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针对航空遥感的作业环境特点,分析了一类位置姿态测量系统(position and orientation system,POS)用挠性陀螺的标度因数与输入角速度之间的关系。通过实验发现了在小角速率范围内陀螺标度因数与输入角速度呈规律性的“双曲线”关系。提出了一种改进的多位置动静混合误差标定与补偿方法。首先根据输入角速度的正负分别标定陀螺标度因数并建立两者的对应关系,然后在误差补偿时根据输入角速度的方向和数值变化更新标度因数及其他误差系数,进而提高误差补偿精度。实验结果表明,利用改进方法进行误差补偿后POS角测量精度可以提升约20%。
Aiming at the characteristics of the working environment of aviation remote sensing, the relationship between the scale factor and input angular velocity of a type of flexible gyroscope for position and orientation system (POS) is analyzed. The relationship between gyroscopic scale factor and input angular velocity is found to be “hyperbolic” through experiments. An improved method for calibration and compensation of multi-position hybrid motion error is proposed. First, according to the positive and negative of the input angular velocity, the scale factor of the gyroscope is calibrated and the corresponding relationship between the two is established. Then, the scale factor and other error coefficients are updated according to the direction and value of the input angular velocity during error compensation, so as to improve the error compensation accuracy. The experimental results show that the POS angle measurement accuracy can be improved by about 20% with the improved method.