微型垂直基准仪的陀螺动态误差补偿  

Research on Gyro's Dynamic Error of Miniature Attitude Reference System

作　　者：何昆鹏[1] 吴俊伟[1] 梁海波 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《兵工学报》2010年第8期1095-1101,共7页Acta Armamentarii

基　　金：国家"863"计划资助项目(2008AA09Z204);中央高校基本科研业务经费专项资金项目(HEUCF100424)

摘　　要：为了提高舰载微型垂直基准仪的姿态测量精度,有必要补偿系统中陀螺的动态误差。在分析系统动态误差原因的基础上,建立了MEMS陀螺的非线性误差、不对称性误差和角加速度项误差模型;分别采用自适应分段的方法补偿非线性误差,模型中增加角速度绝对值项补偿不对称性误差,并用D-最优试验设计准则和最小二乘法辨识出角加速度误差模型参数。试验结果表明,该误差补偿方案能将系统的姿态测量精度提高约5倍,证明了误差补偿模型和方法的有效性。In order to improve the precision of ship-based miniature attitude reference system,the dynamic error of MEMS gyros has to be compensated.Based on analyzing the dynamic error sources,some error models,such as nonlinear error,asymmetry error,and angular acceleration error,were set up respectively.Then,the adaptive curve fitting method was used to compensate the nonlinear and asymmetry error.In addition,the test process was designed according to D-optimum criterion.Finally,the efficiency of these methods was checked up in tri-axis turntable＇s swing experiments.The experiment results indicate that the methods can effectively decrease the attitude measurement error by about 80%.

关 键 词：仪器仪表技术 惯性导航 垂直基准仪 微机械陀螺 动态误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]