Allan方差方法分析环形激光陀螺仪噪声的性能评估

Performance evaluation of the Allan variance method for ring laser gyroscope noise analyses

为验证Allan方差方法用于不同状态下不同类型陀螺仪噪声分析的适用性,该文系统总结了Allan方差方法用于分析室温(~25℃)下静态环形激光陀螺仪噪声的方法,对该陀螺仪常见的5个主要噪声项以外的其他噪声项作了补充说明。对中国自主生产的某型号环形激光陀螺仪和目前使用较广泛的MPU 9250微系统惯性测量单元中的陀螺仪分别进行静态和动态下的多次实验与对比分析,结果表明:在对陀螺仪噪声特性充分了解的前提下,Allan方差方法可以对静态下不同类型陀螺仪的若干主要噪声项进行建模与概算,以满足全球导航卫星系统/惯性导航系统(GNSS/INS)的组合系统中Kalman滤波器参数设置的需要。若干实验分析结论对《IEEE单轴干涉式光纤陀螺仪试验程序和格式指南的标准规范》中经典Allan方差方法作了补充解释。通过对比Allan方差及相关常用数据分析方法,概述了其一般适用性。Allan方差方法可以为改进精密仪器的设计与制造、提高惯性产品实际使用精度等提供依据。

The Allan variance method for various types of gyroscopes in various conditions was evaluated for ring laser gyroscope(RLG)noise at room temperature(~ 25℃)and steady conditions with analyses of the minor RLG noise terms besides the 5 major noise terms.Tests of a Chinese RLG and the widely used MPU 9250 micro-electro-mechanical systems(MEMS)inertial measurement unit(IMU)for static and dynamic conditions show that the Allan variance method can be used to estimate the main noise terms of various types of gyroscopes for static conditions to set the Kalman filter parameters for integrated global navigation satellite system/inertial navigation system(GNSS/INS)with the parameter values depending on the degree of understanding of the gyroscope physics.Several conclusions are given to supplement the classical Allan variance method in the IEEE Standard Specification Format Guide and Test Procedure for Single Axis Interferometric Fiber Optic Gyros.The wide applicability of the Allan variance method is contrasted with some commonly used data analysis methods.The Allan variance method has been widely recognized for metrology of precise instruments to improve the design and manufacture of precise instruments and to improve the precision of inertial measurements.