机抖激光陀螺敏感轴动态偏移误差参数估计与补偿

Estimation and compensation for dynamic bending error parameters of mechanical dithered RLG sensitive axis

针对振动环境下机抖激光陀螺敏感轴产生动态偏移造成惯导系统精度下降的问题,从理论上推导了机抖激光陀螺敏感轴动态偏移误差模型,并结合工程实际建立了简化的误差模型;在此简化误差模型基础上,推导了陀螺敏感轴动态偏移造成的等效陀螺漂移与比力、角速度的耦合关系;将机抖激光陀螺敏感轴动态偏移误差归结为9个待辨识参数,针对该模型中的待辨识参数设计了标定方法,并给出了标定实验设计原则;以姿态误差为观测量进行振动实验对待辨识参数进行估计,振动实验结果表明,在10 min线振动时间内,机抖激光陀螺敏感轴动态偏移误差补偿后,捷联惯导系统纯惯导速度误差减小30%以上。

The dynamic bending error model of mechanical dithered RLG sensitive axis is derived to improve the navigation accuracy of SINS in vibration environment.In view of engineering application, a simplified dynamic bending error model of mechanical dithered RLG sensitive axis is established.Based on the simplified error model, the equivalent gyro drift＇s coupling relationships with the specific force and the angular rate are derived, in which the equivalent gyro drift is caused by the dynamic bending errors of gyro sensitive axis.The dynamic bending errors are attributed to nine unknown parameters.To identify these parameters, a calibrate method is designed, and the principle for designing the calibration experiment is presented.Vibration experiments based on attitude error observations are conducted to estimate the unknown parameters, which show that the velocity error is decreased by 30% after compensating the dynamic bending errors within 10 min of linear vibration.