三轴转台误差对陀螺仪标定精确度的影响

Influence of three-axis turntable error on gyro calibration accuracy

为了精确地在三轴转台上标定陀螺仪误差模型系数,分析了三轴转台的各种误差源对陀螺仪误差模型系数标定精确度的影响。介绍了三轴转台的误差源,包括轴线垂直度误差、转台的位置误差和倾角回转误差等,建立与转台误差以及陀螺仪误差模型系数有关的陀螺仪输出全误差方程。经过仿真计算,确立了误差源与误差模型系数的标定精确度之间的量化关系。根据分析的结论对实测的陀螺仪误差模型参数进行了修正,对确定转台的精确度指标和提高陀螺仪标定精确度提供了一定依据。

In order to calibrate gyro error model coefficients accurately on three-axis turntable, the influence of various errors sources from three-axis turntable on the calibration accuracy of gyro＇ s error model coefficients was analyzed. Firstly, the error sources of three-axis turntable, consisting of perpendicularity error, position error, and wobble error, were described, then the comprehensive error equation of gyro outputs, which was associated with errors of three-axis turntable and gyro error model coefficients, was deduced. Through simulation and calculation, the quantitative relationship between turntable errors and the calibration accuracy of gyro error model coefficients was established. Finally, according to the analysis results, the gyro error model coefficients measured form practical systems were amended. This paper can help to determine the specification for the turntable and provides some basis for the improvement of gyro calibration accuracy.