小角度随机往复振动条件下陀螺姿态测量研究

Measurement Model for Attitude of Gyro at Small Angle Random To-and-fro Vibration

应用JG-8陀螺组合体,研究其用于小角度随机往复振动条件下的姿态测量,建立了改进的递推线性回归算法,对原始角速度积分值分段拟合,用直线斜率来实时修正原始角速度,修正值积分后得到振动台3轴实时角度值。实验中,通过把陀螺姿态测量数据与线尺数据、含姿态引导数据与观测设备闭环后的编码器读数的比较,验证了该处理方法能有效地消除信号中不稳定的直流噪声,使姿态测量精度达到0.3°以内。

Measurement of gyro attitude at small angle random to-and fro vibration was studied by the gyrounit type JG-8. A modified recursion linear regression algorithm was presented to the measurement error and gyro-drift of real-time amended gyro. The integral values of original angular velocity of the gyro regressed sectionally, the angular velocity was modified by the straight line slope in real time, the angle values of three axes of the vibration test bed were obtained by integrating the modified angular velocity. The measured result was validated by comparing the measured data with the line-ruler data, the lead data containing the attitude with the data from the coder in the observation equipment after closing loop. The validated result shows that the algorithm can effectively eliminate the unsteady DC noise in the signal, and make the attitude measuring precision achive within 0.3°.