挠性陀螺系统不对称性误差研究  

Analysis on non-symmetrical error in dynamically tuned gyro system

作　　者：何昆鹏[1] 吴简彤[1] 曾建辉[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国惯性技术学报》2006年第6期76-77,90,共3页Journal of Chinese Inertial Technology

摘　　要：首先从原理上分析其产生的原因,不对称性误差主要是由于陀螺系统中各环节的输入-输出关系并不是理想的线性特性而引起的;然后对陀螺系统不对称性误差进行定量分析,采用一种寻优的方法估算出不对称性误差值大小,并用实验进行验证;最后提出了一种不对称性误差的补偿方法,即在陀螺角速度模型中增加角速度绝对值项。实验结果证明了其简单有效性。The cause that generated asymmetric error was analyzed from the gyro’s principle and it was found that the main reason was that the output-input relations in dynamically tuned gyro system was not ideally linear.The paper then made a quantitative analysis for the asymmetric error,and applied a finding-minimum-search method to estimate the error’s value and verified by experiment.A compensatory algorithm was proposed which added the absolute angular-rate into the gyro module.The experiment result proved its effectiveness and simplicity.

关 键 词：惯性导航 不对称性误差 误差补偿 寻优方法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]