基于地磁滚转角测量系统陀螺在线标定技术

On-Line Calibration Technique of the Gyroscope Based on the Geomagnetic Roll Angle Measurement System

针对弹载陀螺在发射过程中产生较大过载导致陀螺零点和灵敏度发生变化的问题,提出了一种利用地磁测量信息对陀螺进行在线标定的方法。该方法是利用最小二乘法对地磁场提供的滚转角信息与陀螺的数据进行拟合得到陀螺的标定参数:零点误差和灵敏度误差。通过仿真实验表明,采样点数为10时标定的效果最好。接着研究了速率对陀螺标定精度的影响。在外场实验中在线标定方法角速率误差为7.86°/s,相比速率标定方法,该角速率误差减小到原来的1/10。仿真实验和外场实验都表明在线标定方法所得到的角速率精度有明显提高。

For the problem that ballistic axial gyroscope can produce a larger overload resulting in the changes of its zero point and sensitivity during the launching process, an on-line calibration method of the gyroscope was proposed by using the geomagnetic measurement information. To obtain the calibration parameters of the gyroscope, i. e. , the zero point error and sensitivity error, the least squares method was used to fit the gyroscope data and roll angle information provided by the geomagnetic field. The simulation experiment shows that the calibration effect is the best when the sampling number is 10. Then the effect of the rate on the calibration accuracy of the gyroscope was studied. In the out-field experiment, the angular rate error of the on-line cali- bration method is 7.86 ~/s, which reduces to 1/10 compared with that of the rate calibration method. Both the simulation and out-field experiments show that the accuracy of the angular rate is improved significantly by using the on-line calibration method.