船体变形测量中激光陀螺零偏误差的补偿  

Bias error compensation of laser gyroscope for autonomous measurement of ship hull angular deformation

作　　者：杨云涛[1] 王省书[1] 黄宗升[1] 吴伟[1] 

机构地区：[1]国防科学技术大学,长沙410073

出　　处：《仪器仪表学报》2014年第12期2755-2761,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61275002)项目资助

摘　　要：激光陀螺在船体角形变自主测量中具有重要应用。根据激光陀螺自主测量船体角形变的角速度匹配测量方程,推导了静态形变和动态形变的误差方程并分析了激光陀螺的随机零偏误差对两者的影响,提出了随机零偏误差模型的改进方法。该方法构建了惯性姿态匹配测量的最优滤波器,将随机零偏误差建模为微弱白噪声驱动的随机游走模型和零均值的白噪声模型,并实时地将随机零偏误差差值的估计量反馈到激光陀螺输出的角增量中进行补偿。仿真结果表明激光陀螺的随机零偏误差模型经过改进后,角形变的估计误差优于10角秒,陀螺随机零偏差值的估计趋于平稳。Laser gyroscope plays an important role while applying in autonomous measurement for ship hull angular deformation. According to angular rate matching equation for angular deformation measurement, an error equation of static deformation and dynamic deformation is derived, and the influence of random bias error of laser gyroscopes on the error equation is analyzed. A method of better random bias error model is proposed. An optimal filter for inertial attitude matching measurement is established, and random bias error is modeled into random walk model with weak white noise driven and white noise model with zero mean value. Estimation of random bias error difference fed back to compensate angular increment of laser gyroscopes is analyzed. The simulation results showed that after model refinement of random bias error of laser gyroscopes, the estimation error is better than 10 arc-second, and curve of random bias error estimation is stable.

关 键 词：船体角形变 激光陀螺 随机零偏 自主测量 

分 类 号：TH744[机械工程—光学工程] U666.1[机械工程—仪器科学与技术]