光纤陀螺寻北仪四位置参数补偿算法
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摘要
传统四位置寻北方案中,认为对称位置上陀螺的零位、标度因数是固定值且无交叉耦合影响,这点严重制约倾斜下的寻北精度。该文首先推导了倾斜下,四位置寻北的数值计算方法,然后分别建立对称位置的误差模型,采用水平12位置法标定误差模型中的的残余零位、标度因数和交叉耦合系数,利用补偿参数后得到两个水平分量来参与寻北计算。实验数据表明,在倾斜10°范围以内,传统寻北精度随倾斜角度的增加而变差,达到0.2°,而采用该文提出的参数补偿法,依旧保持在0.1°以内。
In the traditional four-position north seeker scheme,it is considered that the gyroscope's bias and scale factor are fixed value on the symmetrical position,and there is no cross-coupling effect,which severely restrict the accuracy of the north seeker in tilt state.In this paper,the numerical calculation method of four-position north seeker in tilt state is derived firstly.And then,the error model of the symmetric position is established and the parameters in the error model,including residual biases,scale factors and cross coupling coefficients,are calibrated by using the horizontal 12-position method.The horizontal components compensated for parameters are used to participate in the north seeker calculation.The experimental data show that within the range of 10°inclination,the accuracy of the traditional north seeker decreases with the increase of the inclination angle and was up to 0.2°,while adopting parameter compensation method proposed in this paper still remains within 0.1°.
In the traditional four-position north seeker scheme,it is considered that the gyroscope's bias and scale factor are fixed value on the symmetrical position,and there is no cross-coupling effect,which severely restrict the accuracy of the north seeker in tilt state.In this paper,the numerical calculation method of four-position north seeker in tilt state is derived firstly.And then,the error model of the symmetric position is established and the parameters in the error model,including residual biases,scale factors and cross coupling coefficients,are calibrated by using the horizontal 12-position method.The horizontal components compensated for parameters are used to participate in the north seeker calculation.The experimental data show that within the range of 10°inclination,the accuracy of the traditional north seeker decreases with the increase of the inclination angle and was up to 0.2°,while adopting parameter compensation method proposed in this paper still remains within 0.1°.
引文
[1]刘春宇.全姿态挠性陀螺寻北仪的研制及其数据处理技术[D].上海:上海交通大学,2002.
[2]姜璐,于运治,姜庆国.二位置光纤陀螺寻北方案及误差分析[J].兵工自动化,2012,31(3):55-57.JIANG Lu,YU Yunzhi,JIANG Qingguo.Two-osition optical fibre gyro north-seeking scheme and error analysis[J].Ordnance Industry Automation,2012,31(3):55-57.
[3]王丽芬,谢英,杨功流,等.基于光纤陀螺的捷联寻北仪误差分析[J].光电工程,2011,38(5):46-51.WANG Lifen,XIE Ying,YANG Gongliu,et al.Error analysis of the strap-down north-finder based on the fiber optic gyroscope[J].Opto-Electronic Engineering,2011,38(5):46-51.
[4]白云超,李学琴,马小辉,等.采用旋转调制技术的高精度陀螺寻北方案[J].中国惯性技术学报,2010,18(4):421-424.BAI Yunchao,LI Xueqin,MA Xiaohui,et al.High precision north determining scheme based on rotation modulation technology[J].Journal of Chinese Inertial Technology,2010,18(4):421-424.
[5]王亮,谭立龙,仲启媛.磁悬浮陀螺寻北仪信号去噪方法[J].四川兵工学报,2012(5):32-34.
[6]秦永元.惯性导航[M].北京:科学出版社,2006:7-8.
[7]张馨,王宇.光纤陀螺寻北仪航向效应误差分析和补偿[J].弹箭与制导学报,2010,5(30):54-58.ZHANG Xin,WANG Yu.Error analysis and compensation of heading effect for FOG north seeker[J].Journal of Projectiles,Rockets,Missiles and Guidance,2010,5(30):54-58.
[8]王文霞.光纤陀螺寻北方案研究和比较[D].哈尔滨:哈尔滨工程大学,2009.
[2]姜璐,于运治,姜庆国.二位置光纤陀螺寻北方案及误差分析[J].兵工自动化,2012,31(3):55-57.JIANG Lu,YU Yunzhi,JIANG Qingguo.Two-osition optical fibre gyro north-seeking scheme and error analysis[J].Ordnance Industry Automation,2012,31(3):55-57.
[3]王丽芬,谢英,杨功流,等.基于光纤陀螺的捷联寻北仪误差分析[J].光电工程,2011,38(5):46-51.WANG Lifen,XIE Ying,YANG Gongliu,et al.Error analysis of the strap-down north-finder based on the fiber optic gyroscope[J].Opto-Electronic Engineering,2011,38(5):46-51.
[4]白云超,李学琴,马小辉,等.采用旋转调制技术的高精度陀螺寻北方案[J].中国惯性技术学报,2010,18(4):421-424.BAI Yunchao,LI Xueqin,MA Xiaohui,et al.High precision north determining scheme based on rotation modulation technology[J].Journal of Chinese Inertial Technology,2010,18(4):421-424.
[5]王亮,谭立龙,仲启媛.磁悬浮陀螺寻北仪信号去噪方法[J].四川兵工学报,2012(5):32-34.
[6]秦永元.惯性导航[M].北京:科学出版社,2006:7-8.
[7]张馨,王宇.光纤陀螺寻北仪航向效应误差分析和补偿[J].弹箭与制导学报,2010,5(30):54-58.ZHANG Xin,WANG Yu.Error analysis and compensation of heading effect for FOG north seeker[J].Journal of Projectiles,Rockets,Missiles and Guidance,2010,5(30):54-58.
[8]王文霞.光纤陀螺寻北方案研究和比较[D].哈尔滨:哈尔滨工程大学,2009.