光纤陀螺寻北仪四位置参数补偿算法

Parameter Compensation Algorithm for Four-position FOG North Seeker

传统四位置寻北方案中,认为对称位置上陀螺的零位、标度因数是固定值且无交叉耦合影响,这点严重制约倾斜下的寻北精度。该文首先推导了倾斜下,四位置寻北的数值计算方法,然后分别建立对称位置的误差模型,采用水平12位置法标定误差模型中的的残余零位、标度因数和交叉耦合系数,利用补偿参数后得到两个水平分量来参与寻北计算。实验数据表明,在倾斜10°范围以内,传统寻北精度随倾斜角度的增加而变差,达到0.2°,而采用该文提出的参数补偿法,依旧保持在0.1°以内。

In the traditional four-position north seeker scheme,it is considered that the gyroscope＇s bias and scale factor are fixed value on the symmetrical position,and there is no cross-coupling effect,which severely restrict the accuracy of the north seeker in tilt state.In this paper,the numerical calculation method of four-position north seeker in tilt state is derived firstly.And then,the error model of the symmetric position is established and the parameters in the error model,including residual biases,scale factors and cross coupling coefficients,are calibrated by using the horizontal 12-position method.The horizontal components compensated for parameters are used to participate in the north seeker calculation.The experimental data show that within the range of 10°inclination,the accuracy of the traditional north seeker decreases with the increase of the inclination angle and was up to 0.2°,while adopting parameter compensation method proposed in this paper still remains within 0.1°.