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Research on identifying the dynamic error model of strapdown gyro on 3-axis turntable
作者姓名:王海  任顺清  王常虹
作者单位:[1]Astronautic School, National University of Defense Technology, Changsha 410073, China [2]Space Control and Inertial Teehnology Research Center, Harbin Institute of Technology, Harbin 150001, China
摘    要:Gyro calibration technology is the key technologyin enhancing navigation system accuracy1~4].The in-ertial unit in the strapdown inertial navigation system ismounted on the space vehicle directly;its dynamic er-rors are the main error sources of the strapdown inertialnavigation system.Gyros are the angular velocity sen-sors and key unit in the strapdown inertial system.Therefore establishing the dynamic error model of gyroand identifying the error model coefficients are of greatimportance for…

关 键 词:捷联式陀螺仪  三轴转盘  动态误差模型  谐波分析
文章编号:1005-9113(2005)06-0630-05
收稿时间:2005-05-08

Research on identifying the dynamic error model of strapdown gyro on 3-axis turntable
WANG Hai,REN Shun-qing,WANG Chang-hong.Research on identifying the dynamic error model of strapdown gyro on 3-axis turntable[J].Journal of Harbin Institute of Technology,2005,12(6):630-634.
Authors:WANG Hai  REN Shun-qing  WANG Chang-hong
Abstract:The dynamic errors of gyros are the important error sources of a strapdown inertial navigation system. In order to identify the dynamic error model coefficients accurately, the static error model coefficients which lay a foundation for compensating while identifying the dynamic error model are identified in the gravity acceleration fields by using angular position function of the three-axis turntable. The angular acceleration and angular velocity are excited on the input, output and spin axis of the gyros when the outer axis and the middle axis of a threeaxis turntable are in the uniform angular velocity state simultaneously, while the inner axis of the turntable is in different static angular positions. 8 groups of data are sampled when the inner axis is in 8 different angular positions. These data are the function of the middle axis positions and the inner axis positions. For these data, harmonic analysis method is applied two times versus the middle axis positions and inner axis positions respectively so that the dynamic error model coefficients are finally identified through the least square method. In the meantime the optimal angular velocity of the outer axis and the middle axis are selected by computing the determination value of the information matrix.
Keywords:strapdown gyro  dynamic error model  harmonic analysis  three-axis turntable
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