激光陀螺POS惯性数据滤波及时延补偿  

Predictive filtering and delay compensation of RLG position and orientation system

作　　者：钟麦英[1] 闫东坤[1] 

机构地区：[1]北京航空航天大学惯性技术国家重点实验室新型惯性仪表与导航系统技术国防重点学科实验室,北京100191

出　　处：《中国惯性技术学报》2011年第6期670-675,共6页Journal of Chinese Inertial Technology

基　　金：国家"973"计划项目(2009CB724000);国家自然科学基金(61174121;60736025)

摘　　要：激光陀螺作为位置姿态测量系统(POS)的核心传感器,其精度直接决定激光陀螺POS系统精度,围绕机抖激光陀螺信号去噪的需求,基于FIR滤波器建模的方法,设计了FIR数字低通滤波器;针对滤波器导致的信号延迟问题,根据FIR数字滤波器群延迟特性建模,提出了激光陀螺POS数据时延补偿方法。静态实验结果表明,设计的FIR数字低通滤波器降低了激光陀螺抖动噪声功率达80dB。进一步通过飞行实验表明,提出的方法降低了激光陀螺POS系统姿态角误差,与POS/AV510相比航向角误差由0.017°降低到0.01°,俯仰角误差由0.007°降低到0.005°,横滚角误差由0.016°降低到0.005°,满足了机载InSAR对激光陀螺POS精度要求。The precision of position and orientation system directly depends on the precision of ring laser gyro.To decrease signal noise of the mechanically dithered ring laser gyro（RLG）,a low-pass filter is designed based on the modeling of finite impulse response（FIR） filter.To solve the problem of signal delay caused by the filter,a delay compensation method is proposed based on the modeling of filter group delay.The results of stationary test show that the digital low-pass filter can efficiently eliminate the dither bias of RLG for 80 dB.Further more,the results of flight experiments show that the attitude error is reduced through delay compensation.Compared with the attitude of POS/AV510 as a reference,the heading error is reduced from 0.017° to 0.01°,pitching error from 0.007° to 0.005°,and roll error from 0.016° to 0.005°,meeting the requirement of airborne InSAR for the precision of position and orientation system.

关 键 词：位置姿态测量系统 激光陀螺 滤波 时延补偿 合成孔径雷达 

分 类 号：U666.1[交通运输工程—船舶及航道工程]