光纤陀螺IMU全温三方位速率/一位置标定及分段线性插值补偿方法

Three-azimuth rotation/one position calibration and piecewise linear interpolation compensation for FOG IMU in full temperatures

针对光纤陀螺惯性测量单元全温动态环境下测量误差问题,提出一种全温三方位正反速率/一位置标定及分段线性插值补偿方法,建立了光纤陀螺惯性测量单元误差模型,在每个恒温点设计三方位正反速率/一位置标定方案。采用分段线性插值算法实时补偿系统零偏和标度因数温度误差,系统全温环境下的测量精度提高5倍左右。车载实验结果表明,采用该方法后系统4200 s纯惯性姿态测量误差小于1°。

For decreasing measurement error of fiber optic gyroscope（FOG） inertial measurement unit（IMU） in severe environmental conditions,a new technique was proposed by using a three-azimuth rotation /one position calibration and piecewise linear interpolation（PLI） compensation method in full temperatures.An accurate error model of FOG IMU was established.The three-azimuth rotation rate/one position calibration experiment was implemented in a series of constant temperature.A piecewise linear interpolation arithmetic was used to compensate the bias and the scale factor temperature error of gyroscopes and accelerometers.The measurement precision of FOG IMU is improved by a factor of five.The vehicle experiment results show that the inertial navigation errors is less than 1° in 4200 s after using the proposed method.