IEEE Std 647-2006 IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros.pdf
IEEE Std 647-2006 (Revision of IEEE Std 647-1995) IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros I E E E 3 Park Avenue New York, NY 10016-5997, USA 18 September 2006 IEEE Aerospace and Electronic Systems Society Sponsored by the Gyro and Accelerometer Panel Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. Recognized as an IEEE Std 647-2006 American National Standard (ANSI) (Revision of IEEE Std 647-1995) IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros Sponsor Gyro and Accelerometer Panel of the IEEE Aerospace and Electronic Systems Society Approved 8 August 2006 American National Standards Institute Approved 30 March 2006 IEEE-SA Standards Board Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. Abstract: Specification and test requirements for a single-axis ring laser gyro (RLG) for use as a sensor in attitude control systems, angular displacement measuring systems, and angular rate measuring systems are defined. A standard specification format guide for the preparation of a single-axis RLG is provided. A compilation of recommended procedures for testing an RLG, derived from those presently used in the industry, is also provided. Keywords: dithered gyro, gyro, gyroscope, inertial instrument, inertial sensor, optical gyro, resonant cavity, ring laser gyro, RLG, Sagnac effect, Sagnac gyro. _ The Institute of Electrical and Electronics Engineers, Inc. 3 Park Avenue, New York, NY 10016-5997, USA Copyright © 2006 by the Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Published 18 September 2006. Printed in the United States of America. IEEE is a registered trademark in the U.S. Patent +1 978 750 8400. Permission to photocopy portions of any individual standard for educational classroom use can also be obtained through the Copyright Clearance Center. Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. iv Copyright © 2006. All rights reserved. Introduction This standard is a minor revision of IEEE Std 647-1995 that corrects errors made in the publication process and adds minor technical improvements. It consists of two parts. Part I is a specification format guide for the preparation of a laser gyro specification. It provides a common meeting ground of terminology and practice for manufacturers and users. The user is cautioned not to overspecify; only those parameters that are required to guarantee proper instrument performance in the specific application should be controlled. In general, the specification should contain only those requirements that can be verified by test or inspection. Parameters in addition to those given in this standard are not precluded. Part II is a compilation of recommended procedures for testing a laser gyro. These procedures, including test conditions to be considered, are derived from those currently in use. For a specific application, the test procedure should reflect the requirements of the specification; therefore, not all tests outlined in this standard need be included, nor are additional tests precluded. In some cases, alternative methods for measuring performance characteristics have been included or indicated. The intent is for the specification writer to extract the applicable test conditions and equipment requirements from Clause 11 for inclusion in the appropriate clauses listed under 6.5. Similarly, it is intended that the writer extract the applicable test procedures from Clause 12 for inclusion in the appropriate subclauses listed under 6.6. Part II can also be used as a guide in the preparation of a separate laser gyro test specification with appropriate clause numbering. In general, the intent is for the specification writer to ensure consistency and traceability between Part II test procedures and Part I requirements for performance, mechanical, electrical, environmental, reliability, and quality assurance. To that end, a test procedure should not be listed in Part II unless a related requirement exists in Part I. Blank spaces in the text of this document permit the specification writer to insert specific information such as parameter values and their tolerances, clause numbers, etc. Brackets are used to enclose alternative choices of dimensional units, signs, axes, etc. Boxed statements are included for information only and are not part of the specification or test procedures. The following standards were used in the development of this standard. ANSI/IEEE Std 260.1, IEEE Standard Letter Symbols for Units of Measurement (SI Units, Customary Inch-Pound Units, and Certain Other Units). ANSI/IEEE Std 268, American National Standard for Metric Practice. ANSI/IEEE Std 280, IEEE Standard Letter Symbols for Quantities Used in Electrical Science and Electrical Engineering. ANSI/IEEE Std 315, IEEE Graphic Symbols for Electrical and Electronics Diagrams. IEEE Std 528, IEEE Standard for Inertial Sensor Terminology. This standard defines the requirements and test procedures for a single-axis laser gyro in terms unique to the laser gyro. The requirements contained herein cover applications where the laser gyro is used as an angular motion sensor in navigation and control systems. This introduction is not part of IEEE Std 647-2006, IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros. Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. v Copyright © 2006. All rights reserved. The term laser gyro is accepted to include the electronics necessary to operate the gyro and to condition the output signal. The laser gyro provides an output frequency proportional to inertial angular rate about its input axis. Annex A lists various laser gyro design features for which this format is applicable. The list is not intended to make any suggestion regarding the selection of particular design features that might restrict the free choice of manufacturers. Annex B is an overview of dynamic and stochastic modeling. Annex C is an overview of noise process variance analysis as a method for determination of the drift rate coefficients and the quantization coefficient. Annex D is a bibliography. Notice to users Errata Errata, if any, for this and all other standards can be accessed at the following URL: http:/ standards.ieee.org/reading/ieee/updates/errata/index.html. Users are encouraged to check this URL for errata periodically. Interpretations Current interpretations can be accessed at the following URL: http:/standards.ieee.org/reading/ieee/interp/ index.html. Patents Attention is called to the possibility that implementation of this standard may require use of subject matter covered by patent rights. By publication of this standard, no position is taken with respect to the existence or validity of any patent rights in connection therewith. The IEEE shall not be responsible for identifying patents or patent applications for which a license may be required to implement an IEEE standard or for conducting inquiries into the legal validity or scope of those patents that are brought to its attention. Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. vi Copyright © 2006. All rights reserved. Participants This standard represents a large-scale group effort. A total of 143 individuals attended 46 meetings of the Gyro and Accelerometer Panel during preparation of this standard. The following individuals on the Gyro and Accelerometer Panel were major contributors to IEEE Std 647-2006: Sid Bennett, Chair David Anderson Michael Ash Cleon Barker Stephen Becka Joseph Beri Stephen Bongiovanni Pierre Bouniol Herbert Califano Anthony Campbell* Joseph DAngelo James Davies* George Erickson Julius Feldman Joseph Ficalora Scott Finken Thomas Fuhrman Frank Garcia Kerry Green Michael Hooser Bert Katz Menno Koning Lalit Kumar Kurt Lantz Thomas Lear* David Lynch David Macy R. D. (Sam) Marquess Harold Morris Gerald Morrison* Ralph (Bart) Morrow Jay Murphy Gordon Murray* Jay Neugroschl Rex Peters* Loren Richardson Gerald Shaw Philip Simpson Norman Sinnott* Timothy Stanley Mohammad Tehrani Leroy Thielman Ludd Trozpek Bud Wimber* David Winkel Bruce Youmans *Past Chair A total of 50 individuals attended 12 meetings of the Gyro and Accelerometer Panel during the preparation of this revision. The following individuals on the Gyro and Accelerometer Panel contributed to this standard: Randall Curey, Chair Michael Ash Cleon Barker Sid Bennett* Timothy Buck Herbert Califano George Erickson Kerry Green Jean-François Kieffer Robert Martinez Ralph (Bart) Morrow Reese Sturdevant Daniel Tazartes Leroy Thielman Bruce Youmans *Past Chair The following members of the individual balloting committee voted on this standard. Balloters may have voted for approval, disapproval, or abstention. Michael Ash Cleon Barker Sid Bennett Robert Correllus Randall Curey Robert Dahlgren George Erickson Jean-François Kieffer Vladimir Skvortzov Daniel Tazartes Leroy Thielman Bruce Youmans Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. vii Copyright © 2006. All rights reserved. When the IEEE-SA Standards Board approved this standard on 30 March 2006, it had the following membership: Steve M. Mills, Chair Richard H. Hulett, Vice Chair Don Wright, Past Chair Judith Gorman, Secretary Mark D. Bowman Dennis B. Brophy William R. Goldbach Arnold M. Greenspan Robert M. Grow Joanna N. Guenin Julian Forster* Mark S. Halpin Kenneth S. Hanus William B. Hopf Joseph L. Koepfinger* David J. Law Daleep C. Mohla T. W. Olsen Glenn Parsons Ronald C. Petersen Tom A. Prevost T. W. Olsen Greg Ratta Robby Robson Anne-Marie Sahazizian Virginia Sulzberger Malcolm V. Thaden Richard L. Townsend Walter Weigel Howard L. Wolfman *Member Emeritus Also included are the following nonvoting IEEE-SA Standards Board liaisons: Satish K. Aggarwal, NRC Representative Richard DeBlasio, DOE Representative Alan H. Cookson, NIST Representative Jennie Steinhagen IEEE Standards Program Manager, Document Development Angela Ortiz IEEE Standards Program Manager, Technical Program Development Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. viii Copyright © 2006. All rights reserved. Contents 1. Overview 1 1.1 Scope. 1 1.2 Document structure 1 1.3 Purpose 1 2. Normative references 1 Part ISpecification format. 2 3. Specification format overview 2 4. Applicable documents 2 4.1 Standards . 2 4.2 Standards . 2 4.3 Drawings 3 4.4 Bulletins. 3 4.5 Other publications 3 5. Requirements 3 5.1 Description 3 5.2 General requirements. 4 5.3 Performance. 4 5.4 Mechanical requirements. 9 5.5 Electrical requirements 10 5.6 Environmental requirements 14 5.7 Reliability 18 6. Quality assurance provisions 18 6.1 Classification of tests. 18 6.2 Acceptance tests 19 6.3 Qualification tests 20 6.4 Reliability tests 20 6.5 Test conditions and equipment 21 6.6 Test methods 21 6.7 Data submittal 25 7. Preparation for delivery 25 8. Notes. 26 8.1 Intended use. 26 8.2 Ordering data. 26 8.3 Model equation 26 Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. ix Copyright © 2006. All rights reserved. Part IITest procedures. 28 9. Test procedure overview 28 10. Description . 28 11. Test conditions and test equipment. 28 11.1 Standard test conditions. 28 11.2 Standard operating and test equipment 30 12. Test procedures. 31 12.1 Examination of product (mechanical) 31 12.2 Examination of product (electrical). 31 12.3 Leak test. 33 12.4 Input power test. 33 12.5 Turn-on time test . 34 12.6 Warm-up time test. 34 12.7 Polarity test 35 12.8 Operating temperature test series. 36 12.9 Gyro scale factor test series. 37 12.10 Input rate test series. 40 12.11 Anti-lock residual and quantization noise test. 41 12.12 Drift rate test series 42 12.13 IA alignment characteristics 47 12.14 Generated fields. 49 12.15 Environment test series 50 Annex A (informative) Examples of laser gyro design features. 51 Annex B (informative) Dynamic and stochastic modeling overview. 52 B.1 Introduction. 52 B.2 Modeling. 54 B.3 Preferred means of analysis 57 B.4 Test, data processing, and analysis considerations 60 B.5 Conclusion 65 Annex C (informative) An overview of the Allan variance method of RLG noise analysis 68 C.1 Allan variance background . 68 C.2 Estimation accuracy and test design . 78 C.3 Tabulation of some variance analysis. 79 Annex D (informative) Bibliography. 81 Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. Authorized licensed use limited to: Tsinghua University Library. Downloaded on December 25,2010 at 10:22:10 UTC from IEEE Xplore. Restrictions apply. 1 Copyright © 2006. All rights reserved. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros 1. Overview 1.1 Scope This standard defines the specification and test requirements for a single-axis laser gyro for use as a sensor in attitude control systems, angular displacement measuring systems, or angular rate measuring systems, including the electronics necessary to operate the gyro and to condition the output signals. 1.2 Purpose This standard provided a common meeting ground of terminology and practice for manufacturers and users. The user is cautioned not to overspecifyonly those parameters that are required to guarantee proper instrument performance in the specific application should be controlled. In general, the specification should contain only those requirements that can be verified by test or inspection. Part II of this standard can also be used as a guide in the preparation of a separate laser gyro test specification. In general, the intent is for the specification writer to ensure consistency and traceability between Part II test procedures and Part I requirements for performance, mechanical, electrical, environmental, and quality assurance. 1.3 Document structure Part I (Clause 3 through Clause 8) of this standard is a specification format guide for the preparation of a laser gyro specification. Part II (Clause 9 thr
