恒速偏频激光陀螺系统航向敏感误差的在线标定与补偿

On-line calibration and compensation of heading-sensitive error for triad constant-rate biased RLG system

以单轴恒速偏频激光陀螺系统为研究对象,建立了静基座初始对准时系统中标定参数变化误差对航向敏感误差影响的数学模型。为克服外场测试环境下难以分别精确估计各标定参数的限制,提出将安装关系矩阵参数误差对航向敏感误差的作用视为一个整体进行标定;不需要外部基准,即可基于最小二乘算法实现航向敏感误差系数的在线标定。采用标定得到的航向敏感误差系数,利用原理样机进行了在线补偿精度实验测试。实验结果表明,所提出的在线标定与补偿方法能够有效消除航向敏感误差,提高初始对准航向角精度。

Based on a triad constant-rate biased RLG system, a mathematic model of the heading-sensitive error induced by calibration parameter variation errors in stationary initial alignment was set up. To tackle the problem that calibration parameters cannot be determined separately, installation misalignments were treated as a whole under the field test conditions, and then the heading-sensitive error coefficient was calibrated on-line using least square algorithm without external references. Utilizing the postulate system, field tests were done to estimate the on- line compensation accuracy of the heading-sensitive error coefficient by the on-line calihration method. The results of the experiments show that the on-line calibration and compensation method can eliminate the heading-sensitive error evidently and improve the yaw angle estimation precision in the initial alignment.