光学陀螺捷联惯导系统的标定精度分析
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摘要
惯导测试技术包括惯导测试设备、测试方法、程序和数据处理技术三个方面。惯导测试技术是现代武器系统中的一项基本支撑技术,惯导测试设备(如转台)是评定惯性仪表性能指标的工具,测试设备的精确性影响惯性仪表测试结果的准确性。本论文采用理论分析、仿真分析和实验验证相结合的方法研究转台误差对标定精度的影响。
经典的分立式标定方法是工程应用中比较成熟的一种标定方法,论文首先对光学陀螺捷联惯导系统的分立式标定方法的原理、加速度计和陀螺的输入输出模型进行阐述,并以典型的加速度计6位置、12位置、24位置标定及陀螺速率标定为例,阐述了多位置标定和速率标定编排,以及解算加速度计和陀螺标定系数解析式。
论文分析了转台性能指标,建立了转台误差模型,利用转动四元数和方向余弦之间的转换关系,推导了转台误差的传播途径,由此建立了转台初始信息到标定坐标系参考信息的方向余弦传递矩阵。在此基础上分析了转台误差对加速度计多位置标定(6位置、12位置、24位置)以及陀螺速率标定精度产生的影响,并就多位置标定精度进行了比较,具体得出了转台误差对标定精度产生影响的相对误差解析式。
与传统的以转台为基准的标定方法不同,基于方程解算的标定方法建立了以陀螺本身为标定参考坐标系,其陀螺标定精度不受转台误差的影响,但是对计算的要求比较高;但加速度计标定精度与传统的标定方法相同,均受到转台误差的影响。
最后,论文使用Matlab工具对上述理论分析进行了数值仿真,并利用现有惯导测试设备,实验验证了转台内框轴和中框轴定位误差对标定精度的影响。仿真和实验结果表明理论分析结论的正确性。
As a key technology in modern weapon system, the testing technology of the inertial navigation system includes three aspects: testing equipments, testing methods and procedure, data processing method. The testing equipments (such as a turntable) are tools of evaluating the inertial instrument performance, so the accuracy of the inertial instrument’s testing results rely on the accuracy of the equipments used. This paper concerns how the calibration accuracy is affected by turntable errors. Some analytic conclusions are derived, and simulations and experiments are performed to verify the analysis.
This paper firstly describes a traditional calibration method–the schism calibration method which is widely applied in engineering projects. After describing the principle of this method, the input-output models of the accelerometers and gyros are established. Demonstrated by the accelerometers’typical multi-position calibrations, i.e., 6-position, 12-position and 24-position and the gyro’s angular rate tests, the calibration procedures are designed in detail, and the mathematical formulation of calibration parameters is derived.
The performance of a turntable is analyzed, and the model of the turntable’s error is established. Using the transformation from the quaternion to the direction cosine matrix, this paper derives the turntable’s error propagation in calibration, and gets the direction cosine matrix from the turntable’s initial frame to the the calibration coordinate reference frame. According to the error propagation, we analyze the errors of accelerometers multi-position calibration (mainly the typical 6-position, 12-position and 24-position calibration methods) and gyros’angular rate calibration caused by the turntable error. Based on the analysis, relationship between accuracy of traditional schism calibration and the turntable errors is given.
Different from the schism calibration method which establishes the reference coordinate frame refered to a turntable, the calibration method based on equations establishes a reference coordinate frame according to the gyro triad. After analyzing the method, the paper states that the gyro parameters thus calibrated are little affected by the turntable’s error, although the calibration method needs more complex computation. The calibration accuracy of the accelerometors is equivalent to the traditional schism calibration method.
The analytic conclusions are verified by simulations with Matlab. Experiments are designed to evaluate the influence of the angular errors of the turntable’s middle frame and inner frame. Both simulation and experiment results agree well with the analysis.
经典的分立式标定方法是工程应用中比较成熟的一种标定方法,论文首先对光学陀螺捷联惯导系统的分立式标定方法的原理、加速度计和陀螺的输入输出模型进行阐述,并以典型的加速度计6位置、12位置、24位置标定及陀螺速率标定为例,阐述了多位置标定和速率标定编排,以及解算加速度计和陀螺标定系数解析式。
论文分析了转台性能指标,建立了转台误差模型,利用转动四元数和方向余弦之间的转换关系,推导了转台误差的传播途径,由此建立了转台初始信息到标定坐标系参考信息的方向余弦传递矩阵。在此基础上分析了转台误差对加速度计多位置标定(6位置、12位置、24位置)以及陀螺速率标定精度产生的影响,并就多位置标定精度进行了比较,具体得出了转台误差对标定精度产生影响的相对误差解析式。
与传统的以转台为基准的标定方法不同,基于方程解算的标定方法建立了以陀螺本身为标定参考坐标系,其陀螺标定精度不受转台误差的影响,但是对计算的要求比较高;但加速度计标定精度与传统的标定方法相同,均受到转台误差的影响。
最后,论文使用Matlab工具对上述理论分析进行了数值仿真,并利用现有惯导测试设备,实验验证了转台内框轴和中框轴定位误差对标定精度的影响。仿真和实验结果表明理论分析结论的正确性。
As a key technology in modern weapon system, the testing technology of the inertial navigation system includes three aspects: testing equipments, testing methods and procedure, data processing method. The testing equipments (such as a turntable) are tools of evaluating the inertial instrument performance, so the accuracy of the inertial instrument’s testing results rely on the accuracy of the equipments used. This paper concerns how the calibration accuracy is affected by turntable errors. Some analytic conclusions are derived, and simulations and experiments are performed to verify the analysis.
This paper firstly describes a traditional calibration method–the schism calibration method which is widely applied in engineering projects. After describing the principle of this method, the input-output models of the accelerometers and gyros are established. Demonstrated by the accelerometers’typical multi-position calibrations, i.e., 6-position, 12-position and 24-position and the gyro’s angular rate tests, the calibration procedures are designed in detail, and the mathematical formulation of calibration parameters is derived.
The performance of a turntable is analyzed, and the model of the turntable’s error is established. Using the transformation from the quaternion to the direction cosine matrix, this paper derives the turntable’s error propagation in calibration, and gets the direction cosine matrix from the turntable’s initial frame to the the calibration coordinate reference frame. According to the error propagation, we analyze the errors of accelerometers multi-position calibration (mainly the typical 6-position, 12-position and 24-position calibration methods) and gyros’angular rate calibration caused by the turntable error. Based on the analysis, relationship between accuracy of traditional schism calibration and the turntable errors is given.
Different from the schism calibration method which establishes the reference coordinate frame refered to a turntable, the calibration method based on equations establishes a reference coordinate frame according to the gyro triad. After analyzing the method, the paper states that the gyro parameters thus calibrated are little affected by the turntable’s error, although the calibration method needs more complex computation. The calibration accuracy of the accelerometors is equivalent to the traditional schism calibration method.
The analytic conclusions are verified by simulations with Matlab. Experiments are designed to evaluate the influence of the angular errors of the turntable’s middle frame and inner frame. Both simulation and experiment results agree well with the analysis.
引文
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[4] Camberlein, L., Mazzananti, F., Calibration technology for laser gyro strapdown inertial navigation systems[C], in Symposium Gyro Technology. 1985: Stuttgart, Germany.
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[7]谭健荣,刘永智,黄琳.光纤陀螺的发展现状.激光技术, 2006.第30卷(第5期): 544-547.
[8] Ohno, A., Kurokawa, A., Kumagai, T., Nakamura, S., et al., Applications and Technical Progress of Fiber Optic Gyros in Japan, in 18th International Conference on Optical Fiber Sensors. 2006: Cancún, México.
[9]曾庆化,刘建业,赖际舟,熊智.环形激光陀螺的最新发展[J].传感器技术, 2004. 23(11): 1-4.
[10]潘献飞.基于机抖激光陀螺信号频域特性的SINS动态误差分析与补偿算法研究[D].博士学位论文.湖南长沙:国防科学技术大学,2008.
[11]柳贵福.光学陀螺输入输出特性建模及补偿技术研究[D].硕士学位.哈尔滨:哈尔滨工程大学,2002.01.
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[13]张伦东.机抖激光陀螺控制电路的研究与优化[D].硕士学位.长沙:国防科学技术大学,2005.11.
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[15]孟璇璇.基于MEMS的捷联惯导系统误差分析与补偿研究[D].硕士学位.上海:上海交通大学,2005.
[16] Lee, T.-G., Sung, h.-K. Estimation Technique of Fixed Sensor Errorsfor SDINS Calibration. International Journal of Control, Automation and Systems, 2004. 2(4): 536-541.
[17]陈北鸥.捷联惯测组合设备无定向_六位置测试标定[J].导弹与航天运载技术, 2001. No.3(总第251期): 23-27.
[18]严恭敏,秦永元.捷联惯组中陀螺组合标定方法研究[J].弹箭与制导学报, 2005.第25卷第4期.
[19]杨晓霞,黄一.激光陀螺捷联惯导系统的系统级标定方法研究[C]. Proceedings of the 26th Chinese Control Conference, 2007.7.
[20]王岩.机抖激光陀螺捷联惯导系统的标定方法研究[D].硕士学位.湖南长沙:国防科学技术大学,2004.
[21]林玉荣,邓正隆.激光陀螺捷联惯导系统中惯性器件误差的系统级标定[J]哈尔滨工业大学学报, 2001.第33卷(第2期): 112-115.
[22]毛奔,林玉荣.惯性器件测试与建模[M],第一版, Editor. 2007.8,哈尔滨工业大学出版社:哈尔滨.
[23]姜复兴,庞志成主编.惯导测试设备原理与设计[M], ed.第一版.哈尔滨:哈尔滨工业大学出版社, 1998.
[24]张志鑫,夏金桥,蔡春龙.光纤陀螺标度因数分段标定的工程实现[J].中国惯性技术学报, 2008.4.第16卷(第1期).
[25]刘波,李学锋.速率捷联惯导系统陀螺仪误差分段补偿技术研究[J].航天控制, 2005.第23卷(第1期): 72-75.
[26]王晓睿,谢玲,杜丽辉,陈家斌.捷联惯导系统动态误差特性研究[J].火力与指挥控制, 2002.3.第27卷(第1期): 11-13.
[27] Z F Syed, P.A., C Goodall, X Niu and N El-Sheimy. A new multi-position calibration method for MEMS inertial navigation systems. Measurement science and technology, May 2007. Published 15.
[28] Shin, E.-H. Accuracy Improvement of Low Cost INS/GPS for Land Applications. THE DEGREE OF MASTER OF SCIENCE. ALBERTA: Calgary,2001.
[29]袁保伦.一种新的激光陀螺惯性测量组合标定方法[J].中国惯性技术学报, 2007.第15卷(第1期): 31-34.
[30]袁保伦.四频激光陀螺旋转式惯导系统研究[D].博士.湖南长沙:国防科学技术大学,2007.
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