一种高精度无定向的光纤陀螺IMU转停标定方法

High precision calibration for FOG IMU without north reference

通过优化测试编排和设计数据处理算法提高光纤陀螺IMU标定的效率和精度。针对光纤陀螺IMU的误差模型,设计了一种基于双轴转台的无定向光纤陀螺IMU多位置转停标定及误差修正方法。将陀螺速率试验和加计24位置实验方案相结合,提出一种无需北向基准条件下,IMU绕Z轴正反转一周后,分别绕X轴和Y轴以60°和120°为间隔的正、反转停方案,转动速率6(°)/s,各位置停止2 min。同时,基于上述标定方案设计了一种标定误差精确修正算法以修正标定后残差。实际测试结果表明,该方案具有传统的标定算法相当的精度,且测试时间由原来的4.5 h缩短到40 min。

To improve the calibration accuracy and efficiency,the test process and data calculation are optimized.The FOG IMU calibration scheme and error correction without north reference are implemented by IMU rotation and multi-position index based on the dual axes platform.The gyro rotation test and accelerometer 24-position test are combined in this calibration scheme.After positive and inverted rotation for one circle around axis Z,the IMU rotate around axis X and Y clockwise and anticlockwise at interval of 60° and 120° respectively with 6（°）/s rotation rate,and dwell in each position for 2 min.Besides,the error correction algorithm is proposed based on the calibration scheme to correct the calibration errors.The test results prove that the accuracy of this scheme is equivalent to that of classical method,while the time consumption of 4.5 h is shortened to 40 min.