基于导航系统的光电吊舱补漂方法

Photoelectric pod drift calibration method based on navigation system

稳定精度是光电吊舱稳瞄系统的重要指标,为了减少在稳瞄控制中陀螺漂移对稳定精度的影响,需对陀螺漂移进行补偿。提出一种基于导航系统的光电吊舱测漂和补漂方法,即在光电吊舱测漂阶段,通过机载导航系统的位置数据、姿态数据及吊舱轴角值计算地球自转在平台中的分量,测量出更加准确的陀螺漂移;在稳定控制回路中,通过导航系统分别补偿陀螺漂移及地球自转分量。该方法可将陀螺测漂过程中的地球自转分量和陀螺漂移有效分离,并在稳定控制回路中实时调整地球自转分量,从而提高稳瞄系统稳定精度。试验结果表明:通过对比10 min常规测漂和基于导航系统的测漂结果,稳定控制漂移累积误差中俯仰角由常规方法的1.80°减少到0.04°,航向角由0.77°减少到0.04°。

The accuracy of stability control is an important indicator of photoelectric pod system.In order to reduce the effect of gyro drift on stability accuracy in stabilized sighting control,the gyro drift needs to be compensated.A method of drift measurement and compensation was introduced for the photoelectric pod based on the navigation system,which was designed to calculate the component of earth rotation in the platform by the position and attitude data of airborne navigation system and pod angle during drift measurement phase of photoelectric pod,so as to obtain a more accurate gyro error.And in the stable phase,the gyro error and earth rotation component were compensated respectively by the navigation system.This method could effectively separate the earth rotation component and gyro error in the gyro drift measurement stage and adjust earth rotation component in the stable stage,so that the stability precision of stabilized sighting system could be improved.The experimental results show that,by comparing the results of 10-minute traditional drift measurement and drift measurement based on the navigation system,the accumulated drift error is stably controlled,the pitch angle is reduced from 1.80°in traditional method to 0.04°,and the heading angle is reduced from 0.77°to 0.04°.