光纤陀螺捷联旋转式惯导系统关键技术研究
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摘要
光纤陀螺具有无运动部件、工艺简单、精度覆盖面广、动态范围大等优点,被捷联惯性导航系统普遍采用；光纤陀螺捷联惯性导航系统省去了复杂机械机构,结构简单、体积小、成本低。然而,由于捷联系统的惯性元件直接与载体固连,工作环境恶劣,振动、环境温度、大范围的角速度及角加速度会引起较大的系统动态误差和元件误差；此外,目前国内惯性器件受材料及加工工艺的影响,与传统的机械转子陀螺相比,光纤陀螺精度低,环境适应能力差。因此,如何提高光纤陀螺捷联惯导系统的定位精度和长时间工作能力,成为国际导航界讨论的热点。
为减小惯性元件误差对捷联系统导航定位精度的影响,提高导航系统的定位精度,本文以实验室在研的光纤陀螺为研究对象,开展捷联旋转式系统研究。从系统设计层面,对捷联旋转式系统的关键技术和问题进行深入研究和分析。
阐述课题的研究背景和研究意义,介绍国内外光纤陀螺捷联惯导、光纤陀螺温度控制技术和捷联旋转式惯导系统的研究发展现状。
分析惯性器件常值误差和周期误差对惯导定位参数误差影响,阐述捷联旋转式系统抑制惯性器件误差对系统导航定位精度影响的原理；从惯导系统的误差方程出发,进一步分析捷联旋转式系统自动补偿的本质；以惯性器件常值误差、标度因数误差和安装误差为误差源,建立旋转式捷联系统对各项误差调制效果表达式。
分析旋转系统惯性器件关键误差指标,根据捷联系统求解误差方程的方法,以惯性元件的常值漂移、标度因数误差和安装误差为误差源,针对捷联单轴旋转方案——单轴单向连续旋转和单轴正反转两种典型的旋转方式,建立单轴旋转系统定位参数误差表达式,以实现高精度捷联单轴旋转式惯导系统为目标,根据定位参数误差表达式,确定了满足定位精度要求的光纤陀螺误差指标,仿真验证单轴旋转系统定位参数误差表达式的正确性,以及误差指标分析方案的可行性。
设计一种高精密温度控制系统,给出温度控制系统总体设计方案；以铂电阻为测温元件,采用恒流源测温电桥,提出一种温度解算方法；以半导体制冷器为温度控制元件,在-10～50℃环境温度内,为光纤陀螺提供稳定在28-35℃间的工作温度,提出了根据半导体制冷器工况合理选择制冷器型号的方法；通过实验法建立温控系统模型,设计基于BP神经网络调整PID控制器参数的半导体制冷器控制方案,引入环境温度作为神经网络的输入节点；采用温箱考核实验和陀螺漂移测试实验,验证温控系统以及采用温控时光纤陀螺的工作精度。
分析单轴旋转系统对常值漂移调制效果,以完全补偿常值漂移为目的,提出设计双轴旋转方案应该遵循的原则;推导双轴旋转对标度因数误差调制效果农达式,提出建立标度因数误差引起的角速度误差表达式遵循的原则;根据设计原则,设计八位置双轴旋转方案,对方案补偿惯性元件误差的效果进行验证；确定双轴旋转方案关键指标(系统旋转时间、停止时间和旋转周期)对系统定位精度的影响,建立双轴旋转系统中常值漂移激励的定位参数误差表达式,提出根据定位误差表达式对关键技术指标进行定量分析的方法;通过仿真验证了,根据设计原则确定双轴旋转方案的可行性,以及优化关键指标可以有效改善旋转系统的定位精度。
Fiber optic gyro has no moving parts, simple technology, wide coverage accuracy, large dynamic range and so on, and it has been widely used in strap-down inertial navigation system. As fiber optic gyro strap-down inertial navigation system omits complex mechanical structures, it has the advantages of simple structure, small size, and low cost. However, as inertial components of strap-down system are fixed to carrier directly, bad working environments vibration environment temperature large range angular and angular acceleration may generate large sytem dynamic errors and component errors. Restricted to the influences of domestic inertial components matrial and processing technology, comparing to traditional mechanical rotor gyro, the accuracy of fiber gyro is low and environment adaptability is poor. So how to improve positioning accuracy and longtime working capability of strap-down inertial navigation sytem are hot issues in current international navigation industry.
To reduce the influences of inertial component errors to navigation positioning accuracy of strap-down system and improve positioning accuracy of navigation system, this thesis takes the laboratory investigation fiber optic gyro as the study object, researches on strap-down rotational system. Considering from system desiging level, key technologies and problems of strap-down rotation system have been furtherly studied and analyzed here.
First, the subject researching backgrounds and researching significances have been described, the research and development of home and abroad fiber optic gyro strap-down inertial navigation, fiber gyro temperature control technology and strap-down rotation inertial navigation sytem are introduced.
Second, by analyzing the influences of inertial positioning paramenter errors coming from inertial components const errors and periodic errors, the principle of inhibiting inertial components errors to system navigation positioning accuracy influences are described. Starting from inertial sytem error equations, the nature of strap-down rotation system self-compensation is analyzed furtherly. Then, inertial components const errors, scale factor errors and fixing errors are as the error sources, error modulation effect expressions of rotation strap-down system are built.
Third, analyzing rotation system inertial components key error indexes, according to strap-down system error equation calculation methods, taking inertial components const drifts scale factor errors and fixing errors as error resources, aming at strap-down single-axis rotation scheme, single-axis unidirectional continuous rotation and single-axis positive inversion two typical rotation methods, single-axis rotation system positioning parameter error expressions have been built. In order to realize high accuracy strap-down single-axis rotation inertial navigation system, by positioning parameter error expressions, fiber optic error indexes which can satisfy positioning accuarcy are determined. And the correctness of single-axis rotation system positioning parameter error expressions have been verified by simulation and the error indexes analysis scheme is feasible.
Forth, a high accuracy temperature control system is designed, and a general design scheme of temperature control system is given. The platinum resistance is as the measuring component, using constant flow source electrical brige, a new temperature solving method is proposed. When semiconductor refrigerator is used as temperature control componments, environment temperature changing at-10～50℃, it can stabilize working temperature at28-35℃for fiber optic gyro and the method choosing refrigerator type by semiconductor working situation is proposed. And temperature control system model is built by experiment, semiconductor refrigerator control scheme based on BP neural networks adjusting PID controller parameters is designed, environment temperature as neural network input nodes is introduced. In order to verify working accuracy of temperature control system and fiber optic gyro working under temperature controlling, temperature control box evaluation experiment and gyro drifts testing experiments are used here.
Fifth, on the foundation of analyzing constant drift modulation effect by single-axis rotation system, in order to compensate const drift completely, principles to be followed when designing double-axis rotation scheme are proposed here. Deriving scale factor error modulation effect expressions by double-axis rotation, building expression principles of angular error induced by scale factor error is proposed. According to proposed principles, double-axis rotation scheme is designed, and the compensation effects of inertial components are verified. When determing double-axis rotation scheme there are some key indexes, such as system rotation time, stopping time and rotating period. And by building positioning parameter error expressions which are motivated by double-axis rotation system const drifts, key technology indexes quantitative analysis method by positioning error expressions is proposed. Furthmore, the correctness of designing double-axis rotation scheme by proposed principles is verified by simulation, and whether positioning accuracy of double-axis rotation scheme by optimizing key designing indexes can satisfy requirements has also been tested.
为减小惯性元件误差对捷联系统导航定位精度的影响,提高导航系统的定位精度,本文以实验室在研的光纤陀螺为研究对象,开展捷联旋转式系统研究。从系统设计层面,对捷联旋转式系统的关键技术和问题进行深入研究和分析。
阐述课题的研究背景和研究意义,介绍国内外光纤陀螺捷联惯导、光纤陀螺温度控制技术和捷联旋转式惯导系统的研究发展现状。
分析惯性器件常值误差和周期误差对惯导定位参数误差影响,阐述捷联旋转式系统抑制惯性器件误差对系统导航定位精度影响的原理；从惯导系统的误差方程出发,进一步分析捷联旋转式系统自动补偿的本质；以惯性器件常值误差、标度因数误差和安装误差为误差源,建立旋转式捷联系统对各项误差调制效果表达式。
分析旋转系统惯性器件关键误差指标,根据捷联系统求解误差方程的方法,以惯性元件的常值漂移、标度因数误差和安装误差为误差源,针对捷联单轴旋转方案——单轴单向连续旋转和单轴正反转两种典型的旋转方式,建立单轴旋转系统定位参数误差表达式,以实现高精度捷联单轴旋转式惯导系统为目标,根据定位参数误差表达式,确定了满足定位精度要求的光纤陀螺误差指标,仿真验证单轴旋转系统定位参数误差表达式的正确性,以及误差指标分析方案的可行性。
设计一种高精密温度控制系统,给出温度控制系统总体设计方案；以铂电阻为测温元件,采用恒流源测温电桥,提出一种温度解算方法；以半导体制冷器为温度控制元件,在-10～50℃环境温度内,为光纤陀螺提供稳定在28-35℃间的工作温度,提出了根据半导体制冷器工况合理选择制冷器型号的方法；通过实验法建立温控系统模型,设计基于BP神经网络调整PID控制器参数的半导体制冷器控制方案,引入环境温度作为神经网络的输入节点；采用温箱考核实验和陀螺漂移测试实验,验证温控系统以及采用温控时光纤陀螺的工作精度。
分析单轴旋转系统对常值漂移调制效果,以完全补偿常值漂移为目的,提出设计双轴旋转方案应该遵循的原则;推导双轴旋转对标度因数误差调制效果农达式,提出建立标度因数误差引起的角速度误差表达式遵循的原则;根据设计原则,设计八位置双轴旋转方案,对方案补偿惯性元件误差的效果进行验证；确定双轴旋转方案关键指标(系统旋转时间、停止时间和旋转周期)对系统定位精度的影响,建立双轴旋转系统中常值漂移激励的定位参数误差表达式,提出根据定位误差表达式对关键技术指标进行定量分析的方法;通过仿真验证了,根据设计原则确定双轴旋转方案的可行性,以及优化关键指标可以有效改善旋转系统的定位精度。
Fiber optic gyro has no moving parts, simple technology, wide coverage accuracy, large dynamic range and so on, and it has been widely used in strap-down inertial navigation system. As fiber optic gyro strap-down inertial navigation system omits complex mechanical structures, it has the advantages of simple structure, small size, and low cost. However, as inertial components of strap-down system are fixed to carrier directly, bad working environments vibration environment temperature large range angular and angular acceleration may generate large sytem dynamic errors and component errors. Restricted to the influences of domestic inertial components matrial and processing technology, comparing to traditional mechanical rotor gyro, the accuracy of fiber gyro is low and environment adaptability is poor. So how to improve positioning accuracy and longtime working capability of strap-down inertial navigation sytem are hot issues in current international navigation industry.
To reduce the influences of inertial component errors to navigation positioning accuracy of strap-down system and improve positioning accuracy of navigation system, this thesis takes the laboratory investigation fiber optic gyro as the study object, researches on strap-down rotational system. Considering from system desiging level, key technologies and problems of strap-down rotation system have been furtherly studied and analyzed here.
First, the subject researching backgrounds and researching significances have been described, the research and development of home and abroad fiber optic gyro strap-down inertial navigation, fiber gyro temperature control technology and strap-down rotation inertial navigation sytem are introduced.
Second, by analyzing the influences of inertial positioning paramenter errors coming from inertial components const errors and periodic errors, the principle of inhibiting inertial components errors to system navigation positioning accuracy influences are described. Starting from inertial sytem error equations, the nature of strap-down rotation system self-compensation is analyzed furtherly. Then, inertial components const errors, scale factor errors and fixing errors are as the error sources, error modulation effect expressions of rotation strap-down system are built.
Third, analyzing rotation system inertial components key error indexes, according to strap-down system error equation calculation methods, taking inertial components const drifts scale factor errors and fixing errors as error resources, aming at strap-down single-axis rotation scheme, single-axis unidirectional continuous rotation and single-axis positive inversion two typical rotation methods, single-axis rotation system positioning parameter error expressions have been built. In order to realize high accuracy strap-down single-axis rotation inertial navigation system, by positioning parameter error expressions, fiber optic error indexes which can satisfy positioning accuarcy are determined. And the correctness of single-axis rotation system positioning parameter error expressions have been verified by simulation and the error indexes analysis scheme is feasible.
Forth, a high accuracy temperature control system is designed, and a general design scheme of temperature control system is given. The platinum resistance is as the measuring component, using constant flow source electrical brige, a new temperature solving method is proposed. When semiconductor refrigerator is used as temperature control componments, environment temperature changing at-10～50℃, it can stabilize working temperature at28-35℃for fiber optic gyro and the method choosing refrigerator type by semiconductor working situation is proposed. And temperature control system model is built by experiment, semiconductor refrigerator control scheme based on BP neural networks adjusting PID controller parameters is designed, environment temperature as neural network input nodes is introduced. In order to verify working accuracy of temperature control system and fiber optic gyro working under temperature controlling, temperature control box evaluation experiment and gyro drifts testing experiments are used here.
Fifth, on the foundation of analyzing constant drift modulation effect by single-axis rotation system, in order to compensate const drift completely, principles to be followed when designing double-axis rotation scheme are proposed here. Deriving scale factor error modulation effect expressions by double-axis rotation, building expression principles of angular error induced by scale factor error is proposed. According to proposed principles, double-axis rotation scheme is designed, and the compensation effects of inertial components are verified. When determing double-axis rotation scheme there are some key indexes, such as system rotation time, stopping time and rotating period. And by building positioning parameter error expressions which are motivated by double-axis rotation system const drifts, key technology indexes quantitative analysis method by positioning error expressions is proposed. Furthmore, the correctness of designing double-axis rotation scheme by proposed principles is verified by simulation, and whether positioning accuracy of double-axis rotation scheme by optimizing key designing indexes can satisfy requirements has also been tested.
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