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.

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.

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.

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.

基于超短脉冲激光刻蚀的双解耦MEMS陀螺仪调频技术研究

以双解耦双质量硅微陀螺仪为主要研究对象,从微观结构入手,分析其工作原理和双解耦运动模型,并提出影响模态特征频率的因素。提出一种改变陀螺仪弹性梁结构厚度来调整其特征频率的方法,建立模型通过Comsol软件仿真陀螺仪梁厚度变化对特征频率的影响关系,并选择皮秒激光刻蚀系统刻蚀陀螺弹性梁厚度,测试其两模态特征频率。测试结果表明:对应频率变化符合理论推导和仿真趋势。

小波变换与卡尔曼滤波结合的RLG降噪方法

针对激光陀螺随机游走噪声其非平稳和非正态分布的特性,提出了基于小波变换的卡尔曼滤波的RLG降噪方法,该方法既具有小波变换对自相似过程的去相关作用和多分辨分析的功能,同时又保持了卡尔曼滤波器对未知信号的线性无偏最小方差估计的特点,实现了激光陀螺随机游走噪声的实时多尺度分解和最优估计。实测激光陀螺零偏信号去噪的结果表明,基于小波变换的卡尔曼滤波器使随机游走噪声的标准差降低了10.3%,降噪效果优于传统的卡尔曼滤波器。

激光陀螺实验中谐振腔调节的分析与讨论

本文在非傍轴近似条件下利用几何光学理论推导了激光陀螺实验中谐振腔大小、反射镜曲率及偏转角度等因素与腔内自再现谐振激光空间位置关系的公式,比较了其与通常傍轴近似下矩阵光学结果的差异,讨论了实验时调节反射镜偏转角度对谐振腔有效腔长、光路面积、陀螺比例因子及激光出光位置的影响规律,对激光陀螺实验中谐振腔的调节有指导意义.

激光陀螺全温度下选模控制策略设计

针对激光陀螺稳频装置易受温度变化的干扰的问题,为保证全温度范围内激光陀螺的稳频效果,提出了一种选模控制策略:根据陀螺扫模过程中得到的不同模态,通过比较各个模态下背向散射特征电压的大小,在常温下筛选出合适的陀螺及其控制模态,再经过温循实验进一步筛选出合适的模态,并固定用于全温度下的稳频控制以保证陀螺全温精度。最后通过实验验证,使用该筛选策略下获得的最佳模态,实现激光陀螺全温下稳定工作,满足实际工作要求。

随机噪音对LG输出特性的影响

利用均值计算了随机噪音对陀螺输出的影响.结果表明:随机噪音激励强度越大,均值与理想值偏差越小;但随机过程的分散性变大,输出信号变宽.依靠调幅加噪的方法给陀螺进行加噪,并按照特定的测试装置图对全反射棱镜式激光陀螺(TRPLG)的静态功能进行了检测,最终找到了TRP激光陀螺的最佳加噪噪音强度值.

基于激光陀螺测角仪的角度计量动态特性分析

为了使动态角度测量结果可靠、可信,在使用激光陀螺测角仪进行动态角度测量前,需要对其动态特性进行分析。首先,通过同步触发装置将激光陀螺测角仪分布与转台和激光干涉仪分别同步触发;然后,使转台模拟出脉冲响应运动、阶跃响应运动和正弦运动;最后,比较分析在不同运动过程中激光陀螺测角仪与转台的圆光栅和激光干涉仪的输出数据。结果表明,激光陀螺测角仪具有良好的动态特性,且在不同频率下激光陀螺测角仪的动态测角精度在0.6″左右,为激光陀螺测角仪进行动态角度测量结果的可靠性提供了保证。

RLG环形激光陀螺测试技术的研究与设计

采用Allan方差法对环形激光陀螺(Ring Laser Gyro)传感器的输出特性进行了分析,完成了对RLG频域输出误差的建模评估,包括零偏稳定性、随机游走以及马尔可夫噪声等,并根据评估分析建立了温度误差零偏补偿模型;同时,在测试系统设计中,使用了转台交差逆转法,尝试将零偏稳定性中的常值漂移和线性漂移部分自动补消,结果表明可以改善传统的RLG转台测试法的单一测量功能及精度。

Effect of low-level laser therapy on tooth-related pain and somatosensory function evoked by orthodontic treatment

Low-level laser therapy(LLLT) may have an effect on the pain associated with orthodontic treatment. The aim of this study was to evaluate the effect of LLLT on pain and somatosensory sensitization induced by orthodontic treatment. Forty individuals(12–33 years old; mean ± standard deviations: 20.8 ± 5.9 years) scheduled to receive orthodontic treatment were randomly divided into a laser group(LG) or a placebo group(PG)(1:1). The LG received LLLT(810-nm gallium-aluminium-arsenic diode laser in continuous mode with the power set at 400 mW, 2 J·cm–2) at 0 h, 2 h, 24 h, 4 d, and 7 d after treatment, and the PG received inactive treatment at the same time points. In both groups, the non-treated side served as a control. A numerical rating scale(NRS) of pain, pressure pain thresholds(PPTs), cold detection thresholds(CDTs), warmth detection thresholds(WDTs), cold pain thresholds(CPTs), and heat pain thresholds(HPTs) were tested on both sides at the gingiva and canine tooth and on the hand. The data were analysed by a repeated measures analysis of variance(ANOVA). The NRS pain scores were significantly lower in the LG group(P = 0.01). The CDTs,CPTs, WDTs, HPTs, and PPTs at the gingiva and the PPTs at the canine tooth were significantly less sensitive on the treatment side of the LG compared with that of the PG(P < 0.033). The parameters tested also showed significantly less sensitivity on the nontreatment side of the LG compared to that of the PG(P < 0.043). There were no differences between the groups for any quantitative sensory testing(QST) measures of the hand. The application of LLLT appears to reduce the pain and sensitivity of the tooth and gingiva associated with orthodontic treatment and may have contralateral effects within the trigeminal system but no generalized QST effects. Thus, the present study indicated a significant analgesia effect of LLLT application during orthodontic treatment.Further clinical applications are suggested.

飞秒激光作用下RDX/HTPB混合炸药界面反应的分子动力学模拟

为研究混合炸药在飞秒激光作用下界面上的反应特征,构建了RDX/HTPB混合炸药体系的计算模型,基于ReaxFF-lg反应力场,对其在飞秒激光作用下的响应过程进行了反应分子动力学模拟,分析了计算体系的温度、密度变化以及界面上的化学反应特征.结果表明:从HTPB和RDX两端加载激光能量时,RDX/HTPB体系界面上没有明显的温度突变,温度呈现平稳过渡的变化趋势.激光能量越高,HTPB和RDX反应越剧烈,在界面上HTPB分解产生的H或C原子与RDX分解的小分子产物发生化学反应,生成了CO、C_(3)O、C_(2)O_(2)、C_(2)HO、NH_(2)、NH_(3)等中间产物和H_(2)O、CO_(2)、H_(2)等终态产物;激光能量较低时,RDX和HTPB各自反应不充分,RDX区域仍有大量未分解的环状分子存在,HTPB区域主要是长碳链形式的大分子,两者界面区域分解产物间发生的反应较少.

光学陀螺背向散射问题综述(特邀)

光学陀螺作为光电惯性导航系统的核心器件,在众多领域发挥着举足轻重的作用。随着科学技术的不断进步,传统的激光陀螺、轻质化的光纤陀螺以及集成化的微光陀螺齐头并进、蓬勃发展,但无论是哪一种陀螺样式,在性能优化的过程之中都不可避免地需要考虑背向散射的问题。背向散射是光学陀螺中的一种噪声源,其会带来陀螺的输出偏置或闭锁效应,从而影响其性能。为了更好地理解光学陀螺中的背向散射机制,首先从半经典理论下的自洽方程组出发讨论背向散射的基本原理,而后依照光学陀螺的发展脉络,分析各种光学陀螺的背向散射分析方法、测量手段以及抑制方法,最后对目前光学陀螺中有关背向散射亟待解决的问题进行总结并展望。

全反射棱镜式激光陀螺标度因数补偿技术

针对全反射棱镜式激光陀螺标度因数随温度周期性变化的现象,根据矩阵光学方法研究了稳频状态下温度变化对环形激光面积的影响,获得了全反射棱镜式激光陀螺标度因数与稳频电压的关系,并得出光束偏移是引起标度因数随温度周期性变化的原因。根据标度因数与稳频电压的关系,建立了全反射棱镜式激光陀螺标度因数补偿模型,通过实验对比了补偿前后标度因数的非线性度。结果表明,根据该补偿模型对全反射棱镜式激光陀螺标度因数进行补偿,标度因数非线性度提高了一个数量级以上,对提高全反射棱镜式激光陀螺的性能具有一定的参考价值。

无依托瞄准技术在运载火箭基准确立上应用的研究

针对大型运载火箭无人值守瞄准的需求,提出一种基于激光捷联惯组与瞄准仪相结合的无依托瞄准方法,通过激光惯组自主寻北获得北向基准,再测量出箭上惯性单元棱镜法线与返回光束的准直偏差角,将数据进行合成、解算,最终获得箭上惯组棱镜的初始方位。无依托瞄准技术具有组成简单、自动化程度高、操作流程简化、精度指标可靠的特点,可以提供不大于2’的瞄准综合误差,技术成果满足中国航天发射任务的应用需求,可供未来大型运载火箭瞄准方式参考。

激光陀螺表面多层膜微结构表征与分析

本文针对激光陀螺长期稳定性技术研制要求,通过透射电子显微镜(TEM)、扫描电子显微镜(SEM)、扫描透射电镜(STEM)、聚焦离子束刻蚀(FIB)、X射线光电子能谱(XPS)以及X射线能量散射谱(EDX)等微观结构和组分表征技术,对激光陀螺反射镜的微观结构和组分进行表征,研究反射镜在不同镀制工艺条件及高低温等外部工作条件下,反射镜膜层界面、膜-基界面以及膜层本身微结构特性的变化规律,建立反射镜微结构特性和不同变化之间的映射关系。本研究结果为激光陀螺表面多层膜的结构表征提供坚实的实验参考和理论依据。