摘要
基于旋转调制技术,提出一种利用单轴陀螺及单轴加速度计的寻北方法。该方法利用旋转过程中俯仰角和滚动角存在相互转换的特点,用单个加速度计的输出结果补偿初始滚动角及俯仰角的影响。通过设定中间变量建立起旋转过程中角速度及加速度与初始纬度及航向角之间的关系,建立以中间变量、陀螺漂移和加速度计零偏为状态量的卡尔曼滤波误差模型,并使用中间变量经过公式计算获得初始纬度及航向角的数值,实现单轴陀螺仪及单轴加速度计连续旋转的寻北计算。该方法不需要初始纬度信息和精确调平,即可完成寻北,具有简单、实用、可靠性高、成本低等特点。利用随机游走为0.001(°)/h^(1/2)的光纤陀螺设计原理样机进行5min寻北试验,寻北精度可达0.5mil(1σ)。
Based on the technology of revolution modulation, a north seeker method which used single-axis gyroscope and accelerometer was proposed. This method used the transformation between pitch attitude and roll attitude in the course of rotation, the influence of initial pitch attitude and roll attitude was compensated by the output of single accelerometer. The relationship between angular velocity, acceleration in the course of rotation and initial latitude, yaw attitude was established by the setting of intermediate variable. The Kalman filtering error model was built by taking the intermediate variable, gyro drift and accelerometer bias as the state quantities of the model. The continuous rotating north seeker of single-axis gyroscope and accelerometer was realized by the use of intermediate variable to calculate the initial latitude and yaw attitude. With the ad- vantages of simple, realistic, high reliability and low cost, etc. , this method needs no initial latitude information or precise leveling to finish the work of north seeking. Experiments for 5 rain north seeking with FOG whose random walk is 0. 001 （°）√h show that the north-seeking precision is 0. 5mil（1σ）.
出处
《导航定位与授时》
2016年第5期41-45,共5页
Navigation Positioning and Timing
