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在机抖激光陀螺(DRLG)捷联惯导系统(SINS)中,陀螺的抖动偏频会引起伪圆锥运动。分析了伪圆锥运动对捷联惯导系统旋转矢量计算的影响,并推导了其表达式。通过数值计算,分析了影响伪圆锥误差的因素,提出了机抖激光陀螺抖动频差的匹配原则,以实现伪圆锥误差最小化。基于该匹配原则,面向工程实际问题提出了一种机抖激光陀螺抖频调谐技术。仿真分析和实验结果表明,选用一种主体抖动轮并按需选配调节构件,该技术可满足系统对陀螺抖动频差的匹配要求,同时不会对陀螺整体外形尺寸和抗振性能造成任何影响。与传统方案相比,进一步提升了机抖激光陀螺,尤其是小型化机抖激光陀螺的工程化水平,降低了生产成本。
In a dithered laser gyro (DRLG) strapdown inertial navigation system (SINS), the gyroscope jitter offset causes pseudo-cone motion. The influence of pseudo-coning motion on SINS rotation vector calculation is analyzed and its expression is deduced. Through the numerical calculation, the factors that affect the false coning error are analyzed, and the matching principle of jitter frequency difference of jitter laser gyro is proposed to minimize the false conical error. Based on this matching principle, aiming at practical engineering problems, a dithering tuning technique of machine-shaking laser gyro is proposed. Simulation analysis and experimental results show that using a main jitter wheel and adjusting the components as required can meet the requirements of the system to match the gyro jitter frequency difference without any impact on the overall dimensions and anti-vibration performance of the gyro . Compared with the traditional scheme, the project further improves the engineering level of the machine-shake laser gyroscope, especially the miniature machine-shake laser gyroscope, and reduces the production cost.