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Fiber Optic Gyroscope (FOG) is the core component of the fiber optic strapdown inertial navigation system, which has been widely used in aviation, aerospace, navigation and other fields. The scale factor is the main factor affecting the dynamic performance of FOG. Because the photoelectric devices inside FOG are highly sensitive to temperature vaviations, the scale factor error will be produced under the influence of temperature, which will affect the precision of FOG. In the variable temperature environment, each photoelectric device is heated unevenly, which leads to the hysteresis of the scale factor error. In this paper, the scale factor hysteresis error of FOG is studied, and a multi-temperature sensor measuring system is built. The source and characteristics of the scale factor hysteresis error are determined by the experimental results. Based on the above analysis, an error compensation algorithm based on gravitational search algorithm (GSA) and long short-term memory (LSTM) network is proposed. The parameters of LSTM network are optimized by GSA, and the LSTM model is used to compensate the scale factor hysteresis error. The experimental results show that the peak-to-peak value of scale factor error in the whole temperature range is reduced from 835.1×10-6 to 38.02×10-6 by the proposed algorithm. By comparing with the compensation results of multilayer perceptron (MLP) and traditional LSTM algorithm, the effectiveness of the proposed algorithm in scale factor hysteresis error compensation is further verified.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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