考虑机抖激光陀螺信号滤波特性的圆锥算法修正  

Correction of coning algorithms considering the RLG signal filter characteristics

作　　者：潘献飞[1] 吴文启[1] 吴美平[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073

出　　处：《中国惯性技术学报》2007年第3期259-264,共6页Journal of Chinese Inertial Technology

基　　金：国家重大基础研究发展计划项目(61334010303)

摘　　要：捷联惯导系统一般用圆锥算法来补偿其圆锥运动漂移,标准的圆锥算法是以理想的陀螺信号为输入设计的,而机抖激光陀螺常用数字低通滤波器来滤除抖动偏频信号,由于滤波器的非理想性,滤波后信号的幅频特性发生畸变,引入了较大的圆锥算法误差。参考标准圆锥算法误差公式,用相对圆锥误差分析方法比较研究了算法的误差变化特性,证明误差大小与滤波器通带特性有关。基于经典圆锥运动,推导了数据滤波后修正的圆锥算法公式。修正算法考虑了滤波器幅频特性的影响,补偿了滤波器引入的圆锥算法误差。仿真表明:修正算法在保证滤波器较小延时的同时,能明显减小算法精度损失,提高姿态算法整体精度水平。The SINS usually uses coning algorithms to compensate its coning motion drift. The standard algorithms assume the ideal gyro outputs while the dither laser gyro has the distorted magnitude-frequency response due to the low-pass filter used to reduce the dither bias. This introduced additional coning algorithms error. The paper illustrated the relative coning errors to compare the error characteristics of the standard algorithm in ideal data and filtered data respectively, which show that the error characteristics are related with the pass-band performance of the filter. The corrected coning algorithms＇ formulas were derived for the filtered gyro data according to the magnitudefrequency response of the filter in classical coning motion. The new algorithms compensate the additional coning errors induced by the filter. The simulation results show that the correction algorithms can reduce the loss of algorithms accuracy and improve remarkably the total precision of the attitude algorithms, meanwhile the delay of the filter is short.

关 键 词：圆锥算法 激光陀螺 低通滤波 姿态误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]