| 引用本文: | 程耀强,徐德民,万彦辉,刘明雍,郭林肖,谢勇.斜装液浮陀螺一次项漂移系数系统级分离算法[J].哈尔滨工业大学学报,2015,47(1):100.DOI:10.11918/j.issn.0367-6234.2015.01.015 |
| CHENG Yaoqiang,XU Demin,WAN Yanhui,LIU Mingyong,GUO Linxiao,XIE Yong.System separation algorithm of acceleration-sensitive drift coefficients of skewed-installation liquid floated gyro[J].Journal of Harbin Institute of Technology,2015,47(1):100.DOI:10.11918/j.issn.0367-6234.2015.01.015 |
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| 斜装液浮陀螺一次项漂移系数系统级分离算法 |
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程耀强1, 徐德民1,2, 万彦辉3, 刘明雍1, 郭林肖3, 谢勇3
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(1.西北工业大学 航海学院, 710072 西安; 2.水下信息处理与控制国家级重点实验室, 710072 西安; 3. 中国航天科技集团公司九院第十六研究所, 710100 西安)
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| 摘要: |
| 在免拆卸条件下,为实现实时监测倾斜安装在惯性测量单元(IMU, inertial measurement unit)中的液浮陀螺一次项漂移系数DI、Ds,提出一种利用惯性测量单元标定参数解算液浮陀螺一次项漂移系数的系统级分离算法．通过对液浮陀螺结构和斜装原理的分析,给出了液浮陀螺单表和系统的误差模型,并基于误差模型和已经获取的斜装IMU的误差参数,设计了液浮陀螺一次项漂移系数的系统级分离算法,该算法不需要设计复杂的倾斜标定工装,同时免去了液浮陀螺从惯性测量单元上拆卸的麻烦,减少了误差积累,参数的分离精度高、残差小,与单表一次项漂移系数分离结果的极差优于1.301×10-3(°)·(h·g0)-1,完全满足工程应用中高精度惯性测量单元对液浮陀螺一次项漂移系数的分离精度要求． |
| 关键词: 斜装液浮陀螺 IMU 漂移系数 误差模型 系统级分离 |
| DOI：10.11918/j.issn.0367-6234.2015.01.015 |
| 分类号:U666.1 |
| 基金项目:国家自然科学基金(6,6). |
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| System separation algorithm of acceleration-sensitive drift coefficients of skewed-installation liquid floated gyro |
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CHENG Yaoqiang1, XU Demin1,2, WAN Yanhui3, LIU Mingyong1, GUO Linxiao3, XIE Yong3
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(1.School of Marine Science and Technology, Northwestern Polytechnical University, 710072 Xi’an, China; 2.National Key Laboratory for Underwater Information Process ＆ Control, 710072 Xi’an, China; 3. The 16th Institute, China Aerospace Science and Technology Corporation, 710100 Xi’an, China)
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| Abstract: |
| To achieve monitoring acceleration-sensitive drift coefficients DIDs of the skewed-installation liquid floated gyroscope in IMU(inertial measurement unit) on the condition of free disassemble, a system level separation algorithm using calibration parameters of inertial measurement unit is put forward. By the analysis of structure and skew installation principle of liquid floated gyroscope, the paper gives the liquid floated gyroscope and its system’s error models. Then based on error models and ever-obtained error parameters of skew inertial measurement unit,the system level separation algorithm of acceleration-sensitive drift coefficients is designed. It is unnecessary to design complex calibration tool when using this algorithm, and also without removing liquid floated gyroscopes from inertial measurement unit, these improvements can reduce error accumulations, so that the precision of parameters’s separation is high, and the residual error is small. The deviation between the single gyro separation algorithm and system level separation algorithm is smaller than 1.301×10-3(°)·(h·g0)-1, which fully meets the requirements of high precision inertial measurement unit to acceleration-sensitive drift coefficients of liquid floated gyroscopes in engineering application. |
| Key words: skewed-installation liquid floated gyroscope IMU drift coefficient error model system level separation |
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