MEMS陀螺随机误差特性研究及补偿

为了提高MEMS陀螺输出角速度的精度,采用Allan分析法以及Kalman滤波算法对MEMS陀螺仪进行随机误差分析和补偿。由Allan方差分析陀螺的输出数据,对Allan方差进行最小二乘法拟合,得到各项随机噪声的定量评价指标;对陀螺的输出数据使用AR模型进行数学建模,采用AIC准则确定了AR模型的阶次,建立了陀螺零漂数据的离散时间表达式;在AR模型所建立的陀螺随机误差模型的基础上,设计了Kalman滤波器,对陀螺输出数据使用Kalman算法进行了滤波处理,对陀螺的随机误差进行了补偿;通过Allan方差对Kalman算法对陀螺随机误差的补偿效果进行分析。实验结果表明:角速率随机游走Kalman滤波前为槡0.148 7°/h~(1/2),Kalman滤波补偿后为槡0.004 1°/h~(1/2),,通过补偿可减小97.24%的角速率随机游走误差;零偏不稳定性Kalman滤波前为1.940 8°/h,Kalman滤波补偿后为0.054 2°/h,通过补偿可减小97.21%的零偏不稳定性误差;速率随机游走Kalman滤波前为2.698 5°/h~(3/2),Kalman滤波补偿后为0.334 3°/h~(3/2),通过补偿可减小87.61%的速率随机游走误差。Kalman滤波适用于MEMS陀螺的滤波处理,可有效降低陀螺的随机误差。     

A software-compensation method to orthogonal magnetic field drift in a depolarized fiber-optic gyroscope

An orthogonal magnetic field vertical to the light propagating direction will initiate a nonreciprocal phase drift in a depolarized interferometric fiber-optic gyroscope (D-IFOG). This drift appears a linear correlation to the magnitude of the orthogonal magnetic field. We proposed a software-compensation method by attaching two differential Hall sensors to the D-IFOG to sample the magnetic field in real time and the experimental results showed a notable improvement to the magnetic stability.     

多环架视轴稳定跟踪结构的运动学分析

根据视轴稳定跟踪的运动学原理,分析多环架结构的运动特点,指出结构形式的选择依据。采用PIOGRAM图方法,对两轴、三环两轴以及四环两轴结构分别进行讨论,通过角度和角速度的变换关系对环架自锁、跟踪盲区等现象作了运动学阐述,最终得出了各自适用的载体以及目标运动环境。该研究方法同样适用于其他多轴结构,对多环架结构的几何误差分析等也具有参考价值。     

激光陀螺稳频稳锁区控制参数测试系统

稳频稳锁区控制系统对提高激光陀螺的性能有着重要意义。设计了激光陀螺稳频稳锁区控制系统,并开发了稳频稳锁区控制参数测试系统。结合某型激光陀螺进行了试验验证。结果表明,该系统完全满足陀螺控制系统参数测试的需求,符合陀螺设计指标。     

Stellar sensor based nonlinear model error filter for gyroscope drift extraction

The conventional gyroscope based spacecraft attitude determination approaches are afflicted by the integration drift of gyroscope. To ameliorate the performance of gyroscope, many compensation algorithms have been developed. A novel spacecraft attitude determination algorithm, which is based on the stellar sensor and nonlinear model error filter algorithm, is discussed in this paper. This algorithm uses the attitude quaternion obtained from stellar sensor to generate the attitude information of spacecraft, which could compensate the drift error of the gyroscope unit. This approach could be utilized both as the gyroscope error compensation in high precision integrate navigation system and as an attitude determination unit individually in low precision mini-satellite task. Two verifications of different satellite orbits have been launched and the performance of our approach was proved.     

下视惯性平台瞄准线稳定的数理分析

分析了下视惯性平台瞄准线稳定的工作原理,解析了惯性稳瞄平台坐标系的数学模型,在坐标转换法的基础上推导了瞄准线稳定的数学公式。     

一种新型陀螺动态漂移检测系统的设计

在分析传统陀螺动态漂移测量方法的基础上,介绍了一种新的高、低温陀螺动态漂移测量系统的原理和结构设计。该系统由计算机软件控制其检测全过程,系统的中心部件由CCD摄像机、图像采集卡和处理软件等构成。处理软件用VC开发而成,利用一种快速的目标跟踪算法,它能实时的跟踪目标并能画出其运动轨迹,计算出陀螺的动态漂移。实验证明了该系统的简单性和实用性,其分辨最小动态漂移角度的能力不低于1.8′。     

Accurate calibration for drift of fiber optic gyroscope in multi-position north-seeking phase

This paper presents an accurate calibration method for drift of fiber optic gyroscope (FOG) in multi-position north-seeking phase. To avoid the effect of the rate of change of accelerometer bias on the drift estimate of FOG, north-seeking by coarse-alignment is performed in multi positions and the north-seeking results are used to compute the drift of FOG. The laboratory test results prove that the proposed method can not only achieve multi-position north-seeking, but also accurately calibrate the drift of FOG. The comparison with the traditional method highlights the superior performance of the proposed method.     

光纤陀螺仪零漂信号的Allan方差分析

介绍了光纤陀螺零漂实验的设备环境,硬件和软件的构成及数据采集过程。在测得光纤陀螺零漂信号的基础上,运用Allan方差理论对陀螺信号进行定量的分析,得到了光纤陀螺5个误差源系数的大小,并根据误差源的产生机理,找到了光纤陀螺硬件存在误差的部分,提出了光纤陀螺的改进方案。     

Novel temperature modeling and compensation method for bias of ring laser gyroscope based on least-squares support vector machine

Bias of ring-laser-gyroscope (RLG) changes with temperature in a nonlinear way. This is an important restraining factor for improving the accuracy of RLG. Considering the limitations of least-squares regression and neural network, we propose a new method of temperature compensation of RLG bias building function regression model using least-squares support vector machine (LS-SVM). Static and dynamic temperature experiments of RLG bias are carried out to validate the effectiveness of the proposed method. Moreover, the traditional least-squares regression method is compared with the LS-SVM-based method. The results show the maximum error of RLG bias drops by almost two orders of magnitude after static temperature compensation, while bias stability of RLG improves by one order of magnitude after dynamic temperature compensation. Thus, the proposed method reduces the influence of temperature variation on the bias of the RLG effectively and improves the accuracy of the gyro scope considerably.