三轴光纤陀螺捷联惯组热致漂移整体式补偿

针对光纤陀螺热致漂移补偿问题,提出一种整体式三轴耦合线性多变量光纤陀螺捷联惯组系统热致漂移补偿模型,该模型由温度梯度、温度和温度二次方多项式组成。根据模型线性特性,采用最小二乘法确定模型参数。进行实验采集漂移数据进行模型验证,为提高参数辨识精度,提出了一种滑窗MAD(sliding window median absolute deviation,SWMAD)法以剔除野值点,引入梯度倒数加权滤波器(gradient inverse weighted,GIW)对数据进行预处理,处理后的数据通过奇异值分解(singular value decomposi-tion,SVD)进行降噪。补偿结果表明,提出的三轴耦合线性多变量模型能有效补偿系统的热致漂移,并能提高系统精度。

Thermally induced bias drift integral compensation for triaxial FOG strapdown inertial navigation system

To compensate the thermally induced bias drift in fiber optic gyroscope,an integral triaxial coupling linear multi-variable model was proposed.The model is composed of a quadratic polynomial of temperature gradient,temperature and temperature square.According to the linear characteristic of the model,the model coefficients are obtained using least-square estimation method.In the test,the drift data sets are collected to validate the effectiveness of the proposed model.In order to enhance the recognition accuracy,a sliding window median absolute deviation(SWMAD) method is proposed to eliminate outlier,the gradient inverse weighted(GIW) filter is then used to preprocess the experiment data,and singular value decomposition(SVD) is used to reduce noise.The compensated result shows that the triaxial coupling linear multi-variable model can effectively compensate the thermally induced bias drift of the system,and the accuracy of strapdown inertial navigation system could be improved after compensation.