微型垂直基准仪的陀螺动态误差补偿

Research on Gyro's Dynamic Error of Miniature Attitude Reference System

为了提高舰载微型垂直基准仪的姿态测量精度,有必要补偿系统中陀螺的动态误差。在分析系统动态误差原因的基础上,建立了MEMS陀螺的非线性误差、不对称性误差和角加速度项误差模型;分别采用自适应分段的方法补偿非线性误差,模型中增加角速度绝对值项补偿不对称性误差,并用D-最优试验设计准则和最小二乘法辨识出角加速度误差模型参数。试验结果表明,该误差补偿方案能将系统的姿态测量精度提高约5倍,证明了误差补偿模型和方法的有效性。

In order to improve the precision of ship-based miniature attitude reference system,the dynamic error of MEMS gyros has to be compensated.Based on analyzing the dynamic error sources,some error models,such as nonlinear error,asymmetry error,and angular acceleration error,were set up respectively.Then,the adaptive curve fitting method was used to compensate the nonlinear and asymmetry error.In addition,the test process was designed according to D-optimum criterion.Finally,the efficiency of these methods was checked up in tri-axis turntable＇s swing experiments.The experiment results indicate that the methods can effectively decrease the attitude measurement error by about 80%.