直升机光纤陀螺IMU抗振设计及实时滤波方法

Anti-vibration design and real-time filter methods for FOG IMU used in helicopter

振动引起光纤陀螺(FOG,Fiber Optic Gyroscope)零偏误差,非线性、非高斯随机噪声及由其组成的惯性测量单元(IMU,Inertial Measurement Unit)非互易性解算误差,针对直升机航向姿态测量误差问题,提出了一种FOG IMU的机械减振与数据滤波相结合的振动抑制方法,建立了FOG IMU减振装置数学模型,通过优化设计实现线、角运动通道振动解耦,从物理上消除外界高频干扰振动源;研究实时小运算量、低时延数据滤波方法,抑制减振装置谐振干扰和惯性器件噪声,进而减小捷联解算非互易性误差.实验结果表明:采用该方法能有效地抑制外界干扰振动和系统噪声,保证FOG IMU工作稳定性和精度,为研制应用于直升机的高性能航姿导航信息与航向姿态参考系统奠定基础.

The bias error, nonlinear, non-gauss noise, and more arithmetic error of inertial navigation system was caused by vibration. It was a key technology to restrain the error caused by disturbance vibration. A novel method, which combining anti-vibrator and data filtering was proposed. A kinetics model of anti-vi- bration system for fiber optic gyroscope （FOG） inertial measurement unit （IMU） was established. The anti-vi- bration system can implement multi-dimension uncoupled, and eliminate vibration disturbance resource. A re- al-time filter method with little time delay was designed to restrain the resonance disturbance caused by anti-vi- brator and random noise, and then reduce the arithmetic error. The experimental results show that the pro- posed method can effectively restrain disturbance vibration, reduce noise and navigation error, and help to de- velop a high-power head and orientation measurement system.