described in the first aspect above.

[0013] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer as described in the first aspect above.

[0014] Based on the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention provides an automatic measurement and compensation method for installation errors of an optical gyroscope goniometer. By combining the use of a single-axis optical gyroscope and a dual-axis tilt sensor, this method achieves precise measurement and compensation of installation errors, significantly improving the measurement accuracy of the optical gyroscope goniometer. The single-axis optical gyroscope is used to measure the angular rate and angular increment of the measured carrier's rotation axis, offering high-precision angular rate measurement capabilities. The dual-axis tilt sensor is used to measure the inclination of the mounting plane relative to the horizontal plane, reflecting deviations in the sensitive axis' direction caused by installation errors. By controlling the measured carrier's rotation axis to rotate in steps at preset angular intervals and simultaneously recording the output data of the single-axis optical gyroscope and the dual-axis tilt sensor, the output data of the dual-axis tilt sensor is used to fit multiple sets of tilt data using the least squares method. The optical gyroscope's installation error angle, as well as the inclination and heading angles of the measured carrier's rotation axis, can be accurately calculated. This method considers data from multiple measurement points, improving the accuracy and reliability of the calculation results. Based on the calculated installation error angle, the angular rate and angular increment measured by the single-axis optical gyroscope are compensated in real time. By compensating for installation errors, the impact of misalignment on measurement results can be significantly reduced, improving measurement accuracy. This method effectively overcomes the existing limitations of optical gyro goniometers, which are unable to effectively compensate for and eliminate misalignment caused by installation errors. By precisely measuring installation errors and performing real-time compensation, this method significantly improves the measurement accuracy and stability of optical gyro goniometers.

[0015] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0018] Figure 1 It is a schematic diagram of the basic coordinate system and the carrier coordinate system provided by the present invention when the rotation axis of the measured carrier is approximately facing upward.

[0019] Figure 2It is a schematic diagram of the basic coordinate system and the carrier coordinate system provided by the present invention when the rotation axis of the measured carrier faces an arbitrary angle in space.

[0020] Figure 3 The present invention provides a flow chart of the automatic measurement and compensation method for the installation error of the optical gyroscope goniometer.

[0021] Figure 4 The present invention is a schematic structural diagram of an automatic measurement and compensation device for installation errors of an optical gyroscope goniometer.

[0022] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0024] The following combination Figure 1-Figure 3 The present invention describes a method for automatically measuring and compensating for installation errors of an optical gyroscope goniometer. This method, by combining the use of a single-axis optical gyroscope and a dual-axis tilt sensor, achieves automatic measurement and precise compensation of installation errors, effectively overcoming the shortcomings of the prior art and improving the measurement accuracy and reliability of the optical gyroscope goniometer.

[0025] The optical gyro goniometer of the present invention is based on a combination of a single-axis optical gyro and a dual-axis tilt sensor, which are mounted on the same mounting plane (i.e. Figure 1 and Figure 2 The single-axis optical gyroscope is located on the mounting plane of the measured carrier (hereinafter referred to as the mounting plane), and its sensitive axis is parallel to the normal direction of the mounting plane. The single-axis optical gyroscope is used to measure the angular velocity and angular increment of the rotation axis of the measured carrier. The sensitive axis of the dual-axis inclination sensor is parallel to the mounting plane and is used to characterize the inclination of the mounting plane relative to the horizontal plane. The dual-axis inclination sensor is used to measure the inclination of the mounting plane relative to the horizontal plane. A basic coordinate system is established with the celestial direction and the horizontal plane. , the Z axis is perpendicular to the ground and faces the sky, and the X axis faces the east. In an ideal state, the optical gyroscope sensitive axis and the rotation axis of the measured carrier (in Figure 1 and Figure 2 However, due to the installation error of the mounting surface of the measured rotary mechanism, there is a certain angle between the optical gyroscope sensitive axis and the measured carrier rotation axis, that is, Figure 1and Figure 2 in The carrier coordinate system is established based on the optical gyroscope sensitive axis direction and the installation plane. .

[0026] The installation error angle determination provided by the present invention includes two working modes, and the optimal calculation scheme can be automatically selected according to the actual working conditions of the carrier.

[0027] When the inclination angle of the rotation axis of the measured carrier is a first preset angle, the installation error angle is determined according to the output inclination angle of the dual-axis inclination sensor.

[0028] When the inclination angle of the rotation axis of the measured carrier is exactly equal to the first preset angle (such as approximately facing the sky), due to the existence of installation error, the basic coordinate system With the carrier coordinate system Not overlapping, such as Figure 1 At this point, the carrier's rotation axis is completely aligned with the ideal reference, and there is no additional tilt component. The output tilt angles of the two sensitive axes of the dual-axis inclination sensor can be directly read. At this time, the installation error can be calculated by the following formula: in, The output inclination angle of the two sensitive axes of the dual-axis inclination sensor; is the installation error angle, that is, the angle between the sensitive axis of the optical gyroscope and the rotation axis of the measured carrier, and cos is the cosine function.

[0029] In more complex practical application scenarios, that is, when the inclination angle of the rotation axis of the measured carrier is not the first preset angle. When the measured carrier has an inherent tilt, it automatically switches to the vector analysis method. This method first establishes a spatial vector model of the optical gyroscope sensitive axis through the dual-axis tilt sensor data, and then combines the unit vector of the measured carrier rotation axis provided by the carrier attitude reference system to accurately calculate the installation error angle using three-dimensional space coordinate transformation technology. This mode solves the coupling problem between the installation error and the tilt of the carrier itself. When the inclination angle of the rotation axis of the measured carrier is not the first preset angle, the installation error angle is determined in the following way: The optical gyroscope sensitive axis vector is determined according to the output tilt angle of the dual-axis tilt sensor. The coordinates of the measured carrier rotation axis unit vector in the basic coordinate system are obtained, and the installation error is determined according to the coordinates of the optical gyroscope sensitive axis vector and the measured carrier rotation axis unit vector in the basic coordinate system.

[0030] When the shaft faces any angle in space, the installation error angle Under the combined influence of the rotation axis inclination angle, the basic coordinate system With the carrier coordinate system The non-coincidence is further amplified, such as Figure 2 Assume that the unit vector of the measured carrier's rotation axis is In the base coordinate system The coordinates in , clockwise rotation is agreed to be the positive direction, at this time the carrier coordinate system can be After the second rotation, we get: (1) in, and The basic coordinate system After secondary rotation to the carrier coordinate system The required rotation angles of the X and Y axes.

[0031] Optical gyro sensitive axis vector for: (2) At this time, the output of the dual-axis tilt sensor is: (3) (4) Combining the three formulas, we can get: (5) The installation error at this time is: (6) The optical gyro goniometer is pre-fixed on the turntable and the single-axis optical gyro scale factor is calibrated to ensure an accurate and linear relationship between its output and the actual rotation angle. After the optical gyro goniometer is fixed on the turntable and the single-axis optical gyro scale factor calibration is completed, the optical gyro goniometer is mounted on the mounting plane of the measured carrier's rotation axis. The single-axis optical gyro and dual-axis tilt sensor are simultaneously powered on and preheated, and initialization operations such as bias calibration are completed to ensure the equipment is in optimal working condition.

[0032] Reference Figure 3 As shown, the method includes the following: S110, controlling the rotation axis of the measured carrier to rotate in steps according to a preset angle interval, measuring the angular velocity and angle increment of the rotation axis of the measured carrier in real time through a single-axis optical gyroscope, and when it is determined that the rotation axis of the measured carrier is stationary, obtaining the output inclination angle of the dual-axis inclination sensor at the current angular position to obtain inclination data of multiple target angular positions.

[0033] The automatic measurement process is as follows: 1. Control the stepping rotation of the rotating axis of the measured carrier: Set the turntable's automatic stepping program to rotate according to preset angular intervals (e.g., 1 degree, 2 degrees, etc.). The turntable's rotation should be smooth and accurate to ensure reliable measurement data. The preset angular intervals are n positions that divide 360° equally, where n ≥ 4.

[0034] At each angular position , the turntable should be stationary for several seconds (such as 5 seconds, 10 seconds, etc.) to ensure that the output of the gyro and dual-axis tilt sensor is stable, so as to obtain accurate measurement data. is the number of angular positions 2. Real-time measurement of angular rate and angle increment: During the turntable's rotation, the single-axis optical gyroscope measures the angular rate and angular increment of the measured carrier's rotation axis in real time at a high sampling frequency (e.g., 200-2000 Hz). This data is used for subsequent calculation and compensation of installation errors.

[0035] 3. Obtain inclination data: When the measured carrier rotates to the target angular position and decelerates to a standstill, the system can determine whether the measured carrier's rotation axis has stopped by monitoring the change in angular velocity or setting a standstill time threshold. This automatically triggers the saving of the dual-axis inclination sensor's output inclination data, and obtains the output inclination of the dual-axis inclination sensor at the current angular position. The inclination data reflects the degree of inclination of the mounting plane relative to the horizontal and is an important basis for calculating installation errors.

[0036] The above process of rotating, stopping and acquiring inclination data is repeated until enough inclination data of the target angular position (eg, 12) are acquired.

[0037] S120 : Based on the inclination data of the multiple target angular positions, calculate the installation error angle of the optical gyro goniometer and the inclination and orientation angle of the rotation axis of the measured carrier using a least squares method.

[0038] Assuming that the axial and radial rotation errors during the rotation of the shaft system are not considered, the cosine value of the installation error angle should theoretically remain unchanged during the rotation process. Based on this principle, the rotation axis of the measured carrier is rotated and the data at any angular position on the rotation circle are collected. A set of inclination data from the inclination sensor ,i=1,2,…, , is the number of angular positions. Multi-point measurement yields: (n≥4) (7) Transformed into: (n≥4) (8) make , , , then according to the least squares method we can get: (9) Then we can solve it The value of the measured carrier and the unit vector of the rotation axis In the base coordinate system The coordinates below.

[0039] According to the unit vector of the rotation axis of the measured carrier In the base coordinate system The coordinates in , the inclination and heading angle of the measured carrier's rotation axis can be determined. The inclination is the angle between the measured carrier's rotation axis and the Z axis (or zenith direction) of the basic coordinate system, and the heading is the angle between the projection of the measured carrier's rotation axis on the XY plane of the basic coordinate system and the X axis. , is the arc cosine function. , is the four-quadrant inverse tangent function.

[0040] S130: Perform real-time compensation on the angular rate and the angle increment according to the installation error angle of the optical gyro goniometer.

[0041] Based on the calculated installation error angle, the angular rate and angle increment values measured by the single-axis optical gyroscope are compensated in real time. This compensation eliminates the impact of the installation error on the measurement results and improves measurement accuracy. The angular rate and angle increment values are compensated using the following formula: (10) (11) Where, is the angular rate after compensation; is the angular rate, which represents the original angular rate measured by the single-axis optical gyroscope; is the installation error angle of the optical gyro goniometer; is the angle increment value after compensation; is the angle increment value, which represents the original angle increment value measured by the single-axis optical gyroscope.

[0042] According to the measured original angular rate and installation error angle , use formula (10) to calculate the angular rate after compensation This step eliminates the influence of installation error on angular rate measurement, so that the compensated angular rate more accurately reflects the actual angular rate of the rotation axis of the measured carrier.

[0043] Similarly, based on the measured original angle increment value and the installation error angle , use formula (11) to calculate the angle increment after compensation. This step eliminates the influence of installation error on the angle increment measurement, so that the angle increment after compensation more accurately reflects the actual angle change of the rotating axis of the measured carrier.

[0044] The present invention provides a method for automatically measuring and compensating for installation errors in an optical gyroscope goniometer. By combining a single-axis optical gyroscope and a dual-axis tilt sensor, precise measurement and compensation of installation errors are achieved, significantly improving the measurement accuracy of the optical gyroscope goniometer. The single-axis optical gyroscope is used to measure the angular rate and angular increment of the measured carrier's rotation axis, and has high-precision angular rate measurement capabilities. The dual-axis tilt sensor is used to measure the inclination of the mounting plane relative to the horizontal plane, and can reflect the directional deviation of the sensitive axis caused by installation errors. By controlling the measured carrier's rotation axis to rotate in steps at preset angular intervals, the output data of the single-axis optical gyroscope and the dual-axis tilt sensor are simultaneously recorded. Using the output data of the dual-axis tilt sensor, multiple sets of tilt data are fitted using the least squares method to accurately calculate the optical gyroscope goniometer's installation error angle and the measured carrier's rotation axis inclination and heading angle. This method considers data from multiple measurement points, improving the accuracy and reliability of the calculation results. Based on the calculated installation error angle, the angular rate and angular increment measured by the single-axis optical gyroscope are compensated in real time. By compensating for installation errors, the impact of misalignment on measurement results can be significantly reduced, improving measurement accuracy. This method effectively overcomes the existing inability to effectively compensate for and eliminate misalignment caused by installation errors in optical gyroscopes. By precisely measuring installation errors and performing real-time compensation, this method significantly improves the measurement accuracy and stability of optical gyroscopes. This is of great significance for applications requiring high-precision angle measurement, such as aerospace and precision machinery.

[0045] In an optional embodiment, the condition for determining that the rotation axis of the measured carrier is stationary is that the angular rate continuously output by the single-axis optical gyroscope is lower than a preset threshold value and lasts for a set time period.

[0046] As the turntable rotates, the single-axis optical gyroscope outputs the angular velocity of the measured carrier's rotation axis in real time. This angular velocity data is continuously received and recorded. A reasonable preset angular velocity threshold is set based on the measurement requirements and the turntable's performance characteristics. This threshold, typically a small value close to zero, is used to distinguish between slight angular velocity fluctuations when the measured carrier's rotation axis is stationary and significant angular velocity changes during rotation. When the angular velocity output by the single-axis optical gyroscope continuously falls below the preset threshold, a timer begins. If the angular velocity remains below the preset threshold for a set period of time (e.g., 5 seconds, 10 seconds, etc.), the measured carrier's rotation axis is deemed stationary.

[0047] By accurately judging the stationary state of the rotating axis of the measured carrier, the present invention can obtain the output inclination angle of the dual-axis inclination sensor when the turntable is completely stationary. This avoids interference with the inclination measurement caused by factors such as inertial force and friction during the rotation of the turntable, thereby improving the accuracy of the measurement data. Setting the duration judgment condition can effectively avoid misjudgments caused by short-term angular velocity fluctuations (such as external vibrations, airflow disturbances, etc.). Only when the angular velocity is continuously lower than the preset threshold for a set period of time is it determined that the rotating axis of the measured carrier is stationary, thereby enhancing the stability and reliability of the measurement. By automatically judging the stationary state of the rotating axis of the measured carrier, manual intervention and waiting time can be reduced. The measurement process is more automated and efficient, which helps to improve the overall measurement efficiency. The judgment method has a certain degree of flexibility, and the preset threshold and duration can be adjusted according to different measurement environments and requirements, which makes the method adaptable to a wider range of application scenarios and environmental conditions.

[0048] In an optional embodiment, the preset angle interval is n positions that equally divide 360°, and n≥4.

[0049] First, determine a preset angular interval. This interval is crucial for dividing the 360° circumference into n equal positions. The formula for calculating the preset angular interval is: Preset angular interval = 360 / n . Here, n is the number of angular positions, and n ≥ 4 ensures sufficient measurement points to accurately reflect the turntable's motion.

[0050] Based on the calculated preset angular intervals, n angular positions are set on the turntable. These positions are evenly distributed around the turntable's circumference, with each position corresponding to a specific angle. At each preset angular position, an optical gyroscope is used to measure the angular rate and angular increment.

[0051] By dividing the 360° circumference into n equal positions (n ≥ 4), the present invention allows for the installation of more measurement points on the turntable. This helps to more accurately reflect the turntable's motion state, improving measurement accuracy and reliability. The establishment of multiple angular positions can reduce random and systematic errors during the measurement process. The establishment of preset angular intervals makes the measurement process more organized and efficient. Data collection and processing at multiple measurement positions can be completed in a short period of time, improving measurement efficiency. This method is suitable for various application scenarios and environmental conditions. Whether in aerospace, precision machinery, or other fields requiring high-precision angle measurement, the value of n can be adjusted to meet specific measurement requirements.

[0052] Based on the existing optical gyro goniometer installation error measurement and compensation scheme, the present invention effectively solves the installation error measurement and compensation problem when the rotation axis of the measured carrier is oriented in an arbitrary direction in space, expands the application scenarios of the optical gyro goniometer, and fills the gap in the relevant field. The measurement process of the installation error angle is simple to operate and has high measurement efficiency. The measurement time is calculated as a 5-second pause at each angular position, and the measurement and compensation can be completed in a total of about 60 seconds. Compared with the existing installation error measurement and compensation method, in order to obtain multiple sets of inclination measurement values during measurement, there is no need to manually adjust the installation posture of the dual-axis inclination sensor to perform inclination conversion, which eliminates the design of the manual posture adjustment device and simplifies the system complexity. The rotation axis of the measured carrier can be stopped and the measurement can be completed at any angular position, and there is no requirement for the angular position positioning accuracy. Therefore, the method of the present invention has no dependence on the angular positioning error and repeatability of the measured rotating equipment, and has extremely strong practical application value.

[0053] The present invention utilizes an equally spaced stepping measurement method as the measured carrier's rotation axis rotates. Most software programs supporting rotary equipment include a stepping function or are easily developed and upgraded. Furthermore, within the goniometer, the output data from the optical gyroscope can be used to trigger the acquisition of tilt sensor data, making the measurement process easily automated. This measurement method also determines the coordinates of the measured carrier's rotation axis relative to a base coordinate system, providing precise numerical values for the measured carrier's rotation axis inclination and heading angles in subsequent applications. In the least squares method, the sum of squared errors is used as the optimization objective. Increasing the number of observations can reduce the impact of random errors, improve the reliability of parameter estimation, enhance the robustness of the model, and better resist the effects of measurement outliers and noise.

[0054] The following describes an automatic measurement and compensation device for installation errors of an optical gyroscope goniometer provided by the present invention. The automatic measurement and compensation device for installation errors of an optical gyroscope goniometer described below and the automatic measurement and compensation method for installation errors of an optical gyroscope goniometer described above can be used in correspondence with each other.

[0055] The optical gyro goniometer includes a single-axis optical gyro and a dual-axis tilt sensor mounted on the same mounting plane. The sensitive axis of the single-axis optical gyro is parallel to the normal direction of the mounting plane, and the sensitive axis of the dual-axis tilt sensor is parallel to the mounting plane. The optical gyro goniometer is pre-fixed on a turntable to complete the single-axis optical gyro scale factor calibration and obtain the original value of the scale factor. The optical gyro goniometer is mounted on the mounting plane of the rotating axis of the measured carrier, and the single-axis optical gyro and the dual-axis tilt sensor are simultaneously powered on and preheated to complete the bias calibration.

[0056] The automatic measurement and compensation device for the installation error of the optical gyroscope goniometer provided by the present invention refers to Figure 4 Shown, including: The control module 210 is configured to control the rotation axis of the measured carrier to rotate in steps according to a preset angle interval, measure the angular rate and angle increment of the rotation axis of the measured carrier in real time using a single-axis optical gyroscope, and obtain the output tilt angle of the dual-axis tilt sensor at the current angular position when the rotation axis of the measured carrier is determined to be stationary, thereby obtaining tilt angle data for multiple target angular positions; A calculation module 220 is configured to calculate the installation error angle of the optical gyro goniometer and the inclination angle and orientation angle of the rotation axis of the measured carrier using a least squares method based on the inclination angle data of the multiple target angular positions; The compensation module 230 is configured to compensate the angular rate and the angle increment in real time according to the installation error angle of the optical gyro goniometer.

[0057] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340. The processor 310, the communications interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to execute a method for automatically measuring and compensating for installation errors of an optical gyroscope.

[0058] Furthermore, the logic instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0059] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the automatic measurement and compensation methods for the installation errors of the optical gyroscope goniometer provided by the above methods.

[0060] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the automatic measurement and compensation methods for the installation errors of the optical gyroscope goniometer provided by the above methods.

[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0062] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for automatic measurement and compensation of installation error of an optical gyroscope goniometer, characterized in that: The optical gyro goniometer includes a single-axis optical gyro and a dual-axis tilt sensor mounted on the same mounting plane, wherein the optical gyro sensitive axis of the single-axis optical gyro is parallel to the normal direction of the mounting plane, and the sensitive axis of the dual-axis tilt sensor is parallel to the mounting plane; the optical gyro goniometer is fixed on a turntable in advance to complete the calibration of the single-axis optical gyro scale factor; The optical gyroscope goniometer is mounted on the mounting plane of the rotation axis of the measured carrier, and the single-axis optical gyroscope and the dual-axis tilt sensor are simultaneously powered on and preheated and bias calibration is completed; The method comprises: The rotation axis of the measured carrier is controlled to rotate stepwise at preset angle intervals, and the angular rate and angle increment of the rotation axis of the measured carrier are measured in real time by a single-axis optical gyroscope. When the rotation axis of the measured carrier is determined to be stationary, the output tilt angle of the dual-axis tilt sensor at the current angular position is obtained to obtain tilt angle data for multiple target angular positions; Based on the inclination data of the multiple target angular positions, the least square method is used to calculate the installation error angle of the optical gyro goniometer and the inclination angle and orientation angle of the rotation axis of the measured carrier; The angular rate and the angle increment are compensated in real time according to the installation error angle of the optical gyro goniometer.

2. The method for automatic measurement and compensation of installation error of an optical gyroscope goniometer according to claim 1, characterized in that: When the inclination angle of the rotation axis of the measured carrier is a first preset angle, the installation error angle is determined according to the output inclination angle of the dual-axis inclination sensor.

3. The method for automatic measurement and compensation of installation error of an optical gyroscope goniometer according to claim 1, characterized in that: When the inclination angle of the rotation axis of the measured carrier is not the first preset angle, the installation error angle is determined by: Determining the optical gyroscope sensitive axis vector according to the output tilt angle of the dual-axis tilt sensor; Obtain the coordinates of the unit vector of the rotation axis of the measured carrier in the basic coordinate system, and determine the installation error based on the coordinates of the optical gyroscope sensitive axis vector and the unit vector of the rotation axis of the measured carrier in the basic coordinate system; wherein, the basic coordinate system is established in advance with the celestial direction and the horizontal plane, and the carrier coordinate system is established with the optical gyroscope sensitive axis direction and the installation plane.

4. The method for automatically measuring and compensating installation errors of an optical gyroscope goniometer according to claim 1, wherein: The condition for determining that the rotation axis of the measured carrier is stationary is that the angular rate continuously output by the single-axis optical gyroscope is lower than a preset threshold value and lasts for a set time period.

5. The method for automatic measurement and compensation of installation error of an optical gyroscope goniometer according to claim 1, characterized in that: The preset angle interval is n positions that equally divide 360°, where n≥4.

6. The method according to claim 1, characterized in that The angular rate and angle increment are compensated by the following formula: Where, is the angular rate after compensation, is the angular rate, is the installation error angle of the optical gyro goniometer, is the angle increment value after compensation, is the angle increment value, and cos is the cosine function.

7. An automatic measurement and compensation device for installation error of an optical gyroscope goniometer, characterized in that: The optical gyro goniometer includes a single-axis optical gyro and a dual-axis tilt sensor mounted on the same mounting plane, wherein the optical gyro sensitive axis of the single-axis optical gyro is parallel to the normal direction of the mounting plane, and the sensitive axis of the dual-axis tilt sensor is parallel to the mounting plane; the optical gyro goniometer is fixed on a turntable in advance to complete the calibration of the single-axis optical gyro scale factor; The optical gyroscope is mounted on the mounting plane of the rotation axis of the measured carrier, and the single-axis optical gyroscope and the dual-axis tilt sensor are simultaneously powered on and preheated and bias calibration is completed; the device includes: a control module for controlling the rotation axis of the measured carrier to rotate in steps according to a preset angle interval, measuring the angular rate and angle increment of the rotation axis of the measured carrier in real time through a single-axis optical gyroscope, and obtaining the output tilt angle of the dual-axis tilt sensor at the current angular position when the rotation axis of the measured carrier is determined to be stationary, thereby obtaining tilt angle data for multiple target angular positions; a calculation module, configured to calculate, based on the inclination data of the plurality of target angular positions, an installation error angle of the optical gyro goniometer and an inclination angle and an orientation angle of a rotation axis of a measured carrier using a least squares method; A compensation module is used to compensate the angular rate and the angle increment value in real time according to the installation error angle of the optical gyro goniometer.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for automatically measuring and compensating the installation error of the optical gyroscope goniometer according to any one of claims 1 to 6 is implemented.

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