光纤陀螺在摇摆状态下的误差建模与补偿

Error Modeling and Compensation of FOG in Swaying Motion

光纤陀螺在摇摆运动条件下存在不可忽略的角速率测量误差,该项误差制约了光纤陀螺捷联系统在恶劣角动态应用环境下的精度。针对这种情况,基于自动控制理论和光纤陀螺闭环控制方案,分析了闭环光纤陀螺摇摆误差的产生机理,指出角加速度是导致摇摆误差的主要因素。随后建立了光纤陀螺摇摆误差的简化模型,并提出了摇摆误差补偿算法。最后采用基于等效输入原理的动态特性测试方法,在不同的摇摆频率下对光纤陀螺进行了摇摆误差测试和补偿试验。试验结果表明,补偿后摇摆误差减小了一个数量级,验证了理论模型的准确性和补偿算法的有效性。

Angular velocity measurement error exists in swaying motion Fiber Optic Gyroscope （FOG）, which constrains FOG strap-down system＇s performance under severe angular motion. Based on automatic control theory and FOG＇s closed-loop control scheme, the reason for FOG＇s swaying error was analyzed and found out that the angular acceleration is the main factor for FOG＇s swaying error. Then a simplified FOG＇s swaying error model was built up and the compensation algorithm was proposed. Finally, according to the equivalent input principal, it is experimented to test and compensate FOG＇s swaying error under different swaying frequencies. Test results show that the compensation algorithm has the capability of reducing FOG＇s swaying error by an order of magnitude.