摘要
针对陀螺加速度计非线性输出值表达式中横向加速度耦合误差未解耦的问题,综合考虑了陀螺加速度计在时变输入加速度和横向加速度同时作用时对输出的影响,利用基座3个正交方向的加速度,将外框架轴与转子轴不垂直度角作为已知量,计算得到陀螺加速度计的理论输出值。在此基础上,采用递推迭代方法对模型进行参数标定,同时,给出了陀螺加速度计输出值补偿模型。通过对比参数补偿前后的误差结果,输入加速度误差由0.05g减小到0.002g,验证了输出模型中交叉耦合误差的补偿对提高测量精度的有效性。
Aiming at the rotor axis of PIGA with a zero bias,the transverse acceleration will be coupled to the direction of the input axis to form a cross-coupling error.For the decoupled nonlinear PIGA output expression,the influence of a time-varying input acceleration and the transverse acceleration which is applied to the output are considered,the computing method of PIGA's output analytic expression relying on the base acceleration of three orthogonal direction and angles of outer axis and rotor shaft as input information is given.On this basis,the model parameters are calibrated by recursive iteration method,in addition to which,the output value compensation method of gyro accelerometer is given.By comparing the error results before and after parameter compensation,the input acceleration error is reduced from 0.05g to 0.002g,which verifies the effectiveness of the cross coupling error compensation in the output model in the way of improving the measurement accuracy.
作者
魏宗康
高荣荣
WEI Zongkang;GAO Rongrong(Beijing Institute of Aerospace Control Devices,Beijing,100854)
基金
国防科技创新特区(18-163-15-LZ-001-002-10)。
关键词
陀螺加速度计
交叉耦合误差
误差标定
误差补偿
测量精度
gyroscope accelerometer
cross coupling error
error calibration
error compensation
measurement accuracy
