AN IMPROVED ROTATION VECTOR ATTITUDE ALGORITHM FOR LASER STRAP-DOWN INERTIAL NAVIGATION SYSTEM

The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.

Suppression of the G-sensitive drift of laser gyro in dual-axis rotational inertial navigation system

The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer can be averaged out,but the G-sensitive drifts of laser gyro cannot be averaged out by indexing.A 16-position rotational simulation experiment proves the G-sensitive drift will affect the long-term navigation error for the rotational INS quantitatively.The vibration coupling and asymmetric structure of the DRLG are the main errors.A new dithered mechanism and optimized DRLG is designed.The validity and efficiency of the optimized design are conformed by 1 g sinusoidal vibration experiments.An optimized inertial measurement unit(IMU)is formulated and measured experimentally.Laboratory and vehicle experimental results show that the divergence speed of longitude errors can be effectively slowed down in the optimized IMU.In long term independent navigation,the position accuracy of dual-axis rotational INS is improved close to 50%,and the G-sensitive drifts of laser gyro in the optimized IMU are less than 0.0002°/h.These results have important theoretical significance and practical value for improving the structural dynamic characteristics of DRLG INS,especially the highprecision inertial system.

Research on feasibility of missile attitude control based on laser gyroscope

According to the disadvantages of traditional mechanical gyro inertial measurement unit('IMU') for steering system not being available for missile attitude control, a concept based on laser gyro IMU is proposed to realize navigation & positioning and attitude control. The concept will save three single-axis rate gyros compared with traditional missile attitude control system, and is available both for strapdown and platform inertial navigation systems. Firstly, this article analyzes the selection requirements of sensitive device for missile attitude control system, and then analyzes the feasibility of missile attitude control based on laser gyro theoretically, on this basis, from four aspects of error characteristics, anti-vibration characteristics, temperature characteristics and dynamic characteristics, validate the feasibility of the concept practically. Secondly according to the strict requirements of dynamic characteristics on attitude control system, a special design is made for gyro signal filtering used for attitude control. By changing the traditional high order FIR filter to adaptive filter and low order FIR filter, laser gyro's signal phase delay is reduced. The delay time of theoretical design is 1.5 ms. Lastly, this design is validated through an angle vibration test, and test curve indicates that the dynamic characteristics of laser gyro completely meets the requirements of the attitude control system, and the maximum delay time is 1.6144 ms, which satisfies with the attitude update rate of 2 ms per frame. This concept can simplify the missile guidance system design, at the same time, it does not reduce missile guidance accuracy, and also provides reference for the broadening of the application of laser gyro.

Dynamic model and simulation of aseismatic system about laser gyro strapdown inertial measure assembly based on MSTMM

The precision of the laser gyro used in tactical missiles is poor because of dithering frequency,actuating by vibration,shock and overload in dynamical environment.This paper introduces the transfer matrix method of the multibody system（MSTMM）,establishes the dynamic model of the laser gyro strapdown inertial measure assembly aseismatic system,and analyzes the precision affected by dithering of the laser gyro and shocking of the tactical missile.And the dynamic response of the laser gyro strapdown inertial measure assembly aseismatic system is obtained by simulating the multibody system model.The simulation result indicates a theoretical idea to design the vibration isolation for the laser gyro strapdown inertial measure assembly.

Polarization properties in a prism laser gyro with mechanical dither bias

Theoretical analysis and experimental research on the polarization properties of output light in gyro are carried out to investigate the phenomenon that the amplitude of an output voltage signal is modulated by dither bias in laser gyros consisting of totally reflecting prisms. Taking the effect of prism stress birefringence into account, an analytical formula of the output light intensity in the gyro and the relationship between the polarization parameter and the amplitude modulation of the output signal are obtained and discussed. For the first time, the polarized power value of the output light is adopted as a basis to estimate the output signal amplitude fading extent of laser gyros. Experimental results demonstrate that when the value of polarized power of output light is below 25.5% of that in ideal static case, the standard error is over 0.0337 dBm, and the displacement extent of the prism is higher than 53% of the radius of the beam waist in the gyro cavity, the amplitude modulation extent of gyro output signal can reach up to 16%, which badly influences the measurement accuracy of the laser gyro. Using this polarized power detecting measurement method can repair the gyro immediately during its fabrication process, improve the testing and production efficiency and shorten the product development cycle.

Algorithm implementation of high-speed laser g yro signal demodulation filter

Based on the characteristics of field-programmable gate array(FPGA) such as multi-task,high-speed,parallelity,etc,a filtering algorithm is presented to filter the output signal of laser gyr o with high-speed and high accuracy.The filter is composed of basic logic cell s,multipliers an d memory inside FPGA.By using an multiplication decomposition method and design ing reliable time-sequence,the filter is realized,which is easy to be transpl anted and of low cost.Furthermore,all the signal demodulation algorithms of t he laser gyr oscope can be integrated in only one FPGA,which reduces the cost and complexity of the system.

Signal processing circuit of laser gyro based on FPGA and DSP

This is a paper about laser gyro sign a l processing circuit which is designed based on field-programmable gate array(FPGA) and digital signal processor(DSP).Through a pre-amplifier circuit,FPGA and DSP,a weak current signal is converted and transferred,then sent to the computer to display the final results.Through the laser gyro performance te sting,the obtained results coincide with those of the existing methods.Thus th e d esigned circuit realizes the function of laser gyro signal processing.

Resonator integrated optic gyro based on multilevel laser frequency lock-in technique

The resonator integrated optic gyros（RIOGs） based on the Sagnac effect have gained extensive attention in navigation and guidance systems due to their predominant advantages： high theoretical accuracy and simple integration. However, the problems of losing lock and low lock-in accuracy are the bottlenecks, which restrict the development of digital RIOGs. Therefore, a multilevel laser frequency lock-in technique has been proposed in this Letter to address these problems. The experimental results show that lock-in accuracy can be improved one order higher and without losing lock in a variable temperature environment. Then, a digital miniaturized RIOG prototype（18 cm × 18 cm × 20 cm） has been produced, and long-term（1 h） bias stability of 26.6 deg/h is successfully demonstrated.

Identification Method for RLG Random Errors Based on Allan Variance and Equivalent Theorem

An identification method using Allan variance and equivalent theorem is proposed to identify non-stationary sensor errors mixed out of different simple noises. This method firstly derives the discrete Allan variances of all component noises inherent in noise sources in terms of their different equations; then the variances are used to estimate the parameters of all component noise models; finally, the original errors are represented by the sum of the non-stationary component noise model and the equivalent m...