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由低精度光纤陀螺(Fiber Optical Gyroscope,FOG)组成的寻北仪具有结构简单、成本低的优点,但易受地磁和车上复杂外部环境的影响。针对低精度FOG存在地磁零位,寻北仪对外部晃动敏感的缺陷,通过对陀螺进行地磁零位补偿保证陀螺零偏稳定性,在此基础上提出了基于惯性系的双位置寻北算法。算法分别在两个对位进行惯性系寻北,利用双位置对消原理获得不受陀螺固定零偏影响的方位角并完成水平陀螺固定零偏的估计。实验结果表明,陀螺零偏稳定性0.15(°)/h,加速度计零偏稳定性150μg的惯性器件精度下,车上寻北误差1倍标准差小于4.5mil、极差小于10mil、对准时间小于5min。与传统双位置算法相比,所提算法在晃动基座条件下具有对准精度高,环境适应性强的优点。
The north finder composed of a low-precision Fiber Optical Gyroscope (FOG) has the advantages of simple structure and low cost, but is susceptible to the geomagnetic and complex external environment on the vehicle. In view of the existence of geomagnetic zero in the low-precision FOG and the weakness of the north-finder looking for external shaking, the zero bias stability of the gyro is guaranteed by the geomagnetic zero compensation of the gyro. Based on this, a dual-position north search algorithm based on inertial system is proposed. The algorithm searches for the inertial north of the two alignment points respectively and obtains the azimuth angle which is not affected by the fixed zero bias of the gyroscope by using the double-position cancellation principle and completes the estimation of the fixed gyro bias of the horizontal gyroscope. The experimental results show that the standard deviation of one-fold error of north-seeking is less than 4.5mil, the difference is less than 10mil, the time of alignment Less than 5min. Compared with the traditional two-position algorithm, the proposed algorithm has the advantages of high alignment precision and strong environmental adaptability under shaking the base.