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针对振动环境下机抖激光陀螺敏感轴产生动态偏移造成惯导系统精度下降的问题,从理论上推导了机抖激光陀螺敏感轴动态偏移误差模型,并结合工程实际建立了简化的误差模型;在此简化误差模型基础上,推导了陀螺敏感轴动态偏移造成的等效陀螺漂移与比力、角速度的耦合关系;将机抖激光陀螺敏感轴动态偏移误差归结为9个待辨识参数,针对该模型中的待辨识参数设计了标定方法,并给出了标定实验设计原则;以姿态误差为观测量进行振动实验对待辨识参数进行估计,振动实验结果表明,在10 min线振动时间内,机抖激光陀螺敏感轴动态偏移误差补偿后,捷联惯导系统纯惯导速度误差减小30%以上。
Aiming at the problem that the precision of Inertial Navigation System (GPS) is degraded due to the dynamic offset of the sensitive axis of the LMG in vibration environment, the error model of the sensitive axis of LMG gyro is derived theoretically and a simplified error model On the basis of this simplified error model, the coupling relationship between equivalent gyro drift and specific force and angular velocity caused by the gyro sensitive axis dynamic displacement is deduced. The error of the sensitive axis of the gyro gyro gyro is reduced to nine unknown parameters , Aiming at the parameters to be identified in this model, a calibration method is designed and the principle of calibration experiment is given. Vibration experiment is performed with attitude error as observation parameter to evaluate the identification parameters. Vibration experiments show that within 10 min line vibration time , Jitter gyro sensitive axis dynamic offset error compensation, SINS inertial navigation system error reduced by more than 30%.