Abstract

To explore and reduce the nonlinear error and temperature dependency of fiber-optic gyroscope (FOG) scale factor, a scale factor modeling method based on temperature is presented in this paper. A hyperbolic curve fitting is proposed according to the characteristic of scale factor under stable temperature at first. Compared to traditional modeling methods, it shows that a higher precision model of scale factor can be obtained. Then the influence of temperature on scale factor is analyzed and then the hyperbolic curve fitting method is extended based on temperature, making it possible to work over the whole potential temperature range of the FOG without degrading the performance. This paper also provides the experimental and verification results. It can be seen that a high precision model of scale factor has been established, the temperature dependency of scale factor has been reduced effectively, and the error due to environment temperature is reduced by one order at least.

© 2012 Optical Society of America

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References

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  1. J. Nayak, “Fiber-optic gyroscope: from design to production,” Appl. Opt. 50, E152–E161 (2011).
    [CrossRef]
  2. T. Tanaka, Y. Igarashi, M. Nara, and T. Yoshino, “Automatic north sensor using a fiber-optic gyroscope,” Appl. Opt. 33, 120–123 (1994).
    [CrossRef]
  3. W. K. Burns, “Fiber optic gyroscopes-light is better,” Opt. Photonics News 9(5), 28–32 (1998).
    [CrossRef]
  4. C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
    [CrossRef]
  5. S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
    [CrossRef]
  6. J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).
  7. C. Shen and X. Y. Chen, “Denoising algorithm for FOG based on wavelet packet transform and FLP algorithm,” J. Southeast Univ. 41, 978–981 (2011), in Chinese.
  8. X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).
  9. H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).
  10. S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
    [CrossRef]
  11. Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.
  12. H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
    [CrossRef]
  13. R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
    [CrossRef]
  14. O. Celikel and S. E. San, “Establishment of all digital closed-loop interferometric fiber-optic comparison for open-loop and all digital closed-loop configurations,” IEEE Sens. J. 9, 176–186 (2009).
  15. S. T. Chen, J. H. Cheng, and W. Gao, “A phase modulation method for improving the scale factor stability of fiber-optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2008), pp. 37–42.
  16. Y. Q. Chen, C. X. Zhang, and K. B. Zhu, “The application of neural network in temperature compensation of FOG scale factor,” Piezoelectectr. Acoustoopt. 29, 516–518 (2007), in Chinese.
  17. X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.
  18. J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

2011 (4)

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).

C. Shen and X. Y. Chen, “Denoising algorithm for FOG based on wavelet packet transform and FLP algorithm,” J. Southeast Univ. 41, 978–981 (2011), in Chinese.

J. Nayak, “Fiber-optic gyroscope: from design to production,” Appl. Opt. 50, E152–E161 (2011).
[CrossRef]

2009 (2)

O. Celikel and S. E. San, “Establishment of all digital closed-loop interferometric fiber-optic comparison for open-loop and all digital closed-loop configurations,” IEEE Sens. J. 9, 176–186 (2009).

X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).

2008 (2)

Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.

J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

2007 (1)

H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).

2005 (1)

S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
[CrossRef]

2004 (1)

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

2001 (1)

H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
[CrossRef]

1998 (1)

W. K. Burns, “Fiber optic gyroscopes-light is better,” Opt. Photonics News 9(5), 28–32 (1998).
[CrossRef]

1994 (1)

1989 (1)

R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
[CrossRef]

Borenstein, J.

H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
[CrossRef]

Burns, W. K.

W. K. Burns, “Fiber optic gyroscopes-light is better,” Opt. Photonics News 9(5), 28–32 (1998).
[CrossRef]

R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
[CrossRef]

Cai, C. L.

Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.

Celikel, O.

O. Celikel and S. E. San, “Establishment of all digital closed-loop interferometric fiber-optic comparison for open-loop and all digital closed-loop configurations,” IEEE Sens. J. 9, 176–186 (2009).

Chen, S. T.

S. T. Chen, J. H. Cheng, and W. Gao, “A phase modulation method for improving the scale factor stability of fiber-optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2008), pp. 37–42.

Chen, X. Y.

C. Shen and X. Y. Chen, “Denoising algorithm for FOG based on wavelet packet transform and FLP algorithm,” J. Southeast Univ. 41, 978–981 (2011), in Chinese.

X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).

Chen, Y. Q.

Y. Q. Chen, C. X. Zhang, and K. B. Zhu, “The application of neural network in temperature compensation of FOG scale factor,” Piezoelectectr. Acoustoopt. 29, 516–518 (2007), in Chinese.

Cheng, J. H.

S. T. Chen, J. H. Cheng, and W. Gao, “A phase modulation method for improving the scale factor stability of fiber-optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2008), pp. 37–42.

Chung, H.

H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
[CrossRef]

Du, M.

J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).

Du, S. S.

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

Fan, C. L.

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

Fang, J. C.

J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).

Frigo, N. J.

R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
[CrossRef]

Gao, W.

S. T. Chen, J. H. Cheng, and W. Gao, “A phase modulation method for improving the scale factor stability of fiber-optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2008), pp. 37–42.

He, Z.

X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.

Huang, L.

H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).

Igarashi, Y.

Jin, J.

J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

Jin, Z. H.

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

Li, J. L.

J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).

Li, X. Y.

X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.

Moeller, R. P.

R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
[CrossRef]

Nara, M.

Nayak, J.

Ojeda, L.

H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
[CrossRef]

Park, J.

S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
[CrossRef]

Park, S.

S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
[CrossRef]

Qian, F.

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

San, S. E.

O. Celikel and S. E. San, “Establishment of all digital closed-loop interferometric fiber-optic comparison for open-loop and all digital closed-loop configurations,” IEEE Sens. J. 9, 176–186 (2009).

Shen, C.

C. Shen and X. Y. Chen, “Denoising algorithm for FOG based on wavelet packet transform and FLP algorithm,” J. Southeast Univ. 41, 978–981 (2011), in Chinese.

X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).

Song, N. F.

J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

Sun, Z. M.

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

Tan, C. W.

S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
[CrossRef]

Tanaka, T.

Tian, W. F.

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

Wang, G.

X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.

Wang, W.

H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).

Xia, J. Q.

Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.

Xu, C. Y.

X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).

Yoshino, T.

Yu, H. C.

H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).

Zhang, C.

X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.

Zhang, C. X.

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

Y. Q. Chen, C. X. Zhang, and K. B. Zhu, “The application of neural network in temperature compensation of FOG scale factor,” Piezoelectectr. Acoustoopt. 29, 516–518 (2007), in Chinese.

Zhang, Z. G.

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

Zhang, Z. X.

Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.

Zhu, K. B.

Y. Q. Chen, C. X. Zhang, and K. B. Zhu, “The application of neural network in temperature compensation of FOG scale factor,” Piezoelectectr. Acoustoopt. 29, 516–518 (2007), in Chinese.

Appl. Opt. (2)

ICIC Express Lett. (1)

X. Y. Chen, C. Shen, and C. Y. Xu, “Application of fuzzy neural network for FOG zero point drift modeling,” ICIC Express Lett. 3, 847–852 (2009).

IEEE Sens. J. (1)

O. Celikel and S. E. San, “Establishment of all digital closed-loop interferometric fiber-optic comparison for open-loop and all digital closed-loop configurations,” IEEE Sens. J. 9, 176–186 (2009).

IEEE Trans. Robot. Autom. (1)

H. Chung, L. Ojeda, and J. Borenstein, “Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope,” IEEE Trans. Robot. Autom. 17, 80–84 (2001).
[CrossRef]

J. Astronaut. (1)

J. Jin, C. X. Zhang, and N. F. Song, “Analysis and compensation of temperature errors for fiber optic gyroscope scale factor,” J. Astronaut. 29, 167–171 (2008), in Chinese.

J. Chinese Inertial Technol. (2)

H. C. Yu, W. Wang, and L. Huang, “Improved performance of scale factory linearity on closed-loop IFOG,” J. Chinese Inertial Technol. 15, 449–451 (2007).

Z. X. Zhang, J. Q. Xia, and C. L. Cai, “Engineering realization of calibrating FOG’s scale factor in segments,” J. Chinese Inertial Technol. 16, 99–103 (2008), in Chinese.

J. Lightwave Technol. (1)

R. P. Moeller, W. K. Burns, and N. J. Frigo, “Open-loop output and scale factor stability in a fiber-optic gyroscope,” J. Lightwave Technol. 7, 262–269 (1989).
[CrossRef]

J. Southeast Univ. (1)

C. Shen and X. Y. Chen, “Denoising algorithm for FOG based on wavelet packet transform and FLP algorithm,” J. Southeast Univ. 41, 978–981 (2011), in Chinese.

Meas. Sci. Technol. (1)

C. L. Fan, Z. H. Jin, W. F. Tian, and F. Qian, “Temperature drift modelling of fiber optic gyroscopes based on a grey radial basis function neural network,” Meas. Sci. Technol. 15, 119–126 (2004).
[CrossRef]

Mechanika (1)

J. L. Li, M. Du, and J. C. Fang, “Fuzzy modeling and compensation of scale factor for MEMS gyroscope,” Mechanika 17, 408–412 (2011).

Opt. Photonics News (1)

W. K. Burns, “Fiber optic gyroscopes-light is better,” Opt. Photonics News 9(5), 28–32 (1998).
[CrossRef]

Opt. Rev. (1)

S. S. Du, Z. M. Sun, Z. G. Zhang, and C. X. Zhang, “Noise analysis of solid-core polarization-maintaining photonic interferometer fiber optic gyroscope,” Opt. Rev. 18, 284–286 (2011).
[CrossRef]

Piezoelectectr. Acoustoopt. (1)

Y. Q. Chen, C. X. Zhang, and K. B. Zhu, “The application of neural network in temperature compensation of FOG scale factor,” Piezoelectectr. Acoustoopt. 29, 516–518 (2007), in Chinese.

Sens. Actuators A (1)

S. Park, C. W. Tan, and J. Park, “A scheme for improving the performance of a gyroscope-free inertial measurement unit,” Sens. Actuators A 121, 410–420 (2005).
[CrossRef]

Other (2)

X. Y. Li, Z. He, C. Zhang, and G. Wang, “Application of adaptive filtering to digital closed-loop fiber optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2009), pp. 443–447.

S. T. Chen, J. H. Cheng, and W. Gao, “A phase modulation method for improving the scale factor stability of fiber-optic gyroscope,” in Proceedings of IEEE International Conference on Mechatronics and Automation (IEEE, 2008), pp. 37–42.

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Figures (14)

Fig. 1.
Fig. 1.

FOG installed on the single-axis turn table with temperature control box.

Fig. 2.
Fig. 2.

Calculated scale factor.

Fig. 3.
Fig. 3.

Modeling of scale factor by different methods.

Fig. 4.
Fig. 4.

Compensation results of different temperature.

Fig. 5.
Fig. 5.

Block diagram of digital closed-loop FOG.

Fig. 6.
Fig. 6.

Scheme of simplified model of FOG.

Fig. 7.
Fig. 7.

3-D view of scale factor under different environment temperature.

Fig. 8.
Fig. 8.

Parts of the experiments results.

Fig. 9.
Fig. 9.

Plot of the scale factor model.

Fig. 10.
Fig. 10.

Difference between Fig. 7(a) and Fig. 9.

Fig. 11.
Fig. 11.

Model output and residual error (input angle rate is 0.25°/s).

Fig. 12.
Fig. 12.

Model output and residual error (input angle rate is 1.6°/s).

Fig. 13.
Fig. 13.

Model output and residul error (Input angle rate is 0.4°/s)

Fig. 14.
Fig. 14.

Model output and residual error (input angle rate is 50°/s).

Tables (2)

Tables Icon

Table 1. Residual Error of Different Polynomial Function Order (×105)

Tables Icon

Table 2. Comparison of Scale Factor Residual Error before and after Considering Temperature Influence (Parts Per Million)

Equations (8)

Equations on this page are rendered with MathJax. Learn more.

K=a0+a11ω+a21ω2.
ωO=ωI×2πLDCλ×K1Z1+N1N2K.
ωO=ωI×2πLDCλN1N2=ωI×KF,
KF=2πL(T)D(T)Cλ(T)N1(T)N2(T).
K=b0+b1T+b2T2.
K=[1ω21ω1][c00c01c02c10c11c12c20c21c22][T2T1],
C=[c00c01c02c10c11c12c20c21c22]
K=WCTWTKTT=WTWCTTT(WTW)1WTKTT(TTT)1=C.

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